Merge branch '7-message-formats-initial' into 'master'

Create initial message schemas

See merge request !2

formats/__init__.py

+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"
+]
+
+message_header = {
+    "type": "object",
+    "discriminator": {
+        "propertyName": "message_type",
+    },
+    "properties": {
+        "message_ID": {
+            "type": "string",
+            "description": "An identifier for the type of message received.",
+            "example": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+        },
+        "timestamp": {
+            "type": "string",
+            "format": "date-time",
+            "description": "Timestamp of message",
+            "example": "2022-11-16T00:00:00Z",
+        },
+        "version": {
+            "type": "number",
+            "format": "float",
+            "description": "Version of comms backbone message format protocol",
+            "example": 2.0,
+        },
+        "source": {
+            "type": "string",
+            "description": "The sender; Where is this message from",
+            "example": "autonomy_engine",
+        },
+        "destination": {
+            "type": "string",
+            "description": "Publisher topic; What is the destination"
+            + " of this message",
+            "example": "ah1",
+        },
+        "encoded": {
+            "type": "boolean",
+            "description": "Indicate that message raw (encoded) or decoded. "
+            + "Options: encoded=True, decoded=False",
+            "example": False,
+        },
+        "delivery_type": {
+            "type": "string",
+            "description": "To publish or broadcast this message.",
+            "enum": ["broadcast", "publish"],
+            "example": "publish",
+            "default": "publish",
+        },
+    },
+}

formats/acknowledgement.py

+"""
+    schemas: Acknowledgement status sent by the surface platform to report
+    receipt of message.
+"""
+acknowledgement_schema = {
+    "type": "object",
+    "properties": {
+        "message_type": {
+            "type": "string",
+            "description": "Type of message",
+            "example": "acknowledgement",
+        },
+        "acknowledged_message_ID": {
+            "type": "string",
+            "description": "Identifier of message received and executed with "
+            + "success for mission plans sent by the Autonomy Engine.",
+            "example": "02125022255-7bc8-11ed-a1eb-0242ac999999",
+        },
+        "status": {
+            "type": "string",
+            "enum": ["c2_received", "operator_approved_and_sent", "executed"],
+            "description": "Highest level of acknowledgement. I.e."
+            + " `c2_received`: Received by C2, `operator_approved_and_sent`"
+            + " : Approved by operator and sent from C2->Platform,"
+            + " `executed`: Executed by platform",
+            "example": "executed by platform",
+        },
+    },
+    "required": ["message_type", "acknowledged_message_ID", "status"],
+}

formats/mission_plan.py

+"""
+    schemas: Mission plan (un-compiled) generated by the Autonomy Engine
+    sent to the respective platform's C2 to compile into a platform-specific
+    mission plan.
+"""
+
+action_schema = {
+    "type": "object",
+    "properties": {
+        "action": {
+            "type": "string",
+            "description": "Autonomy Engine's action from `move`, `payload`,"
+            + " `dive`, `send_hits`, `scanline`, `scanpoint`.",
+            "example": "move",
+        },
+        "flight_style": {
+            "type": "string",
+            "description": "Platform-specific modes/flight styles to perform"
+            + " next action",
+            "example": "orbit",
+        },
+        "latitude_waypoint": {
+            "type": "number",
+            "format": "float",
+            "description": "Next waypoint, x-coordinate",
+            "example": -4.187143188645706,
+        },
+        "longitude_waypoint": {
+            "type": "number",
+            "format": "float",
+            "description": "Next waypoint, y-coordinate",
+            "example": 50.37072283932642,
+        },
+        "altitude": {
+            "type": "number",
+            "format": "float",
+            "description": "Altitude of next action",
+            "example": 15.0,
+        },
+        "depth": {
+            "type": "number",
+            "format": "float",
+            "description": "Depth of next action",
+            "example": 15.0,
+        },
+        "activate_payload": {
+            "type": "boolean",
+            "description": "To activate/deactivate sensor for Autosub "
+            + "Hover-1 --> `MBES` sensor and for EcoSUB --> `Sidescan`",
+            "example": True,
+        },
+        "send_environmental_data": {
+            "type": "boolean",
+            "description": "To trigger the platform to send list of"
+            + "  observations if any found",
+            "example": False,
+        },
+    },
+    "required": [
+        "latitude_waypoint",
+        "longitude_waypoint",
+    ],
+}
+
+mission_plan_schema = {
+    "type": "object",
+    "properties": {
+        "message_type": {
+            "type": "string",
+            "description": "Type of message",
+            "example": "mission_plan",
+        },
+        "autonomy_engine_plan_ID": {
+            "type": "integer",
+            "description": "Unique identifier for this plan"
+            + "generated by the Autonomy Engine",
+            "example": 3,
+        },
+        "platform_ID": {
+            "type": "string",
+            "description": "Unique identifier for this platform",
+            "example": "reav-x-1",
+        },
+        "plan": {
+            "type": "array",
+            "items": action_schema,
+        },
+    },
+    "required": [
+        "message_type",
+        "autonomy_engine_plan_ID",
+        "platform_ID",
+        "plan",
+    ],
+}

formats/observation.py

+"""
+    schema: Observation Message sent by platforms when points of
+    interest are found.
+"""
+
+hits_schema = {
+    "type": "object",
+    "properties": {
+        "latitude": {
+            "type": "number",
+            "format": "float",
+            "description": "Identified x-coordinate of point of interest",
+            "example": 178.2,
+        },
+        "longitude": {
+            "type": "number",
+            "format": "float",
+            "description": "Identified y-coordinate of point of interest",
+            "example": -10.122,
+        },
+        "quality_of_point": {
+            "type": "number",
+            "format": "float",
+            "description": "Quality/strength of points from features of"
+            + " interest identified by platform.",  # TODO: DEFINE FORMAT.
+            "example": 0.98,
+        },
+    },
+    "required": ["latitude", "longitude"],
+}
+
+observation_schema = {
+    "type": "object",
+    "properties": {
+        "message_type": {
+            "type": "string",
+            "description": "Type of message",
+            "example": "observation",
+        },
+        "platform_ID": {
+            "type": "string",
+            "description": "Unique identifier for this platform",
+            "example": "reav-x-1",
+        },
+        "points_of_interest": {
+            "type": "array",
+            "items": hits_schema,
+            "description": "Points from features of interest identified by"
+            + " platform if any found.",  # TODO: DEFINE FORMAT.
+        },
+        "region_surveyed": {
+            "nullable": True,
+            "description": "Region surveyed by given platform."
+            + " GEOJSON",  # TODO: DEFINE FORMAT.
+            "example": "",
+        },
+        "additional_data": {
+            "description": "Placeholder field for any additional data",
+            "example": {"sensor_payload": False},
+        },
+    },
+    "required": ["message_type", "platform_ID"],
+}

