"""
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": {
"type": "null",
"description": "Any addition fields/data to be added here",
"example": {"payload": [1.2, 434]},
},
},
"required": [],
}
platform_status_message_schema = {
"allOf": [{"$ref": "#/components/schemas/Message"}],
"type": "object",
"properties": {
"platform_ID": {
"type": "integer",
"description": "Identifier for platform",
"example": 1,
},
"status_source": {
"type": "string",
"enum": ["usbl", "onboard_platform"],
"description": "Indicate if this status message is from the"
+ " platform or USBL",
"example": "usbl",
},
"platform_timestamp": {
"type": "date-time",
"decription": "Timestamp for onboard platform status message",
"example": "2022-12-21T00:00:00Z",
},
"active": {
"type": "boolean",
"description": "When a platform is in deployment (executing a"
+ " mission plan) this should be True",
"example": True,
},
"platform_state": {
# TODO: Define dictionary with potential STATES of each platform
"type": "string",
"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",
"description": "Latitude in decimal degrees.",
"example": 178.2,
},
"longitude": {
"type": "number",
"description": "Longitude in decimal degrees.",
"example": -10.122,
},
"depth": {
"type": "number",
"description": "Target depth in metres",
"example": 50,
"default": 0,
},
"altitude": {
"type": "number",
"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",
"description": "Estimated distance to reach next waypoint",
"example": 124.3,
},
"speed_over_ground": {
"type": "number",
"description": "TODO: add description",
"example": 124.3,
},
"water_current_velocity": {
"type": "number",
"description": "TODO: add description",
"example": 124.3,
},
"thrust_applied": {
"type": "number",
"description": "TODO: Needs further consideration",
"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",
"description": "Localisation error at last USBL update.",
"example": 0.000129,
},
"usbl_fix_seconds_ago": {
"type": "number",
"description": "USBL Fix received x second ago.",
"example": 10.0,
},
"battery_remaining_capacity": {
"type": "number",
"description": "Battery remaining % provided by respective C2",
"example": 80.2,
},
"current_pitch": {
"type": "number",
"description": "Current pitch of platform",
"example": -4.0,
},
"sensor_config": sensor_schema,
},
"required": [
"platform_ID",
"status_source",
"platform_timestamp",
"latitude",
"longitude",
],
}
# gps_schema = api.model(
# "GPS",
# {
# "gps_source": fields.Float( # TODO: TBD with partners
# required=False,
# description=(
# "Source of gps position. E.g. USBL (external),"
# + "platform itself (internal)"
# ),
# example="internal",
# ),
# "latitude_type": fields.String(
# required=False,
# description="",
# example="",
# ),
# "longitude_type": fields.String(
# required=False,
# description="",
# example="",
# ),
# "latitude": fields.Float(
# required=False,
# description="Latitude in <DEFINE UNITS>",
# example="",
# ),
# "longitude": fields.Float(
# required=False,
# description="Longitude in <DEFINE UNITS>",
# example="",
# ),
# "depth": fields.Float(
# required=False,
# description="Depth in <DEFINE UNITS>",
# example="",
# ),
# "altitude": fields.Float(
# required=False,
# description="Altitude in <DEFINE UNITS>",
# example="",
# ),
# # "gps_fix_seconds_ago"
# },
# )
# sensor_schema = api.model(
# "SensorSchema",
# {
# "sensor_ID": fields.Integer(
# required=True,
# description="unique identifier for platform",
# example=2,
# ),
# "serial": fields.String(
# required=False,
# description="serial number of sensor",
# example="mbes-001",
# ),
# "sensor_status": fields.Boolean(
# required=False,
# description="Sensor switched on (True) or off (False)",
# example=True,
# ),
# "additional_data": fields.Raw(
# required=False,
# description="Any addition fields/data to be added here",
# ),
# },
# )
# platform_status_message_schema = api.model(
# "platformStatusMessage",
# {
# "message": fields.Nested(
# full_message_schema,
# required=True,
# description="Message header",
# ),
# "platform_ID": fields.Integer(
# required=True,
# description="unique identifier for platform",
# example=1,
# ),
# "active": fields.Boolean(
# required=False,
# description="When a platform is in deployment (executing a"
# + " mission plan) this should be True",
# example=True,
# ),
# "platform_state": fields.String(
# # TODO: Define dictionary with potential STATES of each platform
# required=False,
# description="Current state executed by platform. E.g. "
# + "STOP, IDLE, ABORT.",
# example="IDLE",
# ),
# "autonomy_plan_ID": fields.Integer(
# required=False,
# description="Last mission plan ID (
# + "according to Autonomy Engine's"
# + " mission plan number) executed by platform",
# example=1,
# ),
# "mission_track_ID": fields.Integer(
# required=False,
# description=(
# "Track number - stage in mission (e.g. "
# + "4 --> Waypoint 3 to Waypoint 4)"
# ),
# example=4,
# ),
# "mission_action_ID": fields.Integer(
# required=False,
# description="to add description",
# example=1,
# ),
# "range_to_go": fields.Float(
# required=False,
# description="Estimated distance to reach next waypoint",
# example=124.3,
# ),
# "speed_over_ground": fields.Float(
# required=False,
# description="",
# example=124.3,
# ),
# "water_current_velocity": fields.Float(
# required=False,
# description="",
# example=124.3,
# ),
# "thrust_applied": fields.Float(
# required=False,
# description="TODO: Needs further consideration",
# example=124.3,
# ),
# "health_status": fields.String(
# required=False,
# description="Health status extracted by respective platform "
# + "if any diagnosis available checks on sensors",
# example="Warning",
# ),
# "gps_data": fields.List(
# fields.Nested(gps_schema), # TODO: TBD Do we want a list of
# # gps readings to allow > 1 reading i.e. platform + usbl
# required=True,
# description="Metadata pf each platform",
# ),
# "localisation_error": fields.Float(
# required=False,
# description="Localisation error at last USBL update.",
# example="",
# ),
# "usbl_fix_seconds_ago": fields.Float(
# required=False,
# description="",
# example="",
# ),
# "battery_remaining_capacity": fields.Float(
# required=True,
# description="Battery remaining capacity % provided by respective"
# + " platform/C2.",
# example=80.0,
# ),
# "sensor_config": fields.Nested(
# sensor_schema
# ), # TODO: TBD Do we want a list of sensors to allow > 1 sensor
# },
# )
# # TBD: Do we append beacon positions with platform positions?