Resolve "Update platform status to accommodate simulated wpts"

Closes #78 (closed)

formats/platform_status.py

         "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",
-    ],
-}

formats/waypoint_status.py

+from formats.platform_status import platform_status_core_fields_schema
+
+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

 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, waypoint_status_schema
+from formats.platform_status import platform_status_schema
+from formats.waypoint_status import 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

[Dan Jones]

@owanes - done what we discussed yesterday.

• waypoint_status shares the same format as platform_status so we only need one parser in c2 land
• waypoint_status requires either waypoint or waypoint_latitude + waypoint_longitude
• platform_status requires either position or latitude + longitude or no_position_reason which is an enum.

I'm still a little concerned about the one parser idea because we want to include the current waypoint in the platform_status for ORI but I don't think we want to ingest the waypoint from every platform_status into positions

[Dan Jones]

After more talk we've gone back to preferring simulated platform_status for this since during the surface dialog after transferring and re-reading the ma files there should be another real platform_status containing the new waypoint.

We can use the changes in the platform_status message in this MR for that purpose but we decided to leave the waypoints message in place for now but with no immediate plans to use it.