diff --git a/docs/__init__.py b/docs/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..08fde0932a387231eedc8536ec3ad6752eed2c9a
--- /dev/null
+++ b/docs/__init__.py
@@ -0,0 +1,9 @@
+from . import api
+import os
+
+
+__all__ = [
+ os.path.splitext(os.path.basename(x))[0]
+ for x in os.listdir(os.path.dirname(__file__))
+ if x.endswith(".py") and x != "__init__.py"
+]
diff --git a/docs/generate_swagger.py b/docs/generate_swagger.py
new file mode 100644
index 0000000000000000000000000000000000000000..e2c9ab23b544b7e4cca36a79f0deff7d59986bd7
--- /dev/null
+++ b/docs/generate_swagger.py
@@ -0,0 +1,380 @@
+"""
+Generate swagger to view models/schemas.
+Command:
+1/ python3 generate_swagger.py
+2/ Go to http://127.0.0.1:5000/soardocs
+WARNING: API Endpoints are NOT functional. Purely for easy-reading.
+"""
+# from .formats.autonomy_configuration import autonomy_configuration_schema
+from flask import Flask, request
+from flasgger import Swagger, LazyString
+from flask_restx import Api, fields, Resource
+
+app = Flask(__name__)
+
+# app.json_encoder = LazyJSONEncoder
+
+api = Api(app)
+swagger_template = dict(
+ info={
+ "title": LazyString(lambda: "SoAR Backbone Message Formats"),
+ "version": LazyString(lambda: "0.1"),
+ "description": LazyString(
+ lambda: "Backbone Message Format component for the Squad of Autonomous Robots (SoAR) message definitions."
+ ),
+ },
+ host=LazyString(lambda: request.host),
+)
+message_header_schema = api.model(
+ "MessageHeader",
+ {
+ "timestamp": fields.DateTime(
+ required=True,
+ description="Timestamp of message",
+ example="2022-11-16T00:00:00Z",
+ ),
+ "source": fields.String(
+ required=True,
+ description="Where is this message from",
+ example="autonomy_engine",
+ ),
+ "destination": fields.String(
+ required=True,
+ description="What is the destination of this message",
+ example="ah-1",
+ ),
+ "encoded": fields.Boolean(
+ required=True,
+ description="Indicate that message raw (encoded) or decoded. "
+ + "Options: encoded=True, decoded=False",
+ example=False,
+ ),
+ "type": fields.String(
+ required=True,
+ description="Type of message",
+ example="platform_status",
+ ),
+ # "payload":# TODO: schema applicable changes according to "type"
+ },
+)
+
+platform_schema = api.model(
+ "PlatformSchema",
+ {
+ "platform_ID": fields.Integer(
+ required=True,
+ description="unique identifier for platform",
+ example="ah-1",
+ ),
+ "serial": fields.Integer(
+ required=True,
+ description="platform serial number",
+ example="ah-1",
+ ),
+ "model": fields.Integer(
+ required=True,
+ description="platform serial number",
+ example="ah-1",
+ ),
+ "active": fields.Boolean(
+ required=False,
+ description="platform in mission",
+ example=True,
+ ),
+ },
+)
+
+squad_metadata_schema = api.model(
+ "SquadMetadataSchema",
+ {
+ "squad_ID": fields.Integer(
+ required=True,
+ description="platform serial number",
+ example="ah-1",
+ ),
+ "no_of_platforms": fields.Integer(
+ required=True,
+ description="number of platform serial number",
+ example="ah-1",
+ ),
+ "platforms": fields.List(
+ fields.Nested(platform_schema),
+ required=True,
+ description="Metadata pf each platform",
+ ),
+ "squad_mission_type": fields.String(
+ required=True,
+ description="Survey or Detail",
+ example="survey",
+ ),
+ "squad_state": fields.Boolean(
+ required=True,
+ description="True if given Squad is executing mission type "
+ + "according to the Autonomy Engine plan",
+ example=False,
+ ),
+ },
+)
+
+constraints_schema = api.model(
+ "ConstraintsSchema",
+ # TODO: Should this be per platform instead of squad?
