planning_configuration.py

"""
    schemas: configuration sent to Autonomy Engine (i.e. during an emergency,
    if a platform needs to be removed from the mission planning)
"""
# from . import api, full_message_schema, platform_schema
# from flask_restx import fields

emergency_schema = {
    "type": "object",
    "properties": {
        "safe_command": {
            "type": "string",
            "enum": ["go_home", "abort_now", "stop_mission"],
            "description": "Command/Action that is native to respective partner's platform/C2",
            "example": "go_home",
        },
        "latitude_waypoint": {
            "type": "number",
            "description": "X-coordinate of safe place for respective platform",
            "example": -7.432,
        },
        "longitude_waypoint": {
            "type": "number",
            "description": "Y-coordinate of safe place for respective platform",
            "example": 50.365,
        },
        "target_depth": {
            "type": "number",
            "description": "Z-coordinate of safe place for respective platform"
            + " . If platform to NOT stay at depth, key in `0.0`",
            "example": 10,
        },
        "additional_data": {
            "type": "null",
            "description": "Any addition fields/data to be added here",
            "example": {},
        },
    },
    "required": ["latitude_waypoint", "longitude_waypoint", "target_depth"],
}


platform_schema = {
    "type": "object",
    "properties": {
        "platform_ID": {
            "type": "integer",
            "description": "Identifier for platform",
            "example": 23,
        },
        "serial": {
            "type": "string",
            "description": "platform serial number",
            "example": "reav-60",
        },
        "model": {
            "type": "string",
            "example": "reav",
        },
        "emergency": emergency_schema,
        "min_altitude": {
            "type": "number",
            "description": "Minimum altitude set for squad.",
            "example": 15.2,
        },
        "min_velocity": {
            "type": "number",
            "description": "Minimum velocity set for squad.",
            "example": 0.1,
        },
        "max_velocity": {
            "type": "number",
            "description": "Maximum altitude set for squad.",
            "example": 0.9,
        },
        "additional_data": {
            "type": "null",
            "description": "Any addition fields/data to be added here",
            "example": {"swath_width": 10.0, "scan_type": "DVL"},
        },
    },
    "required": ["platform_ID", "serial", "model", "emergency", "min_altitude", "min_velocity", "max_velocity"],
}

region_schema = {
    "type": "object",
    "properties": {
        "geometry_coordinates": {
            "type": "array",  # TODO: Check if config defn is right.
            "example": [
                [
                    [-4.187143188645706, 50.37072283932642],
                    [-4.202697005964865, 50.368816892405874],
                    [-4.203156724702808, 50.365640144076906],
                    [-4.19449868846155, 50.362267670845654],
                ]
            ],
        },
    },
    "description": "Using GEOJSON, exact 4-point region (rectangle shaped)",
    "required": ["geometry_coordinates"],
}

squad_metadata_schema = {
    "type": "object",
    "properties": {
        "squad_ID": {
            "type": "integer",
            "description": "Identifier of given squad",
            "example": 23,
        },
        "no_of_platforms": {
            "type": "integer",
            "description": "Number of platforms",
            "example": 3,
        },
        "platforms": {
            "type": "array",
            "items": platform_schema,
            "description": "Squad consists of these platforms",
        },
        "squad_mission_type": {
            "type": "string",
            "enum": ["tracking", "survey", "inspection"],
            "description": "Mission of given squad: `tracking`, `survey`"
            + ", `inspection`",
            "example": "survey",
        },
        "squad_state": {
            "type": "string",
            "description": "In execution, Waiting.. <define further>",
            "example": False,
        },
        "region_of_interest": region_schema,
    },
    "required": [
        "squad_ID",
        "no_of_platforms",
        "platforms",
        "squad_mission_type",
        "squad_state",
        "exclusion_zones",
    ],
}

planning_configuration_schema = {
    "allOf": [{"$ref": "#/components/schemas/Message"}],
    "type": "object",
    "properties": {
        "planning_config_ID": {
            "type": "integer",
            "description": "Unique identifier tagged to version of this"
            + " configuration plan",
            "example": 3,
        },
        "exclusion_zones": {
            "type": "array",
            "items": region_schema,
            "description": "Exclusion zones for all platforms",
        },
        "squads": {
            "type": "array",
            "items": squad_metadata_schema,
        },
    },
    "required": [
        "config_ID",
        "squads",
        "exclusion_zones",
    ],
}

# region_schema = api.model(
#     "RegionSchema",
#     {
#         "region": fields.Raw(
#             required=True,
#             description="Using GEOJSON, exact region of "
#             + "interest in rectangle format polygon",
#             example={
#                 "type": "FeatureCollection",
#                 "features": [
#                     {
#                         "type": "Feature",
#                         "properties": {},
#                         "geometry": {
#                             "coordinates": [
#                                 [
#                                     [-4.187143188645706, 50.37072283932642],
#                                     [-4.202697005964865, 50.368816892405874],
#                                     [-4.203156724702808, 50.365640144076906],
#                                     [-4.19449868846155, 50.362267670845654],
#                                 ]
#                             ],
#                             "type": "Polygon",
#                         },
#                     }
#                 ],
#             },
#         ),
#     },
# )

# squad_metadata_schema = api.model(
#     "SquadMetadataSchema",
#     {
#         "squad_ID": fields.Integer(
#             required=True,
#             description="Identifier of given squad",
#             example=23,
#         ),
#         "no_of_platforms": fields.Integer(
#             required=True,
#             description="Number of platforms",
#             example=3,
#         ),
#         "platforms": fields.List(
#             fields.Nested(platform_schema),
#             required=True,
#             description="Squad consists of these platforms",
#         ),
#         "squad_mission_type": fields.String(
#             required=True,
#             description="Mission of given squad: `tracking`, `survey`"
#             + ", `inspection`",
#             example="survey",
#         ),
#         "squad_state": fields.Boolean(
#             required=True,
#             description="In execution, Waiting.. <define further>",
#             example=False,
#         ),
#         "region_of_interest": fields.List(
#             fields.Nested(region_schema),
#             required=False,
#             description="Region of interest and exclusion zones per squad.",
#         ),
#         "exclusion_zones": fields.List(
#             fields.Nested(region_schema),
#             required=True,
#             description="Exclusion zones exclusion zones per squad.",
#         ),
#     },
# )


# planning_configuration_schema = api.model(
#     "PlanningConfigurationSchema",
#     {
#         "message": fields.Nested(
#             full_message_schema,
#             required=True,
#             description="Message header",
#         ),
#         "ID": fields.Integer(
#             required=True,
#             description="Unique identifier tagged to version of this"
#             + " configuration plan",
#             example=3,
#         ),
#         "squads": fields.Nested(
#             squad_metadata_schema,
#             required=False,
#             description="Details of each squad",
#         ),
#     },
# )