# A vessel and everything bolted to it.
#
# The mast in camera-tower.yaml is a pose tree that never moves. This is the
# same idea on something that does: one hull, its outline, two fixed cameras
# and a navigation radar, all declared as offsets in meters from the ship.
#
# The hull carries the only latitude and longitude in the file, and an
# orientation. Because the children hang off it by pose, the engine rotates
# their offsets by the ship's heading before resolving them - so the bow camera
# stays at the bow when the ship turns, and its coverage cone swings with it.
# A driver that receives a new position and heading pushes two components on
# one entity, and the whole assembly follows.
#
# `assembly` is what ties the parts together for a UI: the hull points at its
# outline, each part points back at the hull as its parent, so an operator can
# select the ship and see its sensors, or select a sensor and know whose it is.
#
# push it with:  hydris ec apply ship.yaml

---
# The platform itself.
id: example.ship.gannet
label: MV GANNET

geo:
  latitude: 54.2050
  longitude: 12.0980
  altitude: 0

# heading 030, as a quaternion about the up axis. bearings are clockwise from
# north while quaternion yaw is counter-clockwise, so the z term is negative:
# z = sin(-heading/2), w = cos(-heading/2).
# everything below is positioned relative to this
orientation:
  orientation: { x: 0, y: 0, z: -0.2588, w: 0.9659 }

kinematics:
  velocityEnu:
    east: 1.5
    north: 2.6

# overall extent, used for scale and collision-ish reasoning
bounds:
  width_m: 32
  height_m: 200
  depth_m: 12

# our platform, so it is an asset with a state. the sensors below name it as
# their device parent, which puts the whole vessel in the device tree
device:
  class: vessel
  category: Sea
  state: DeviceStateActive

# the parts of this assembly that draw its outline
assembly:
  outline:
    - example.ship.gannet.hull

classification:
  taxonomy:
    - confidence:
        confidence: 1.0
      vehicle:
        sea: {}

symbol:
  milStd2525C: SFSPXM----

routing:
  channels:
    - {}

---
# The hull outline, drawn in the ship's own frame: north is forward, east is
# starboard, in meters. A 200 m vessel with a pointed bow at +100.
# The engine converts this to WGS84 and re-converts it whenever the ship moves.
id: example.ship.gannet.hull

local_shape:
  relative_to: example.ship.gannet
  geometry:
    polygon:
      outer:
        points:
          - { east_m: 0, north_m: 100 }
          - { east_m: 12, north_m: 85 }
          - { east_m: 16, north_m: 50 }
          - { east_m: 16, north_m: -70 }
          - { east_m: 14, north_m: -95 }
          - { east_m: -14, north_m: -95 }
          - { east_m: -16, north_m: -70 }
          - { east_m: -16, north_m: 50 }
          - { east_m: -12, north_m: 85 }
          - { east_m: 0, north_m: 100 }

routing:
  channels:
    - {}

---
# Forward-looking camera, 90 m ahead of the ship's origin and 15 m up.
# Fixed, not PTZ: no focal point, so its coverage cone points wherever the
# hull is pointing.
id: example.ship.gannet.cam.bow
label: Bow Camera

assembly:
  parent: example.ship.gannet

# `assembly.parent` is the physical grouping for an operator, `device.parent`
# is the tree the engine and the configuration UI walk. Here they agree,
# but they answer different questions and often do not.
device:
  parent: example.ship.gannet
  class: camera
  state: DeviceStateActive

pose:
  parent: example.ship.gannet
  cartesian:
    east_m: 0
    north_m: 90
    up_m: 15

camera:
  fov: 60
  range_max: 5000
  streams:
    - label: Bow
      url: rtsp://gannet.example.org/bow
      protocol: MediaStreamProtocolRtsp
      role: MediaStreamRoleMain
      codec: H264

classification:
  taxonomy:
    - confidence:
        confidence: 1.0
      equipment:
        sensor:
          electro_optical: {}

symbol:
  milStd2525C: SFGPE-----

routing:
  channels:
    - {}

---
# Aft-facing camera, wider and shorter ranged.
id: example.ship.gannet.cam.stern
label: Stern Camera

assembly:
  parent: example.ship.gannet

device:
  parent: example.ship.gannet
  class: camera
  state: DeviceStateActive

pose:
  parent: example.ship.gannet
  cartesian:
    east_m: 0
    north_m: -85
    up_m: 10

camera:
  fov: 90
  range_max: 3000
  streams:
    - label: Stern
      url: rtsp://gannet.example.org/stern
      protocol: MediaStreamProtocolRtsp
      role: MediaStreamRoleMain
      codec: H264

classification:
  taxonomy:
    - confidence:
        confidence: 1.0
      equipment:
        sensor:
          electro_optical: {}

symbol:
  milStd2525C: SFGPE-----

routing:
  channels:
    - {}

---
# Navigation radar on the mast, 25 m above the waterline.
# Unlike a camera, its coverage is not derived from a field of view - it points
# at shape entities that describe it, which is how any sensor with a coverage
# footprint the engine cannot guess declares one.
id: example.ship.gannet.radar
label: Navigation Radar

assembly:
  parent: example.ship.gannet

device:
  parent: example.ship.gannet
  class: radar
  state: DeviceStateActive

pose:
  parent: example.ship.gannet
  cartesian:
    east_m: 0
    north_m: 0
    up_m: 25

sensor:
  coverage:
    - example.ship.gannet.radar.coverage

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

symbol:
  milStd2525C: SFGPESR---

routing:
  channels:
    - {}

---
# 20 km all-round radar coverage, again in the ship's frame so it travels
# with the hull.
id: example.ship.gannet.radar.coverage

local_shape:
  relative_to: example.ship.gannet
  geometry:
    circle:
      center: { east_m: 0, north_m: 0 }
      radius_m: 20000
  extrusion:
    fill:
      color: "#38bdf8"
      opacity: 0.06

routing:
  channels:
    - {}