mission_plan.py

"""
    schemas: Mission plan (un-compiled) generated by the Autonomy Engine
    sent to the respective platform's C2 to compile into a platform-specific
    mission plan.
"""

action_schema = {
    "type": "object",
    "properties": {
        "action": {
            "type": "string",
            "description": "Autonomy Engine's action from `move`, `payload`,"
            + " `dive`, `send_hits`, `scanline`, `scanpoint`.",
            "example": "move",
        },
        "flight_style": {
            "type": "string",
            "description": "Platform-specific modes/flight styles to perform"
            + " next action",
            "example": "orbit",
        },
        "latitude_waypoint": {
            "type": "number",
            "format": "float",
            "description": "Next waypoint, x-coordinate",
            "example": -4.187143188645706,
        },
        "longitude_waypoint": {
            "type": "number",
            "format": "float",
            "description": "Next waypoint, y-coordinate",
            "example": 50.37072283932642,
        },
        "altitude": {
            "type": "number",
            "format": "float",
            "description": "Altitude of next action",
            "example": 15.0,
        },
        "depth": {
            "type": "number",
            "format": "float",
            "description": "Depth of next action",
            "example": 15.0,
        },
        "activate_payload": {
            "type": "boolean",
            "description": "To activate/deactivate sensor for Autosub "
            + "Hover-1 --> `MBES` sensor and for EcoSUB --> `Sidescan`",
            "example": True,
        },
        "send_environmental_data": {
            "type": "boolean",
            "description": "To trigger the platform to send list of"
            + "  observations if any found",
            "example": False,
        },
    },
    "required": [
        "latitude_waypoint",
        "longitude_waypoint",
    ],
}

mission_plan_schema = {
    "type": "object",
    "properties": {
        "message_type": {
            "type": "string",
            "description": "Type of message",
            "example": "mission_plan",
        },
        "autonomy_engine_plan_ID": {
            "type": "integer",
            "description": "Unique identifier for this plan"
            + "generated by the Autonomy Engine",
            "example": 3,
        },
        "platform_ID": {
            "type": "string",
            "description": "Unique identifier for this platform",
            "example": "reav-x-1",
        },
        "plan": {
            "type": "array",
            "items": action_schema,
        },
    },
    "required": ["message_type", "autonomy_engine_plan_ID", "platform_ID", "plan"],
}