formats/planning_configuration.py

+"""
+    schemas: configuration sent to Autonomy Engine (i.e. during an emergency,
+    if a platform needs to be removed from the mission planning)
+"""
+
+emergency_schema = {
+    "type": "object",
+    "properties": {
+        "safe_command": {
+            "type": "string",
+            "enum": ["go_home", "abort_now", "stop_mission"],
+            "description": "Command/Action that is native to respective"
+            + " partner's platform/C2",
+            "example": "go_home",
+        },
+        "latitude_waypoint": {
+            "type": "number",
+            "format": "float",
+            "description": "X-coordinate safe place for respective platform",
+            "example": -7.432,
+        },
+        "longitude_waypoint": {
+            "type": "number",
+            "format": "float",
+            "description": "Y-coordinate safe place for respective platform",
+            "example": 50.365,
+        },
+        "target_depth": {
+            "type": "number",
+            "format": "float",
+            "description": "Z-coordinate safe place for respective platform"
+            + " . If platform to NOT stay at depth, key in `0.0`",
+            "example": 10,
+        },
+        "additional_data": {
+            "description": "Any addition fields/data to be added here",
+            "example": {},
+        },
+    },
+    "required": ["latitude_waypoint", "longitude_waypoint", "target_depth"],
+}
+
+
+platform_schema = {
+    "type": "object",
+    "properties": {
+        "platform_ID": {
+            "type": "string",
+            "description": "Unique identifier for this platform",
+            "example": "reav-x-1",
+        },
+        "serial": {
+            "type": "string",
+            "description": "platform serial number",
+            "example": "reav-60",
+        },
+        "model": {
+            "type": "string",
+            "example": "reav",
+        },
+        "emergency": emergency_schema,
+        "min_altitude": {
+            "type": "number",
+            "format": "float",
+            "description": "Minimum altitude set for squad.",
+            "example": 15.2,
+        },
+        "min_velocity": {
+            "type": "number",
+            "format": "float",
+            "description": "Minimum velocity set for squad.",
+            "example": 0.1,
+        },
+        "max_velocity": {
+            "type": "number",
+            "format": "float",
+            "description": "Maximum altitude set for squad.",
+            "example": 0.9,
+        },
+        "additional_specs": {
+            "description": "Any addition fields/data to be added here",
+            "example": {"swath_width": 10.0, "scan_type": "DVL"},
+        },
+    },
+    "required": [
+        "platform_ID",
+        "serial",
+        "model",
+        "emergency",
+        "min_altitude",
+        "min_velocity",
+        "max_velocity",
+    ],
+}
+
+region_schema = {
+    "type": "object",
+    "properties": {
+        "geometry_coordinates": {
+            "type": "array",  # TODO: Check if config defn is right.
+            "example": [
+                [
+                    [-4.187143188645706, 50.37072283932642],
+                    [-4.202697005964865, 50.368816892405874],
+                    [-4.203156724702808, 50.365640144076906],
+                    [-4.19449868846155, 50.362267670845654],
+                ]
+            ],
+        },
+    },
+    "description": "Using GEOJSON, exact 4-point region (rectangle shaped)",
+}
+
+squad_metadata_schema = {
+    "type": "object",
+    "properties": {
+        "squad_ID": {
+            "type": "integer",
+            "description": "Identifier of given squad",
+            "example": 23,
+        },
+        "no_of_platforms": {
+            "type": "integer",
+            "description": "Number of platforms",
+            "example": 3,
+        },
+        "platforms": {
+            "type": "array",
+            "items": platform_schema,
+            "description": "Squad consists of these platforms",
+        },
+        "squad_mission_type": {
+            "type": "string",
+            "enum": ["tracking", "survey", "inspection"],
+            "description": "Mission of given squad: `tracking`, `survey`"
+            + ", `inspection`",
+            "example": "survey",
+        },
+        "squad_state": {
+            "type": "string",
+            "description": "In execution, Waiting.. <define further>",
+            "example": False,
+        },
+        "region_of_interest": region_schema,
+    },
+    "required": [
+        "squad_ID",
+        "no_of_platforms",
+        "platforms",
+        "squad_mission_type",
+        "squad_state",
+    ],
+}
+
+planning_configuration_schema = {
+    "type": "object",
+    "properties": {
+        "message_type": {
+            "type": "string",
+            "description": "Type of message",
+            "example": "planning_configuration",
+        },
+        "planning_config_ID": {
+            "type": "integer",
+            "description": "Unique identifier tagged to version of this"
+            + " configuration plan",
+            "example": 3,
+        },
+        "exclusion_zones": {
+            "type": "array",
+            "items": region_schema,
+            "description": "Exclusion zones for all platforms",
+        },
+        "squads": {
+            "type": "array",
+            "items": squad_metadata_schema,
+        },
+    },
+    "required": [
+        "message_type",
+        "planning_config_ID",
+        "squads",
+        "exclusion_zones",
+    ],
+}

