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"""
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`.",
"enum": [
"move",
"payload",
"dive",
"send_hits",
"scanline",
"scanpoint",
"go_home",
"surface_now",
"stop_mission",
"abort_now",
],
"example": "move",
},
"activate_payload": {
"type": "boolean",
"description": "To activate/deactivate sensor for Autosub "
+ "Hover-1 --> `MBES` sensor and for EcoSUB --> `Sidescan`",
"example": True,
},
"timeout": {
"type": "number",
"format": "float",
"description": "Timeout set to perform action",
"example": 1800.0,
},
},
"oneOf": [
{
"type": "object",
"properties": {
"start": {
"$ref": "https://geojson.org/schema/Point.json",
},
"target": {
"$ref": "https://geojson.org/schema/Point.json",
},
},
"required": [
"target",
],
},
{
"type": "object",
"properties": {
"start_point_latitude": {
"type": "number",
"format": "float",
"description": "Start point, y-coordinate",
"example": 50.37072283932642,
},
"start_point_longitude": {
"type": "number",
"format": "float",
"description": "Start point, x-coordinate",
"example": -4.187143188645706,
},
"target_waypoint_latitude": {
"type": "number",
"format": "float",
"description": "Target waypoint, y-coordinate",
"example": 50.37072283932642,
},
"target_waypoint_longitude": {
"type": "number",
"format": "float",
"description": "Target waypoint, x-coordinate",
"example": -4.187143188645706,
},
"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,
},
},
"required": [
"target_waypoint_latitude",
"target_waypoint_longitude",
],
},
],
}
mission_plan_schema = {
"type": "object",
"properties": {
"message_type": {
"type": "string",
"description": "Type of message",
"example": "mission_plan",
"enum": ["mission_plan"],
},
"autonomy_engine_plan_ID": {
"oneOf": [
{
"type": "string",
"format": "uuid",
"description": "Unique identifier for this plan"
+ "generated by the Autonomy Engine",
},
{
"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",
},
"emergency": {
"type": "boolean",
"description": "To indicate if this is an emergency. "
+ "true = emergency and false = no emergency",
"default": False,
"example": False,
},
"plan": {
"type": "array",
"items": action_schema,
},
},
"required": [
"message_type",
"autonomy_engine_plan_ID",
"platform_ID",
"plan",
],
}