<?xml version="1.0" encoding="UTF-8"?>
<rois:HRIComponentProfile
	gml:id="component_profile"
	xmlns:rois="http://www.omg.org/spec/RoIS/20240801"
    xmlns:ns2="http://www.w3.org/1999/xlink"
    xmlns:gml="http://www.opengis.net/gml/3.2"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">

    <gml:identifier codeSpace="urn:ietf:rfc:2141">urn:x-rois:def:component:OMG::Navigation</gml:identifier>
    <gml:name>navigation</gml:name>

    <!-- ===== Sub Component Profiles ===== -->
    <rois:SubComponentProfile>urn:x-rois:def:Component:OMG::RoISCommon</rois:SubComponentProfile>

    <!-- ===== Event Messages ===== -->
    <rois:MessageProfile rois:name="reached_target" xsi:type="rois:EventMessageProfileType">
        <rois:Results rois:description="reached target destination" rois:name="target">
            <rois:data_type_ref rois:code="string"/>
        </rois:Results>
        <rois:Results rois:description="if it is final destination point" rois:name="is_final_target">
            <rois:data_type_ref rois:code="bool"/>
        </rois:Results>
    </rois:MessageProfile>

    <!-- ===== Parameter Profiles ===== -->
    <rois:ParameterProfile rois:description="navigation target positions" 
                           rois:name="target_positions">
        <rois:data_type_ref rois:code="string[]"/>
    </rois:ParameterProfile>

    <rois:ParameterProfile rois:default_value="0"
                           rois:description="intended time limit to complete navigation"
                           rois:name="time_limit">
        <rois:data_type_ref rois:code="int"/>
    </rois:ParameterProfile>

    <rois:ParameterProfile rois:default_value="time"
                           rois:description="routing policy: 'time' priority or 'distance' priority"
                           rois:name="routing_policy">
        <rois:data_type_ref rois:code="string"/>
    </rois:ParameterProfile>

</rois:HRIComponentProfile>
