# A radar, its plots, and the track that fuses them.
#
# Eight entities:
#   example.radar.north               the radar
#   example.radar.north.coverage      the area it can see
#   example.det.radar.8812            a plot with a bearing and a range
#   example.det.radar.8830            a plot as an offset in meters
#   example.det.radar.4407            a plot as a position
#   example.track.vessel1             the track built from two of the plots
#   example.track.vessel1.history     where the track has been
#   example.track.vessel1.prediction  where the track goes next
#
# The three plots show the three ways a driver can report a contact. All three
# use the same detection component. Only the offset changes.
#
# No plot has a symbol. A detection reports what the sensor measured, not how
# to draw it. `classification.taxonomy` says what it is.
#
# push it with:  hydris ec apply radar.yaml

---
# The radar.
# The device component makes it an asset with a state. The symbol makes it
# visible. Together they put it in the readiness panel.
id: example.radar.north
label: Surface Search Radar

geo:
  latitude: 54.1804
  longitude: 12.0884
  altitude: 9

device:
  class: radar
  category: Sea
  state: DeviceStateActive
  unique_hardware_id: example.radar.sn-4417

link:
  status: LinkStatusConnected
  avg_latency_ms: 8

# What the radar can see.
#
# A camera declares a `fov` and a `range_max`, and the engine builds the cone.
# A radar has no such fields, because no two radars have the same footprint.
# So the sensor names shape entities that give it.
#
# `coverage` is a list. A radar with a mast in the way, or one that scans a
# sector, names one shape for each part it can see.
sensor:
  coverage:
    - example.radar.north.coverage

classification:
  taxonomy:
    - confidence:
        confidence: 1.0
      equipment:
        sensor:
          emplaced: {}
          radar: {}

symbol:
  milStd2525C: SFGPESR---

routing:
  channels:
    - {}

---
# The coverage.
#
# A ring, not a disc. `inner_radius_m` cuts out the blind zone below the
# minimum range of the radar, so the shape states both limits at once.
#
# The geometry is a `local_shape`, in meters from the radar, so the coverage
# follows the radar. Move the radar, and the ring moves with it. The engine
# converts the ring to WGS84 for clients that want it in world coordinates.
id: example.radar.north.coverage
label: Radar Coverage

local_shape:
  relative_to: example.radar.north
  geometry:
    circle:
      center: { east_m: 0, north_m: 0 }
      radius_m: 3200
      inner_radius_m: 150
  extrusion:
    fill:
      color: "#38bdf8"
      opacity: 0.06

routing:
  channels:
    - {}

---
# PLOT 1: a bearing and a range.
#
# This is the usual radar plot. The engine calculates an absolute position
# from it. It draws a line of bearing, not an ellipse. The line runs to
# range + 2 sigma, so its length shows the quality of the range measurement.
id: example.det.radar.8812
label: Radar Plot 8812

controller:
  id: example.tracker.kalman

priority: PriorityImmediate

detection:
  detectorEntityId: example.radar.north
  confidence: 0.71

pose:
  parent: example.radar.north
  polar:
    azimuth: 21.5
    range: 2600
    # 1-sigma errors. the engine calculates the covariance from them
    azimuth_error_deg: 0.8
    range_error_m: 40

classification:
  taxonomy:
    - confidence:
        confidence: 0.6
      vehicle:
        sea: {}

routing:
  channels:
    - {}

---
# PLOT 2: an offset in meters.
#
# Some drivers report east and north instead of angles. A cartesian offset
# holds no direction, so the engine draws an uncertainty ellipse.
# The covariance is in meters squared: 300 m east error, 200 m north error.
#
# This plot has no classification. That is normal for a bare radar return.
# Leave it out. To classify the contact is the job of the fuser.
id: example.det.radar.8830
label: Radar Plot 8830

controller:
  id: example.tracker.kalman

detection:
  detectorEntityId: example.radar.north
  confidence: 0.64

pose:
  parent: example.radar.north
  cartesian:
    east_m: 1450
    north_m: 2100
    covariance:
      mxx: 90000
      myy: 40000

routing:
  channels:
    - {}

---
# PLOT 3: a position.
#
# Some hardware calculates the position itself, as do ADS-B and AIS feeds.
# Then the entity has no pose. Push the position, and put the accuracy in its
# covariance. The engine still draws the ellipse. An isotropic covariance
# becomes a circle.
id: example.det.radar.4407
label: Radar Plot 4407

controller:
  id: example.radar.north

detection:
  detectorEntityId: example.radar.north
  confidence: 0.55

geo:
  latitude: 54.1997
  longitude: 12.0721
  # meters squared in the local ENU frame: xx=east, yy=north, xy=correlation
  covariance:
    mxx: 62500
    myy: 22500
    mxy: 9000

classification:
  taxonomy:
    - confidence:
        confidence: 0.35
      vehicle:
        sea: {}

routing:
  channels:
    - {}

---
# The track.
#
# A plot is one measurement. A track is the conclusion of a fuser. It keeps
# `evidence` pointers to the plots it used, so an operator can ask why the
# contact exists.
#
# A track is a picture object, so it does have a symbol.
id: example.track.vessel1
label: TRK-0413

track:
  tracker: example.tracker.kalman
  confidence: 0.93

  evidence:
    - example.det.radar.8812
    - example.det.radar.8830

  # the two shape entities below
  history: example.track.vessel1.history
  prediction: example.track.vessel1.prediction

geo:
  latitude: 54.2015
  longitude: 12.1103
  # position error in meters squared, local ENU frame. drawn as an ellipse
  covariance:
    mxx: 900
    myy: 1600
    mxy: 120

bearing:
  azimuth: 247

kinematics:
  velocityEnu:
    east: -4.2
    north: -1.8
    up: 0

classification:
  taxonomy:
    - confidence:
        confidence: 0.8
      vehicle:
        sea: {}

symbol:
  milStd2525C: SNSP------

routing:
  channels:
    - {}

---
# Where the track has been.
# History is a separate entity, not a field. A client that needs only the
# current position never receives it.
id: example.track.vessel1.history
label: TRK-0413 history

shape:
  geometry:
    planar:
      line:
        points:
          - { longitude: 12.1310, latitude: 54.2120 }
          - { longitude: 12.1245, latitude: 54.2081 }
          - { longitude: 12.1174, latitude: 54.2046 }
          - { longitude: 12.1103, latitude: 54.2015 }
      line_style: LineStyleSolid

---
# Where the track goes next.
id: example.track.vessel1.prediction
label: TRK-0413 prediction

shape:
  geometry:
    planar:
      line:
        points:
          - { longitude: 12.1103, latitude: 54.2015 }
          - { longitude: 12.1032, latitude: 54.1984 }
          - { longitude: 12.0961, latitude: 54.1953 }
      line_style: LineStyleDashed