feat: add waypoint status message for dry-run

Rather than sending a goto to the platform the
sfmc-adapter will publish a waypoint_status message
which the c2-adapter can read and add to the
positions service as a simulated waypoint

examples/geojson/platform_status.json

@@ -22,7 +22,7 @@
           "type": "Point",
           "coordinates": [
               -10.122,
-              178.2,
+              78.2,
               50.0,
               20
           ]
@@ -31,7 +31,7 @@
           "type": "Point",
           "coordinates": [
               -10.5,
-              178.5
+              78.5
           ]
       }
   }

examples/mas-dt/waypoint_status.json

+{
+    "header":{
+        "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+        "timestamp": "2024-09-05T00:00:00Z",
+        "version": "v2.0.0-beta.1",
+        "source": "noc-sfmc",
+        "destination": "mas-dt.noc.slocum.unit_xxx.from_platform.platform_status",
+        "delivery_type": "publish",
+        "encoded": false
+    },
+    "payload":{
+        "message_type": "waypoint_status",
+        "platform_ID": "unit_xxx",
+        "platform_timestamp": "2024-09-05T00:00:00Z",
+        "status_source": "simulated",
+        "autonomy_engine_plan_ID": 1,
+        "mission_plan_ID": 1,
+        "mission_track_ID": 4,
+        "waypoint": {
+            "type": "Point",
+            "coordinates": [-10.122, 78.2, 50.0, 20.0]
+        }
+    }
+}

formats/payload.py

@@ -5,9 +5,9 @@ payload_schema = {
             "alert": "#/components/schemas/alert",
             "instruction_set": "#/components/schemas/instruction_set",
             "mission_plan": "#/components/schemas/mission_plan",
-            "mission_plan_encoded": "#/components/schemas/" + "mission_plan_encoded",
+            "mission_plan_encoded": "#/components/schemas/mission_plan_encoded",
             "observation": "#/components/schemas/observation",
-            "observation_encoded": "#/components/schemas/" + "observation_encoded",
+            "observation_encoded": "#/components/schemas/observation_encoded",
             "planning_configuration": "#/components/schemas/"
             + "planning_configuration",
             "platform_status": "#/components/schemas/platform_status",
@@ -15,7 +15,8 @@ payload_schema = {
             + "platform_status_encoded",
             "acknowledgement": "#/components/schemas/acknowledgement",
             "survey": "#/components/schemas/survey",
-            "survey_encoded": "#/components/schemas/" + "survey_encoded",
+            "survey_encoded": "#/components/schemas/survey_encoded",
+            "waypoint_status": "#/components/schemas/waypoint_status",
         },
     },
     "oneOf": [
@@ -31,5 +32,6 @@ payload_schema = {
         {"$ref": "#/components/schemas/platform_status_encoded"},
         {"$ref": "#/components/schemas/survey"},
         {"$ref": "#/components/schemas/survey_encoded"},
+        {"$ref": "#/components/schemas/waypoint_status"},
     ],
 }