formats/platform_status.py

+"""
+    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": {
+            "description": "Any addition fields/data to be added here",
+            "example": {"payload": [1.2, 434]},
+        },
+    },
+}
+
+platform_status_schema = {
+    "type": "object",
+    "properties": {
+        "message_type": {
+            "type": "string",
+            "description": "Type of message",
+            "example": "platform_status",
+        },
+        "platform_ID": {
+            "type": "string",
+            "description": "Unique identifier for this platform",
+            "example": "reav-x-1",
+        },
+        "status_source": {
+            "type": "string",
+            "enum": ["usbl", "onboard_platform"],
+            "description": "Indicate if this status message is from the"
+            + " platform or USBL",
+            "example": "usbl",
+        },
+        "transmission_mode": {
+            "type": "string",
+            "enum": ["acoustics", "iridium", "wifi", "starlink"],
+            "description": "Mode in which status message was transmitted"
+            + " when on the surface (e.g. iridium/wifi) or underwater"
+            + " (e.g. acoustics)",
+            "example": "wifi",
+        },
+        "platform_timestamp": {
+            "type": "string",
+            "format": "date-time",
+            "description": "Timestamp for onboard platform status message",
+            "example": "2022-12-21T00:00:00Z",
+        },
+        "platform_state": {
+            "type": "string",
+            "description": "Current state executed by platform. E.g. "
+            + "STOP, IDLE, ABORT.",
+            "example": "ABORT",
+        },  # TODO: Define enum with potential STATES of each platform
+        "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",
+            "format": "float",
+            "description": "Latitude in decimal degrees.",
+            "example": 178.2,
+        },
+        "longitude": {
+            "type": "number",
+            "format": "float",
+            "description": "Longitude in decimal degrees.",
+            "example": -10.122,
+        },
+        "depth": {
+            "type": "number",
+            "format": "float",
+            "description": "Target depth in metres",
+            "example": 50,
+            "default": 0,
+        },
+        "altitude": {
+            "type": "number",
+            "format": "float",
+            "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",
+            "format": "float",
+            "description": "Estimated distance to reach next waypoint",
+            "example": 124.3,
+        },
+        "speed_over_ground": {
+            "type": "number",
+            "format": "float",
+            "description": "",  # TODO: Add description
+            "example": 124.3,
+        },
+        "water_current_velocity": {
+            "type": "number",
+            "format": "float",
+            "description": "",  # TODO: Add description
+            "example": 124.3,
+        },
+        "thrust_applied": {
+            "type": "number",
+            "format": "float",
+            "description": "",  # TODO: Add description
+            "example": 124.3,
+        },
+        "heading": {
+            "type": "number",
+            "format": "float",
+            "description": "Angular distance relative to north, usually 000°"
+            + " at north, clockwise through 359°, in degrees",
+            "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",
+            "format": "float",
+            "description": "Localisation error at last USBL update.",
+            "example": 0.000129,
+        },
+        "usbl_fix_seconds_ago": {
+            "type": "number",
+            "format": "float",
+            "description": "USBL Fix received x second ago.",
+            "example": 10.0,
+        },
+        "battery_remaining_capacity": {
+            "type": "number",
+            "format": "float",
+            "description": "Battery remaining % provided by respective C2",
+            "example": 80.2,
+        },
+        "current_pitch": {
+            "type": "number",
+            "format": "float",
+            "description": "Current pitch of platform",
+            "example": -4.0,
+        },
+        "sensor_config": sensor_schema,
+    },
+    "required": [
+        "message_type",
+        "platform_ID",
+        "status_source",
+        "platform_timestamp",
+        "latitude",
+        "longitude",
+    ],
+}

generate_schema_config.py

+from formats import message_header
+from formats.mission_plan import mission_plan_schema
+from formats.observation import observation_schema
+from formats.planning_configuration import planning_configuration_schema
+from formats.platform_status import platform_status_schema
+from formats.acknowledgement import acknowledgement_schema
+
+from flasgger import Swagger
+from flask import Flask
+
+app = Flask(__name__)
+
+
+swagger_config = {
+    "openapi": "3.0.2",
+    "swagger_ui": True,
+    "specs_route": "/",
+    "info": {
+        "title": "SoAR Backbone Message Formats",
+        "version": "1.0",
+        "description": "SoAR message protocol in schemas",
+    },
+    "specs": [
+        {
+            "endpoint": "swagger",
+            "route": "/soar_protocol.json",
+        }
+    ],
+    "paths": {},
+    "components": {
+        "schemas": {
+            "MESSAGE": {
+                "type": "object",
+                "description": "Full message definition with"
+                + " message-metadata in `header` and different"
+                + " message type schemas under `payload`",
+                "properties": {
+                    "header": {
+                        "$ref": "#/components/schemas/header",
+                    },
+                    "payload": {"$ref": "#/components/schemas/payload"},
+                },
+                "required": ["header", "payload"],
+            },
+            "payload": {
+                "discriminator": {
+                    "propertyName": "message_type",
+                    "mapping": {
+                        "mission_plan": "#/components/schemas/mission_plan",
+                        "observation": "#/components/schemas/observation",
+                        "planning_configuration": "#/components/schemas/"
+                        + "planning_configuration",
+                        "platform_status": "#/components/schemas/platform_status",
+                        "acknowledgement": "#/components/schemas/acknowledgement",
+                    },
+                },
+                "oneOf": [
+                    {"$ref": "#/components/schemas/acknowledgement"},
+                    {"$ref": "#/components/schemas/mission_plan"},
+                    {"$ref": "#/components/schemas/observation"},
+                    {"$ref": "#/components/schemas/planning_configuration"},
+                    {"$ref": "#/components/schemas/platform_status"},
+                ],
+            },
+            "header": message_header,
+            "mission_plan": mission_plan_schema,
+            "observation": observation_schema,
+            "planning_configuration": planning_configuration_schema,
+            "platform_status": platform_status_schema,
+            "acknowledgement": acknowledgement_schema,
+        }
+    },
+}
+
+swag = Swagger(app, config=swagger_config, merge=True)
+
+
+if __name__ == "__main__":
+    app.run(debug=True)

