platform_status.py

"""
    schema: platform-specific decoded status message
"""

sensor_schema = {
    "type": "object",
    "description": "Scanning sensor on platform available"
    + " to be controlled by  the Autonomy Engine",
    "properties": {
        "sensor_serial": {
            "type": "string",
            "description": "serial number of sensor",
            "example": "mbes-002a",
        },
        "sensor_on": {
            "type": "boolean",
            "description": "Sensor switched on (True) or off (False)",
            "example": True,
        },
        "additional_data": {
            "description": "Any addition fields/data to be added here",
            "example": {"payload": [1.2, 434]},
        },
    },
}

platform_status_schema = {
    "type": "object",
    "properties": {
        "message_type": {
            "type": "string",
            "description": "Type of message",
            "example": "platform_status",
        },
        "platform_ID": {
            "type": "string",
            "description": "Unique identifier for this platform",
            "example": "reav-x-1",
        },
        "status_source": {
            "type": "string",
            "enum": ["usbl", "onboard_platform"],
            "description": "Indicate if this status message is from the"
            + " platform or USBL",
            "example": "usbl",
        },
        "transmission_mode": {
            "type": "string",
            "enum": ["acoustics", "iridium", "wifi", "starlink"],
            "description": "Mode in which status message was transmitted"
            + " when on the surface (e.g. iridium/wifi) or underwater"
            + " (e.g. acoustics)",
            "example": "wifi",
        },
        "platform_timestamp": {
            "type": "string",
            "format": "date-time",
            "description": "Timestamp for onboard platform status message",
            "example": "2022-12-21T00:00:00Z",
        },
        "platform_state": {
            "type": "string",  # TODO: Define enum with potential STATES of each platform
            "description": "Current state executed by platform. E.g. "
            + "STOP, IDLE, ABORT.",
            "example": "ABORT",
        },
        "autonomy_engine_plan_ID": {
            "type": "integer",
            "description": "Last mission plan ID (according to Autonomy"
            + " Engine's mission plan number sent) executed by platform",
            "example": 1,
        },
        "latitude": {
            "type": "number",
            "format": "float",
            "description": "Latitude in decimal degrees.",
            "example": 178.2,
        },
        "longitude": {
            "type": "number",
            "format": "float",
            "description": "Longitude in decimal degrees.",
            "example": -10.122,
        },
        "depth": {
            "type": "number",
            "format": "float",
            "description": "Target depth in metres",
            "example": 50,
            "default": 0,
        },
        "altitude": {
            "type": "number",
            "format": "float",
            "description": "Target altitude in metres",
            "example": 20,
        },
        "mission_track_ID": {
            "type": "integer",
            "description": "Track number - stage in mission (e.g. "
            + "4 --> Waypoint 3 to Waypoint 4)",
            "example": 4,
        },
        "mission_action_ID": {
            "type": "integer",
            "description": "",  # TODO: Add description
            "example": 1,
        },
        "range_to_go": {
            "type": "number",
            "format": "float",
            "description": "Estimated distance to reach next waypoint",
            "example": 124.3,
        },
        "speed_over_ground": {
            "type": "number",
            "format": "float",
            "description": "",  # TODO: Add description
            "example": 124.3,
        },
        "water_current_velocity": {
            "type": "number",
            "format": "float",
            "description": "",  # TODO: Add description
            "example": 124.3,
        },
        "thrust_applied": {
            "type": "number",
            "format": "float",
            "description": "",  # TODO: Add description
            "example": 124.3,
        },
        "heading": {
            "type": "number",
            "format": "float",
            "description": "Angular distance relative to north, usually 000°"
            + " at north, clockwise through 359°, in degrees",
            "example": 124.3,
        },
        "health_status": {
            "type": "string",
            "description": "Health status extracted by respective platform "
            + "if any diagnosis is available to check sensors",
            "example": "Warning",
        },
        "localisation_error": {
            "type": "number",
            "format": "float",
            "description": "Localisation error at last USBL update.",
            "example": 0.000129,
        },
        "usbl_fix_seconds_ago": {
            "type": "number",
            "format": "float",
            "description": "USBL Fix received x second ago.",
            "example": 10.0,
        },
        "battery_remaining_capacity": {
            "type": "number",
            "format": "float",
            "description": "Battery remaining % provided by respective C2",
            "example": 80.2,
        },
        "current_pitch": {
            "type": "number",
            "format": "float",
            "description": "Current pitch of platform",
            "example": -4.0,
        },
        "sensor_config": sensor_schema,
    },
    "required": [
        "message_type",
        "platform_ID",
        "status_source",
        "platform_timestamp",
        "latitude",
        "longitude",
    ],
}