formats/platform_status.py

@@ -25,27 +25,14 @@ sensor_schema = {
     },
 }
 
-platform_status_schema = {
+platform_status_core_fields_schema = {
     "type": "object",
     "properties": {
-        "message_type": {
-            "type": "string",
-            "description": "Type of message",
-            "example": "platform_status",
-            "enum": ["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"],
@@ -172,7 +159,41 @@ platform_status_schema = {
         },
         "sensor_config": sensor_schema,
     },
+}
+
+platform_status_schema = {
+    "type": "object",
+    "properties": {
+        "message_type": {
+            "type": "string",
+            "description": "Type of message",
+            "example": "platform_status",
+            "enum": ["platform_status"],
+        },
+        "status_source": {
+            "type": "string",
+            "enum": ["usbl", "onboard_platform", "simulated"],
+            "description": "Indicate if this status message is from the"
+            + " platform or USBL",
+            "example": "usbl",
+        },
+    },
+    "allOf": [platform_status_core_fields_schema],
     "oneOf": [
+        {
+            "type": "object",
+            "properties": {
+                "no_position_reason": {
+                    "type": "string",
+                    "enum": ["missing", "invalid", "old", "poor_fix"],
+                    "description": "Why position data is unavailable",
+                    "example": "invalid",
+                },
+            },
+            "required": [
+                "no_position_reason",
+            ],
+        },
         {
             "type": "object",
             "properties": {
@@ -254,3 +275,104 @@ platform_status_schema = {
         "platform_timestamp",
     ],
 }
+
+waypoint_status_schema = {
+    "type": "object",
+    "properties": {
+        "message_type": {
+            "type": "string",
+            "description": "Type of message",
+            "example": "waypoint_status",
+            "enum": ["waypoint_status"],
+        },
+        "status_source": {
+            "type": "string",
+            "enum": ["onboard_platform", "simulated", "autonomy"],
+            "description": "Indicate if this status message is from the"
+            + " platform or USBL",
+            "example": "usbl",
+        },
+    },
+    "allOf": [platform_status_core_fields_schema],
+    "oneOf": [
+        {
+            "type": "object",
+            "properties": {
+                "position": {
+                    "$ref": "https://geojson.org/schema/Point.json",
+                },
+                "waypoint": {
+                    "$ref": "https://geojson.org/schema/Point.json",
+                },
+            },
+            "required": [
+                "waypoint",
+            ],
+        },
+        {
+            "type": "object",
+            "properties": {
+                "latitude": {
+                    "type": "number",
+                    "format": "float",
+                    "description": "Latitude (Y-coordinate) in decimal degrees.",
+                    "example": 178.2,
+                },
+                "longitude": {
+                    "type": "number",
+                    "format": "float",
+                    "description": "Longitude (X-coordinate) in decimal degrees.",
+                    "example": -10.122,
+                },
+                "depth": {
+                    "type": "number",
+                    "format": "float",
+                    "description": "Target depth in metres",
+                    "example": 50.0,
+                    "default": 0.0,
+                },
+                "altitude": {
+                    "type": "number",
+                    "format": "float",
+                    "description": "Target altitude in metres",
+                    "example": 20.0,
+                },
+                "waypoint_latitude": {
+                    "type": "number",
+                    "format": "float",
+                    "description": "Latitude (Y-coordinate) in decimal degrees.",
+                    "example": 178.2,
+                },
+                "waypoint_longitude": {
+                    "type": "number",
+                    "format": "float",
+                    "description": "Longitude (X-coordinate) in decimal degrees.",
+                    "example": -10.122,
+                },
+                "waypoint_depth": {
+                    "type": "number",
+                    "format": "float",
+                    "description": "Target depth in metres",
+                    "example": 50.0,
+                    "default": 0.0,
+                },
+                "waypoint_altitude": {
+                    "type": "number",
+                    "format": "float",
+                    "description": "Target altitude in metres",
+                    "example": 20.0,
+                },
+            },
+            "required": [
+                "waypoint_latitude",
+                "waypoint_longitude",
+            ],
+        },
+    ],
+    "required": [
+        "message_type",
+        "platform_ID",
+        "status_source",
+        "platform_timestamp",
+    ],
+}

generate_schema_config.py

@@ -6,7 +6,7 @@ from formats.observation import observation_schema
 from formats.observation_encoded import observation_encoded_schema
 from formats.payload import payload_schema
 from formats.planning_configuration import planning_configuration_schema
-from formats.platform_status import platform_status_schema
+from formats.platform_status import platform_status_schema, waypoint_status_schema
 from formats.platform_status_encoded import platform_status_encoded_schema
 from formats.survey import survey_schema
 from formats.survey_encoded import survey_encoded_schema
@@ -74,6 +74,7 @@ def get_swagger_config(reload=False):
                 "alert": alert_schema,
                 "instruction_set": instruction_set_schema,
                 "config_file": config_file_schema,
+                "waypoint_status": waypoint_status_schema,
             }
         },
     }