project/soar/SOAR_README.md

+# SoAR Project
+Squad of Adaptive Robots Project
+
+-----------------------------------
+## Message Data Flow Summary
+| Partner               | Message Type             | Source                | Destination                                | Via Comms Backbone? | Contains Serialized Vehicle-Specific File? | Comment                                                                                  |
+| --------------------- | ------------------------ | --------------------- | ------------------------------------------ | ------------------- | ------------------------------------------ | ---------------------------------------------------------------------------------------- |
+| Hydrosurv (reav)      | platform status-compiled | Reav-60               | Hydrosurv Adapter                          | No                  | Yes                                        | N/A                                                                                      |
+| Hydrosurv (reav)      | platform status          | Hydrosurv Adapter     | Autonomy Engine                            | Yes                 | No                                         | N/A                                                                                      |
+| Hydrosurv (reav)      | mission plan             | Autonomy Engine       | Hydrosurv Adapter                          | Yes                 | No                                         | N/A                                                                                      |
+| Hydrosurv (reav)      | mission plan-compiled    | Hydrosurv Adapter     | Reav-60                                    | No                  | Yes                                        | N/A                                                                                      |
+| Hydrosurv (reav)      | acknowledgement          | Hydrosurv Adapter     | Comms Backbone (Audit)                     | Yes                 | No                                         | When hydrosurv adapter has (a) Received, (b) Sent Plan to Reav, and (c) Executed by Reav |
+| RHU (autonomy engine) | platform status          | C2’s Hydrosurv/Ecosub | Autonomy Engine                            | Yes                 | No                                         | N/A                                                                                      |
+| RHU (autonomy engine) | mission plan             | Autonomy Engine       | C2’s Hydrosurv/Ecosub                      | Yes                 | No                                         | N/A                                                                                      |
+| RHU (autonomy engine) | planning configuration   | GUI                   | Autonomy Engine                            | Yes                 | No                                         | N/A                                                                                      |
+| RHU (autonomy engine) | observation              | Ecosub C2             | Autonomy Engine                            | Yes                 | No                                         | N/A                                                                                      |
+| RHU (autonomy engine) | survey progress          | Ecosub/AH1 C2         | Autonomy Engine                            | TBD                 | TBD                                        | N/A                                                                                      |
+| RHU (autonomy engine) | scanline                 | TBD                   | TBD                                        | TBD                 | TBD                                        | N/A                                                                                      |
+| RHU (autonomy engine) | emergency                | GUI                   | TBD – all                                  | TBD                 | TBD                                        | TBD – all platforms pre-compiled ABORT via Black box                                     |
+| Planet Ocean (ecosub) | platform status-compiled | Ecosub                | Black Box TBC                              | No                  | Yes                                        | Via Hermes + Router                                                                      |
+| Planet Ocean (ecosub) | platform status-compiled | Black Box TBC         | Ecosub C2                                  | Yes                 | Yes                                        | N/A                                                                                      |
+| Planet Ocean (ecosub) | platform status          | Ecosub C2             | Autonomy Engine                            | Yes                 | No                                         | N/A                                                                                      |
+| Planet Ocean (ecosub) | mission plan             | Autonomy Engine       | Ecosub C2                                  | Yes                 | No                                         | N/A                                                                                      |
+| Planet Ocean (ecosub) | mission plan             | Ecosub C2             | Black Box TBC                              | Yes                 | Yes                                        | N/A                                                                                      |
+| Planet Ocean (ecosub) | mission plan-compiled    | Black Box TBC         | Ecosub                                     | No                  | Yes                                        | Via Hermes + Router                                                                      |
+| Planet Ocean (ecosub) | observation-compiled     | Ecosub                | Black Box TBC                              | No                  | Yes                                        | Via Hermes + Router                                                                      |
+| Planet Ocean (ecosub) | observation-compiled     | Black Box TBC         | Ecosub C2                                  | Yes                 | Yes                                        | N/A                                                                                      |
+| Planet Ocean (ecosub) | observation              | Ecosub C2             | Autonomy Engine                            | Yes                 | No                                         | N/A                                                                                      |
+| Planet Ocean (ecosub) | survey progress          | TBD                   | TBD                                        | TBD                 | TBD                                        | N/A                                                                                      |
+| Planet Ocean (ecosub) | survey progress          | TBD                   | TBD                                        | TBD                 | TBD                                        | N/A                                                                                      |
+| Planet Ocean (ecosub) | scanline                 | TBD                   | TBD                                        | TBD                 | TBD                                        | N/A                                                                                      |
+| Planet Ocean (ecosub) | scanline                 | TBD                   | TBD                                        | TBD                 | TBD                                        | N/A                                                                                      |
+| Planet Ocean (ecosub) | emergency                | GUI                   | TBD – Ecosub (ABORT command via Black Box) | TBD                 | TBD                                        | TBD – all platforms pre-compiled ABORT via Black box                                     |
+| NOC (AH1)             | platform status-compiled | AH1                   | Black Box TBC                              | No                  | Yes                                        | Via Hermes + Router                                                                      |
+| NOC (AH1)             | platform status-compiled | Black Box TBC         | NOC C2                                     | Yes                 | Yes                                        | N/A                                                                                      |
+| NOC (AH1)             | platform status          | NOC C2                | Autonomy Engine                            | Yes                 | No                                         | N/A                                                                                      |
+| NOC (AH1)             | scan point               | Autonomy Engine       | NOC C2                                     | Yes                 | No                                         | N/A                                                                                      |
+| NOC (AH1)             | scan point-compiled      | NOC C2                | Black Box TBC                              | Yes                 | Yes                                        | Would this technically be a mission plan-compiled?                                       |
+| NOC (AH1)             | scan point               | Black Box TBC         | Ecosub                                     | No                  | Yes                                        | Via Hermes + Router                                                                      |
+| NOC (AH1)             | survey progress          | TBD                   | TBD                                        | TBD                 | TBD                                        | TBD                                                                                      |
+| NOC (AH1)             | survey progress          | TBD                   | TBD                                        | TBD                 | TBD                                        | TBD                                                                                      |
+| NOC (AH1)             | emergency                | GUI                   | TBD – AH1 (ABORT command via Black Box)    | TBD                 | TBD                                        | TBD – all platforms pre-compiled ABORT via Black box                                     |
+| NOC (GUI)             | planning configuration   | GUI                   | Autonomy Engine                            | Yes                 | No                                         | N/A                                                                                      |
+| NOC (GUI)             | emergency                | GUI                   | TBD                                        | TBD                 | TBD                                        | TBD                                                                                      |
+
+## Run Docs
+1. Run the command below
+```
+python3 generate_swagger.py
+```
+2. Go to `http://127.0.0.1:5000/soardocs/`

