Merge branch '78-update-platform-status-to-accommodate-simulated-wpts' into '67-mas-dt'

Resolve "Update platform status to accommodate simulated  wpts"

See merge request !49

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/waypoints_geojson.json

+{
+    "header":{
+        "message_ID": "b427003c-0000-11aa-a1eb-b1cdf2342fdd",
+        "timestamp": "2024-09-05T00:00:00Z",
+        "version": "v2.0.0-beta.1",
+        "source": "noc-sfmc",
+        "destination": "mas-dt.noc.slocum.unit_xxx.from_platform.waypoints",
+        "delivery_type": "publish",
+        "encoded": false
+    },
+    "payload":{
+        "message_type": "waypoints",
+        "platform_ID": "unit_xxx",
+        "platform_timestamp": "2024-09-05T00:00:00Z",
+        "status_source": "simulated",
+        "waypoints": [
+            {
+                "type": "Point",
+                "coordinates": [-10.122, 78.2, 50.0, 20.0]
+            }
+        ]
+    }
+}

examples/mas-dt/waypoints_props.json

+{
+    "header":{
+        "message_ID": "b427003c-0000-11aa-a1eb-b1cdf2342fdd",
+        "timestamp": "2024-09-05T00:00:00Z",
+        "version": "v2.0.0-beta.1",
+        "source": "noc-sfmc",
+        "destination": "mas-dt.noc.slocum.unit_xxx.from_platform.waypoints",
+        "delivery_type": "publish",
+        "encoded": false
+    },
+    "payload":{
+        "message_type": "waypoints",
+        "platform_ID": "unit_xxx",
+        "platform_timestamp": "2024-09-05T00:00:00Z",
+        "status_source": "simulated",
+        "waypoints": [
+            {
+                "latitude": 78.2,
+                "longitude": -10.122,
+                "depth": 50.0,
+                "altitude": 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",
+            "waypoints": "#/components/schemas/waypoints",
         },
     },
     "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/waypoints"},
     ],
 }

formats/platform_status.py

@@ -25,6 +25,11 @@ sensor_schema = {
     },
 }
 
+platform_status_core_fields_schema = {
+    "type": "object",
+    "properties": {},
+}
+
 platform_status_schema = {
     "type": "object",
     "properties": {
@@ -41,7 +46,7 @@ platform_status_schema = {
         },
         "status_source": {
             "type": "string",
-            "enum": ["usbl", "onboard_platform"],
+            "enum": ["usbl", "onboard_platform", "simulated"],
             "description": "Indicate if this status message is from the"
             + " platform or USBL",
             "example": "usbl",
@@ -173,6 +178,27 @@ platform_status_schema = {
         "sensor_config": sensor_schema,
     },
     "oneOf": [
+        {
+            "type": "object",
+            "properties": {
+                "no_position_reason": {
+                    "type": "string",
+                    "enum": [
+                        "missing",
+                        "invalid",
+                        "old",
+                        "poor_fix",
+                        "unavailable",
+                        "not_applicable",
+                    ],
+                    "description": "Why position data is unavailable",
+                    "example": "invalid",
+                },
+            },
+            "required": [
+                "no_position_reason",
+            ],
+        },
         {
             "type": "object",
             "properties": {

formats/waypoints.py

+"""
+Temporary message definition to handle the MAS-DT dry-run mode 
+
+In dry-run the SFMC adapter will receive misson_plan messages from ORI
+These messages will be parsed and compiled into a goto file which will
+not be sent on to the glider 
+
+To confirm the message flow is working the SFMC will instead publish 
+a waypoints message back to the backbone which C2 can receive and 
+process - adding simulated waypoints to C2 positions 
+"""
+
+waypoint_schema = {
+    "type": "object",
+    "oneOf": [
+        {
+            "$ref": "https://geojson.org/schema/Point.json",
+        },
+        {
+            "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,
+                },
+            },
+            "required": [
+                "latitude",
+                "longitude",
+            ],
+        },
+    ],
+}
+
+waypoints_schema = {
+    "type": "object",
+    "properties": {
+        "message_type": {
+            "type": "string",
+            "description": "Type of message",
+            "example": "waypoints",
+            "enum": ["waypoints"],
+        },
+        "platform_ID": {
+            "type": "string",
+            "description": "Unique identifier for this platform",
+            "example": "reav-x-1",
+        },
+        "status_source": {
+            "type": "string",
+            "enum": ["onboard_platform", "simulated", "autonomy"],
+            "description": "Indicate if this status message is from the"
+            + " platform or USBL",
+            "example": "usbl",
+        },
+        "platform_timestamp": {
+            "type": "string",
+            "format": "date-time",
+            "description": "Timestamp for onboard platform status message",
+            "example": "2022-12-21T00:00:00Z",
+        },
+        "waypoints": {
+            "type": "array",
+            "items": waypoint_schema,
+        },
+    },
+    "required": [
+        "message_type",
+        "platform_ID",
+        "status_source",
+        "platform_timestamp",
+        "waypoints",
+    ],
+}