+ {
+ "min_altitude": fields.Float(
+ required=True,
+ description="Minimum altitude set for squad.",
+ example=15.2,
+ ),
+ "min_velocity": fields.Float(
+ required=True,
+ description="Minimum velocity set for squad.",
+ example=0.1,
+ ),
+ "max_velocity": fields.Float(
+ required=True,
+ description="Maximum altitude set for squad.",
+ example=0.9,
+ ),
+ },
+)
+
+environment_config_schema = api.model( # TODO: Discuss how regions are defined
+ "EnvironmentConfig",
+ {
+ "region_of_interest": fields.String(),
+ "exclusion_zone": fields.String(),
+ },
+)
+# Main Autonomy Configuration Schema
+autonomy_configuration_schema = api.model(
+ "ConfigurationSchema",
+ {
+ "message": fields.Nested(
+ message_header_schema,
+ required=True,
+ description="Message header",
+ ),
+ "ID": fields.Integer(
+ required=True,
+ description="Unique identifier tagged to version of this"
+ + " configuration plan",
+ example=3,
+ ),
+ "time": fields.String(
+ required=True,
+ description="",
+ example="",
+ ),
+ "squads": fields.Nested(
+ squad_metadata_schema,
+ required=False,
+ description="Details of each squad",
+ ),
+ "environment": fields.Nested(
+ environment_config_schema,
+ required=False,
+ description="Region of interest and exclusion zone",
+ ),
+ },
+)
+
+gps_schema = api.model(
+ "GPS",
+ {
+ "gps_source": fields.Float( # TODO: TBD with partners
+ required=False,
+ description="Source of gps position. E.g. Beacon",
+ 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 <insert units>",
+ example="",
+ ),
+ "longitude": fields.Float(
+ required=False,
+ description="Longitude in <insert units>",
+ example="",
+ ),
+ "depth": fields.Float(
+ required=False,
+ description="",
+ example="",
+ ),
+ "gps_fix_seconds_ago": fields.Float(
+ required=False,
+ description="",
+ example="",
+ ),
+ },
+)
+
+platform_status_message_schema = api.model(
+ "PlatformStatusMessage",
+ {
+ "message": fields.Nested(
+ message_header_schema,
+ required=True,
+ description="Message header",
+ ),
+ "platform": fields.Nested(platform_schema),
+ "time": fields.String(
+ required=True,
+ description="Timestamp of message",
+ example="2022-11-16T00:00:00Z",
+ ),
+ "version": fields.Integer(
+ required=False,
+ description="", # we can track the version of the AE plan?
+ example="",
+ ),
+ "platform_state": fields.String(
+ # TODO: Define dictionary with potential STATES of each platform
+ required=True,
+ description="Current state executed by platform. E.g. "
+ + "STOP, IDLE, ABORT.",
+ example="IDLE",
+ ),
+ "mission_track_number": fields.Integer(
+ required=False,
+ description=(
+ "Track number - stage in mission (e.g. "
+ + "4 --> Waypoint 3 to Waypoint 4)"
+ ),
+ example=4,
+ ),
+ "range_to_go": fields.Float(
+ required=False,
+ description="Estimated distance to reach next waypoint",
+ example=124.3,
+ ),
+ "c2_health_status": fields.String(
+ required=False,
+ description="Health status extracted by respective platform's C2 "
+ + "if any diagnosis available checks on sensors",
+ example="Warning",
+ ),
+ "gps_data": fields.Nested(gps_schema),
+ "battery_voltage": fields.Float(
+ required=True,
+ description="Volts",
+ example=23.0,
+ ),
+ "battery_current": fields.Float(
+ required=False,
+ description="Amps",
+ example=1.2,
+ ),
+ "battery_current_per_hour": fields.Float(
+ required=False,
+ description="Amp-Hours",
+ example=1.2,
+ ),
+ "battery_wattage": fields.Float(
+ required=False,
+ description="Watts",
+ example=23.0,
+ ),
+ "battery_wattage_per_hour": fields.Float(
+ required=False,
+ description="Watt-Hours",
+ example=23.0,
+ ),
+ },
+)
+
+swagger_config = {
+ "headers": [],
+ "specs": [
+ {
+ "endpoint": "swagger",
+ "route": "/swagger.json",
+ "rule_filter": lambda rule: True,
+ "model_filter": lambda tag: True,
+ }
+ ],
+ "static_url_path": "/flasgger_static",
+ "swagger_ui": True,
+ "specs_route": "/soardocs/",
+ "swagger": "2.0",
+ "basePath": "/soar",
+ "info": {
+ "title": "soar",
+ "version": "0.1",
+ "description": "SoAR message schemas",
+ },
+ "produces": ["application/json"],
+ "consumes": ["application/json"],
+}
+swagger = Swagger(app, template=swagger_template, config=swagger_config)
+
+ns1 = api.namespace("message", description="Message Header Format")
+
+
+@ns1.route("/header")
+class MessageHeader(Resource):
+ @ns1.response(200, "Success", message_header_schema)
+ def get(self):
+ pass
+
+
+ns2 = api.namespace("platform_status", description="Platform Status Message Format")
+
+
+@ns2.route("")
+class PlatformStatus(Resource):
+ @ns2.response(200, "Success", platform_status_message_schema)
+ def get(self):
+ pass
+
+
+ns3 = api.namespace(
+ "autonomy_configuration", description="Autonomy Configuration Format"
+)
+
+
+@ns3.route("")
+class AutonomyConfiguration(Resource):
+ @ns3.response(200, "Success", autonomy_configuration_schema)
+ def get(self):
+ pass
+
+
+# @api.route('/mission-plan/<str:platform_type')
+# @api.doc(params={"platform_type": "The type of platform of the mission plan to target."})
+ns4 = api.namespace("mission_plan", description="Mission Plan Format per Platform")
+
+
+@ns4.route("/ecosub")
+class MissionPlanEcosub(Resource):
+ @ns4.response(200, "Success", message_header_schema)
+ def get(self):
+ pass
+
+
+@ns4.route("/hydrosurv")
+class MissionPlanHydrosurv(Resource):
+ @ns4.response(200, "Success", message_header_schema)
+ def get(self):
+ pass
+
+
+@ns4.route("/autosubhover")
+class MissionPlanAutosubHover(Resource):
+ @ns4.response(200, "Success", message_header_schema)
+ def get(self):
+ pass
+
+
+if __name__ == "__main__":
+ app.run()