requirements-dev.txt

+Flask
+flask-restx
+flasgger
+flask-marshmallow
+openapi-schema-validator==0.4.1
+openapi-spec-validator==0.5.2
\ No newline at end of file

requirements.txt

+Flask
+flask-restx
+flasgger

tests/__init__.py

+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"
+]

tests/fixtures/__init__.py

+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"
+]

tests/fixtures/schemas.py

+message_header = {
+    "type": "object",
+    "discriminator": {
+        "propertyName": "message_type",
+    },
+    "properties": {
+        "message_ID": {
+            "type": "string",
+            "description": "An identifier for the type of message received.",
+            "example": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+        },
+        "timestamp": {
+            "type": "string",
+            "format": "date-time",
+            "description": "Timestamp of message",
+            "example": "2022-11-16T00:00:00Z",
+        },
+        "version": {
+            "type": "number",
+            "format": "float",
+            "description": "Version of comms backbone message format protocol",
+            "example": 2.0,
+        },
+        "source": {
+            "type": "string",
+            "description": "The sender; Where is this message from",
+            "example": "autonomy_engine",
+        },
+        "destination": {
+            "type": "string",
+            "description": "Publisher topic; What is the destination"
+            + " of this message",
+            "example": "ah1",
+        },
+        "encoded": {
+            "type": "boolean",
+            "description": "Indicate that message raw (encoded) or decoded. "
+            + "Options: encoded=True, decoded=False",
+            "example": False,
+        },
+        "delivery_type": {
+            "type": "string",
+            "description": "To publish or broadcast this message.",
+            "enum": ["broadcast", "publish"],
+            "example": "publish",
+            "default": "publish",
+        },
+    },
+}
+
+acknowledgement_schema = {
+    "type": "object",
+    "properties": {
+        "message_type": {
+            "type": "string",
+            "description": "Type of message",
+            "example": "acknowledgement",
+        },
+        "acknowledged_message_ID": {
+            "type": "string",
+            "description": "Identifier of message received and executed with "
+            + "success for mission plans sent by the Autonomy Engine.",
+            "example": "02125022255-7bc8-11ed-a1eb-0242ac999999",
+        },
+        "status": {
+            "type": "string",
+            "enum": ["c2_received", "operator_approved_and_sent", "executed"],
+            "description": "Highest level of acknowledgement. I.e."
+            + " `c2_received`: Received by C2, `operator_approved_and_sent`"
+            + " : Approved by operator and sent from C2->Platform,"
+            + " `executed`: Executed by platform",
+            "example": "executed by platform",
+        },
+    },
+    "required": ["message_type", "acknowledged_message_ID", "status"],
+}
+
+
+action_schema = {
+    "type": "object",
+    "properties": {
+        "action": {
+            "type": "string",
+            "description": "Autonomy Engine's action from `move`, `payload`,"
+            + " `dive`, `send_hits`, `scanline`, `scanpoint`.",
+            "example": "move",
+        },
+        "flight_style": {
+            "type": "string",
+            "description": "Platform-specific modes/flight styles to perform"
+            + " next action",
+            "example": "orbit",
+        },
+        "latitude_waypoint": {
+            "type": "number",
+            "format": "float",
+            "description": "Next waypoint, x-coordinate",
+            "example": -4.187143188645706,
+        },
+        "longitude_waypoint": {
+            "type": "number",
+            "format": "float",
+            "description": "Next waypoint, y-coordinate",
+            "example": 50.37072283932642,
+        },
+        "altitude": {
+            "type": "number",
+            "format": "float",
+            "description": "Altitude of next action",
+            "example": 15.0,
+        },
+        "depth": {
+            "type": "number",
+            "format": "float",
+            "description": "Depth of next action",
+            "example": 15.0,
+        },
+        "activate_payload": {
+            "type": "boolean",
+            "description": "To activate/deactivate sensor for Autosub "
+            + "Hover-1 --> `MBES` sensor and for EcoSUB --> `Sidescan`",
+            "example": True,
+        },
+        "send_environmental_data": {
+            "type": "boolean",
+            "description": "To trigger the platform to send list of"
+            + "  observations if any found",
+            "example": False,
+        },
+    },
+    "required": [
+        "latitude_waypoint",
+        "longitude_waypoint",
+    ],
+}
+
+mission_plan_schema = {
+    "type": "object",
+    "properties": {
+        "message_type": {
+            "type": "string",
+            "description": "Type of message",
+            "example": "mission_plan",
+        },
+        "autonomy_engine_plan_ID": {
+            "type": "integer",
+            "description": "Unique identifier for this plan"
+            + "generated by the Autonomy Engine",
+            "example": 3,
+        },
+        "platform_ID": {
+            "type": "string",
+            "description": "Unique identifier for this platform",
+            "example": "reav-x-1",
+        },
+        "plan": {
+            "type": "array",
+            "items": action_schema,
+        },
+    },
+    "required": [
+        "message_type",
+        "autonomy_engine_plan_ID",
+        "platform_ID",
+        "plan",
+    ],
+}
+
+
+hits_schema = {
+    "type": "object",
+    "properties": {
+        "latitude": {
+            "type": "number",
+            "format": "float",
+            "description": "Identified x-coordinate of point of interest",
+            "example": 178.2,
+        },
+        "longitude": {
+            "type": "number",
+            "format": "float",
+            "description": "Identified y-coordinate of point of interest",
+            "example": -10.122,
+        },
+        "quality_of_point": {
+            "type": "number",
+            "format": "float",
+            "description": "Quality/strength of points from features of"
+            + " interest identified by platform.",  # TODO: DEFINE FORMAT.
+            "example": 0.98,
+        },
+    },
+    "required": ["latitude", "longitude"],
+}
+
+observation_schema = {
+    "type": "object",
+    "properties": {
+        "message_type": {
+            "type": "string",
+            "description": "Type of message",
+            "example": "observation",
+        },
+        "platform_ID": {
+            "type": "string",
+            "description": "Unique identifier for this platform",
+            "example": "reav-x-1",
+        },
+        "points_of_interest": {
+            "type": "array",
+            "items": hits_schema,
+            "description": "Points from features of interest identified by"
+            + " platform if any found.",  # TODO: DEFINE FORMAT.
+        },
+        "region_surveyed": {
+            "nullable": True,
+            "description": "Region surveyed by given platform."
+            + " GEOJSON",  # TODO: DEFINE FORMAT.
+            "example": "",
+        },
+        "additional_data": {
+            "description": "Placeholder field for any additional data",
+            "example": {"sensor_payload": False},
+        },
+    },
+    "required": ["message_type", "platform_ID"],
+}
+
+emergency_schema = {
+    "type": "object",
+    "properties": {
+        "safe_command": {
+            "type": "string",
+            "enum": ["go_home", "abort_now", "stop_mission"],
+            "description": "Command/Action that is native to respective"
+            + " partner's platform/C2",
+            "example": "go_home",
+        },
+        "latitude_waypoint": {
+            "type": "number",
+            "format": "float",
+            "description": "X-coordinate safe place for respective platform",
+            "example": -7.432,
+        },
+        "longitude_waypoint": {
+            "type": "number",
+            "format": "float",
+            "description": "Y-coordinate safe place for respective platform",
+            "example": 50.365,
+        },
+        "target_depth": {
+            "type": "number",
+            "format": "float",
+            "description": "Z-coordinate safe place for respective platform"