generate_schema_config.py

@@ -7,6 +7,7 @@ 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.waypoints import waypoints_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 +75,7 @@ def get_swagger_config(reload=False):
                 "alert": alert_schema,
                 "instruction_set": instruction_set_schema,
                 "config_file": config_file_schema,
+                "waypoints": waypoints_schema,
             }
         },
     }

project/soar/swagger.json

@@ -1820,7 +1820,8 @@
             "platform_status": "#/components/schemas/platform_status",
             "platform_status_encoded": "#/components/schemas/platform_status_encoded",
             "survey": "#/components/schemas/survey",
-            "survey_encoded": "#/components/schemas/survey_encoded"
+            "survey_encoded": "#/components/schemas/survey_encoded",
+            "waypoints": "#/components/schemas/waypoints"
           },
           "propertyName": "message_type"
         },
@@ -1860,6 +1861,9 @@
           },
           {
             "$ref": "#/components/schemas/survey_encoded"
+          },
+          {
+            "$ref": "#/components/schemas/waypoints"
           }
         ]
       },
@@ -2208,6 +2212,27 @@
       },
       "platform_status": {
         "oneOf": [
+          {
+            "properties": {
+              "no_position_reason": {
+                "description": "Why position data is unavailable",
+                "enum": [
+                  "missing",
+                  "invalid",
+                  "old",
+                  "poor_fix",
+                  "unavailable",
+                  "not_applicable"
+                ],
+                "example": "invalid",
+                "type": "string"
+              }
+            },
+            "required": [
+              "no_position_reason"
+            ],
+            "type": "object"
+          },
           {
             "properties": {
               "position": {
@@ -2417,7 +2442,8 @@
             "description": "Indicate if this status message is from the platform or USBL",
             "enum": [
               "usbl",
-              "onboard_platform"
+              "onboard_platform",
+              "simulated"
             ],
             "example": "usbl",
             "type": "string"
@@ -2628,6 +2654,92 @@
           "is_binary"
         ],
         "type": "object"
+      },
+      "waypoints": {
+        "properties": {
+          "message_type": {
+            "description": "Type of message",
+            "enum": [
+              "waypoints"
+            ],
+            "example": "waypoints",
+            "type": "string"
+          },
+          "platform_ID": {
+            "description": "Unique identifier for this platform",
+            "example": "reav-x-1",
+            "type": "string"
+          },
+          "platform_timestamp": {
+            "description": "Timestamp for onboard platform status message",
+            "example": "2022-12-21T00:00:00Z",
+            "format": "date-time",
+            "type": "string"
+          },
+          "status_source": {
+            "description": "Indicate if this status message is from the platform or USBL",
+            "enum": [
+              "onboard_platform",
+              "simulated",
+              "autonomy"
+            ],
+            "example": "usbl",
+            "type": "string"
+          },
+          "waypoints": {
+            "items": {
+              "oneOf": [
+                {
+                  "$ref": "#/components/schemas/geojson.org.schema.Point.json"
+                },
+                {
+                  "properties": {
+                    "altitude": {
+                      "description": "Target altitude in metres",
+                      "example": 20.0,
+                      "format": "float",
+                      "type": "number"
+                    },
+                    "depth": {
+                      "default": 0.0,
+                      "description": "Target depth in metres",
+                      "example": 50.0,
+                      "format": "float",
+                      "type": "number"
+                    },
+                    "latitude": {
+                      "description": "Latitude (Y-coordinate) in decimal degrees.",
+                      "example": 178.2,
+                      "format": "float",
+                      "type": "number"
+                    },
+                    "longitude": {
+                      "description": "Longitude (X-coordinate) in decimal degrees.",
+                      "example": -10.122,
+                      "format": "float",
+                      "type": "number"
+                    }
+                  },
+                  "required": [
+                    "latitude",
+                    "longitude"
+                  ],
+                  "type": "object"
+                }
+              ],
+              "type": "object"
+            },
+            "type": "array"
+          }
+        },
+        "required": [
+          "message_type",
+          "platform_ID",
+          "status_source",
+          "platform_timestamp",
+          "waypoints"
+        ],
+        "type": "object"
       }
     }
   },