+            + " . If platform to NOT stay at depth, key in `0.0`",
+            "example": 10,
+        },
+        "additional_data": {
+            "description": "Any addition fields/data to be added here",
+            "example": {},
+        },
+    },
+    "required": ["latitude_waypoint", "longitude_waypoint", "target_depth"],
+}
+
+
+platform_schema = {
+    "type": "object",
+    "properties": {
+        "platform_ID": {
+            "type": "string",
+            "description": "Unique identifier for this platform",
+            "example": "reav-x-1",
+        },
+        "serial": {
+            "type": "string",
+            "description": "platform serial number",
+            "example": "reav-60",
+        },
+        "model": {
+            "type": "string",
+            "example": "reav",
+        },
+        "emergency": emergency_schema,
+        "min_altitude": {
+            "type": "number",
+            "format": "float",
+            "description": "Minimum altitude set for squad.",
+            "example": 15.2,
+        },
+        "min_velocity": {
+            "type": "number",
+            "format": "float",
+            "description": "Minimum velocity set for squad.",
+            "example": 0.1,
+        },
+        "max_velocity": {
+            "type": "number",
+            "format": "float",
+            "description": "Maximum altitude set for squad.",
+            "example": 0.9,
+        },
+        "additional_specs": {
+            "description": "Any addition fields/data to be added here",
+            "example": {"swath_width": 10.0, "scan_type": "DVL"},
+        },
+    },
+    "required": [
+        "platform_ID",
+        "serial",
+        "model",
+        "emergency",
+        "min_altitude",
+        "min_velocity",
+        "max_velocity",
+    ],
+}
+
+region_schema = {
+    "type": "object",
+    "properties": {
+        "geometry_coordinates": {
+            "type": "array",  # TODO: Check if config defn is right.
+            "example": [
+                [
+                    [-4.187143188645706, 50.37072283932642],
+                    [-4.202697005964865, 50.368816892405874],
+                    [-4.203156724702808, 50.365640144076906],
+                    [-4.19449868846155, 50.362267670845654],
+                ]
+            ],
+        },
+    },
+    "description": "Using GEOJSON, exact 4-point region (rectangle shaped)",
+}
+
+squad_metadata_schema = {
+    "type": "object",
+    "properties": {
+        "squad_ID": {
+            "type": "integer",
+            "description": "Identifier of given squad",
+            "example": 23,
+        },
+        "no_of_platforms": {
+            "type": "integer",
+            "description": "Number of platforms",
+            "example": 3,
+        },
+        "platforms": {
+            "type": "array",
+            "items": platform_schema,
+            "description": "Squad consists of these platforms",
+        },
+        "squad_mission_type": {
+            "type": "string",
+            "enum": ["tracking", "survey", "inspection"],
+            "description": "Mission of given squad: `tracking`, `survey`"
+            + ", `inspection`",
+            "example": "survey",
+        },
+        "squad_state": {
+            "type": "string",
+            "description": "In execution, Waiting.. <define further>",
+            "example": False,
+        },
+        "region_of_interest": region_schema,
+    },
+    "required": [
+        "squad_ID",
+        "no_of_platforms",
+        "platforms",
+        "squad_mission_type",
+        "squad_state",
+    ],
+}
+
+planning_configuration_schema = {
+    "type": "object",
+    "properties": {
+        "message_type": {
+            "type": "string",
+            "description": "Type of message",
+            "example": "planning_configuration",
+        },
+        "planning_config_ID": {
+            "type": "integer",
+            "description": "Unique identifier tagged to version of this"
+            + " configuration plan",
+            "example": 3,
+        },
+        "exclusion_zones": {
+            "type": "array",
+            "items": region_schema,
+            "description": "Exclusion zones for all platforms",
+        },
+        "squads": {
+            "type": "array",
+            "items": squad_metadata_schema,
+        },
+    },
+    "required": [
+        "message_type",
+        "planning_config_ID",
+        "squads",
+        "exclusion_zones",
+    ],
+}
+
+
+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": {
+            "description": "Any addition fields/data to be added here",
+            "example": {"payload": [1.2, 434]},
+        },
+    },
+}
+
+platform_status_schema = {
+    "type": "object",
+    "properties": {
+        "message_type": {
+            "type": "string",
+            "description": "Type of message",
+            "example": "platform_status",
+        },
+        "platform_ID": {
+            "type": "string",
+            "description": "Unique identifier for this platform",
+            "example": "reav-x-1",
+        },
+        "status_source": {
+            "type": "string",
+            "enum": ["usbl", "onboard_platform"],
+            "description": "Indicate if this status message is from the"
+            + " platform or USBL",
+            "example": "usbl",
+        },
+        "transmission_mode": {
+            "type": "string",
+            "enum": ["acoustics", "iridium", "wifi", "starlink"],
+            "description": "Mode in which status message was transmitted"
+            + " when on the surface (e.g. iridium/wifi) or underwater"
+            + " (e.g. acoustics)",
+            "example": "wifi",
+        },
+        "platform_timestamp": {
+            "type": "string",
+            "format": "date-time",
+            "description": "Timestamp for onboard platform status message",
+            "example": "2022-12-21T00:00:00Z",
+        },
+        "platform_state": {
+            "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",
+            "format": "float",
+            "description": "Latitude in decimal degrees.",
+            "example": 178.2,
+        },
+        "longitude": {
+            "type": "number",
+            "format": "float",
+            "description": "Longitude in decimal degrees.",
+            "example": -10.122,
+        },
+        "depth": {
+            "type": "number",
+            "format": "float",
+            "description": "Target depth in metres",
+            "example": 50,
+            "default": 0,
+        },
+        "altitude": {
+            "type": "number",
+            "format": "float",
+            "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",
+            "format": "float",
+            "description": "Estimated distance to reach next waypoint",
+            "example": 124.3,
+        },
+        "speed_over_ground": {
+            "type": "number",
+            "format": "float",
+            "description": "",  # TODO: Add description
+            "example": 124.3,
+        },
+        "water_current_velocity": {
+            "type": "number",
+            "format": "float",
+            "description": "",  # TODO: Add description
+            "example": 124.3,
+        },
+        "thrust_applied": {
+            "type": "number",
+            "format": "float",
+            "description": "",  # TODO: Add description
+            "example": 124.3,
+        },
+        "heading": {
+            "type": "number",
+            "format": "float",
+            "description": "Angular distance relative to north, usually 000°"
+            + " at north, clockwise through 359°, in degrees",
+            "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",
+            "format": "float",
+            "description": "Localisation error at last USBL update.",
+            "example": 0.000129,
+        },
+        "usbl_fix_seconds_ago": {
+            "type": "number",
+            "format": "float",
+            "description": "USBL Fix received x second ago.",
+            "example": 10.0,
+        },
+        "battery_remaining_capacity": {
+            "type": "number",
+            "format": "float",
+            "description": "Battery remaining % provided by respective C2",
+            "example": 80.2,
+        },
+        "current_pitch": {
+            "type": "number",
+            "format": "float",
+            "description": "Current pitch of platform",
+            "example": -4.0,
+        },
+        "sensor_config": sensor_schema,
+    },
+    "required": [
+        "message_type",
+        "platform_ID",
+        "status_source",
+        "platform_timestamp",
+        "latitude",
+        "longitude",
+    ],
+}

tests/mock_data/autonomy_engine_adapter/acknowledgement.json

+{
+    "header":{
+        "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+        "timestamp": "2022-11-16T00:00:00Z",
+        "version": 1,
+        "source": "hydrosurv_adapter",
+        "destination": "autonomy_engine",
+        "delivery_type": "publish",
+        "encoded": false
+    },
+    "payload":{
+        "message_type": "acknowledgement",
+        "acknowledged_message_ID": "11111111-7bc8-11ed-a1eb-0242ac999999",
+        "status": "c2_received"
+    }
+}
\ No newline at end of file

tests/mock_data/autonomy_engine_adapter/mission_plan_AH1.json

+{
+  "header": {  
+    "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+    "timestamp": "2022-11-16T00:00:00Z",
+    "version": 2,
+    "source": "autonomy_engine",
+    "destination": "noc_c2",
+    "delivery_type": "publish",
+    "encoded": false
+  },
+  "payload":{
+    "message_type": "mission_plan",
+    "platform_ID": "5-ah1",
+    "autonomy_engine_plan_ID": 1,
+    "plan": [
+      {
+        "action": "move",
+        "flight_style": "go to waypoint",
+        "latitude_waypoint": -3.237143188645706,
+        "longitude_waypoint": 52.37072283932642,
+        "depth": 0.0,
+        "activate_payload": false,
+        "send_environmental_data": false
+      },
+      {
+        "action": "dive",
+        "flight_style": "dive to depth",
+        "latitude_waypoint": -3.237143188645706,
+        "longitude_waypoint": 52.37072283932642,
+        "altitude": 10,
+        "activate_payload": false,
+        "send_environmental_data": false
+      },
+      {
+        "action": "scanline",
+        "flight_style": "go to waypoint",
+        "latitude_waypoint": -0.237143188645706,
+        "longitude_waypoint": 60.00000000000000,
+        "altitude": 10,
+        "activate_payload": true,
+        "send_environmental_data": false
+      },
+      {
+        "action": "climb",
+        "flight_style": "go to surface",
+        "latitude_waypoint": -0.237143188645706,
+        "longitude_waypoint": 52.37072283932642,
+        "depth": 0.0,
+        "activate_payload": false,
+        "send_environmental_data": true
+      }
+    ]
+  }
+}
\ No newline at end of file

tests/mock_data/autonomy_engine_adapter/mission_plan_ECOSUB.json

+{
+  "header": {  
+    "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+    "timestamp": "2022-11-16T00:00:00Z",
+    "version": 2,
+    "source": "autonomy_engine",
+    "destination": "ecosub_c2",
+    "delivery_type": "publish",
+    "encoded": false
+  },
+  "payload":{
+    "message_type": "mission_plan",
+    "platform_ID": "ecosub-5",
+    "autonomy_engine_plan_ID": 1,
+    "plan": [
+      {
+        "action": "move",
+        "flight_style": "go to waypoint",
+        "latitude_waypoint": -3.237143188645706,
+        "longitude_waypoint": 52.37072283932642,
+        "depth": 0.0,
+        "activate_payload": false,
+        "send_environmental_data": false
+      },
+      {
+        "action": "dive",
+        "flight_style": "dive to depth",
+        "latitude_waypoint": -3.237143188645706,
+        "longitude_waypoint": 52.37072283932642,
+        "altitude": 10,
+        "activate_payload": false,
+        "send_environmental_data": false
+      },
+      {
+        "action": "scanline",
+        "flight_style": "go to waypoint",
+        "latitude_waypoint": -0.237143188645706,
+        "longitude_waypoint": 60.00000000000000,
+        "altitude": 10,
+        "activate_payload": true,
+        "send_environmental_data": false
+      },
+      {
+        "action": "climb",
+        "flight_style": "go to surface",
+        "latitude_waypoint": -0.237143188645706,
+        "longitude_waypoint": 52.37072283932642,
+        "depth": 0,
+        "activate_payload": false,
+        "send_environmental_data": true
+      }
+    ]
+  }
+}
\ No newline at end of file

tests/mock_data/autonomy_engine_adapter/mission_plan_HYDROSURV.json

+{
+  "header":{
+    "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+    "timestamp": "2022-11-16T00:00:00Z",
+    "version": 2,
+    "source": "autonomy_engine",
+    "destination": "hydrosurv_adapter",
+    "delivery_type": "publish",
+    "encoded": false
+  },
+  "payload":{
+    "message_type": "mission_plan",
+    "platform_ID": "reav-60-1",
+    "autonomy_engine_plan_ID": 1,
+    "plan": [
+      {
+        "latitude_waypoint": -4.187143188645706,
+        "longitude_waypoint": 50.37072283932642
+      },
+      {
+        "latitude_waypoint": -3.187143188645706,
+        "longitude_waypoint": 51.37072283932642
+      },
+      {
+        "latitude_waypoint": -3.237143188645706,
+        "longitude_waypoint": 52.37072283932642
+      }
+    ]
+  }
+}
\ No newline at end of file

tests/mock_data/autonomy_engine_adapter/planning_configuration.json

+{
+  "header":{
+    "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
+    "timestamp": "2022-11-16T00:00:00Z",
+    "version": 2,
+    "source": "ecosub_c2",
+    "destination": "autonomy_engine",
+    "delivery_type": "publish",
+    "encoded": false
+  },
+  "payload":{
+    "message_type": "platform_status",
+    "planning_config_ID": 3,
+    "exclusion_zones": [
+      {
+        "geometry_coordinates": [
+          [
+            [
+              -4.187143188645706,
+              50.37072283932642
+            ],
+            [
+              -4.202697005964865,
+              50.368816892405874
+            ],
+            [
+              -4.203156724702808,
+              50.365640144076906
+            ],
+            [
+              -4.19449868846155,
+              50.362267670845654
+            ]
+          ]
+        ]
+      }
+    ],
+    "squads": [
+      {
+        "squad_ID": 1,
+        "no_of_platforms": 1,
+        "squad_mission_type": "tracking",
+        "squad_state": "active",
+        "platforms": [
+          {
+            "model": "reav",
+            "platform_ID": "reav-60-1",
+            "serial": "reav-60",
+            "emergency": {
+              "additional_data": {},
+              "latitude_waypoint": -7.432,
+              "longitude_waypoint": 50.365,
+              "safe_command": "go_home",
+              "target_depth": 10
+            },
+            "max_velocity": 0.9,
+            "min_altitude": 15.2,
+            "min_velocity": 0.1,
+            "additional_data": {}
+          }
+        ],
+        "region_of_interest": {
+          "geometry_coordinates": [
+            [
+              [
+                -4.187143188645706,
+                50.37072283932642
+              ],
+              [
+                -4.202697005964865,
+                50.368816892405874
+              ],
+              [
+                -4.203156724702808,
+                50.365640144076906
+              ],
+              [
+                -4.19449868846155,
+                50.362267670845654
+              ]
+            ]
+          ]
+        }
+      },
+      {
+        "squad_ID": 2,
+        "no_of_platforms": 3,
+        "squad_mission_type": "survey",
+        "squad_state": "active",
+        "platforms": [
+          {
+            "platform_ID": "ecosub-1",
+            "serial": "ecosub-2",
+            "model": "ecosub",
+            "emergency": {
+              "additional_data": {},
+              "latitude_waypoint": -7.432,
+              "longitude_waypoint": 50.365,
+              "safe_command": "go_home",
+              "target_depth": 10.0
+            },
+            "max_velocity": 0.9,
+            "min_altitude": 15.2,
+            "min_velocity": 0.1,
+            "additional_data": {
+                "scan_type": "DVL",
+                "swath_width": 10
+            }
+          },
+          {
+            "platform_ID": "ecosub-2",
+            "serial": "ecosubxyz-5",
+            "model": "ecosub",
+            "emergency": {
+              "additional_data": {},
+              "latitude_waypoint": -0.432,
+              "longitude_waypoint": 20.365,
+              "safe_command": "go_home",
+              "target_depth": 0.0
+            },
+            "max_velocity": 0.9,
+            "min_altitude": 15.2,
+            "min_velocity": 0.1,
+            "additional_data": {
+                "scan_type": "DVL",
+                "swath_width": 10
+            }
+          }
+        ],
+        "region_of_interest": {}
+      },
+      {
+        "squad_ID": 3,
+        "no_of_platforms": 1,
+        "squad_mission_type": "inspection",
+        "squad_state": "active",
+        "platforms": [
+          {
+            "platform_ID": "ah-1",
+            "serial": "autosubhover-1",
+            "model": "autosub",
+            "emergency": {
+              "additional_data": {},
+              "latitude_waypoint": 20.432,
+              "longitude_waypoint": 50.365,
+              "safe_command": "abort_now",
+              "target_depth": 0.0
+            },
+            "max_velocity": 0.9,
+            "min_altitude": 15.2,
+            "min_velocity": 0.1,
+            "additional_data": {
+                "scan_type": "MBES"
+            }
+          }
+        ],
+        "region_of_interest": {}
+      }
+    ]
+  }
+}
\ No newline at end of file