# SoAR Project
Squad of Adaptive Robots Project

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## Message Data Flow Summary
| Partner      | Message Type           | Source                      | Destination                 | Via Comms Backbone? | Contains Serialized Vehicle-Specific File? |
| ------------ | ---------------------- | --------------------------- | --------------------------- | ------------------- | ------------------------------------------ |
| RHU          | platform status        | C2’s (Hydrosurv/Ecosub/Ah1) | Autonomy Engine             | Yes                 | No                                         |
| RHU          | mission plan           | Autonomy Engine             | C2’s (Hydrosurv/Ecosub/Ah1) | Yes                 | No                                         |
| RHU          | planning configuration | GUI                         | Autonomy Engine             | Yes                 | No                                         |
| RHU          | observation            | Ecosub C2                   | Autonomy Engine             | Yes                 | No                                         |
| Hydro-Surv   | platform status        | Reav-60                     | Hydrosurv C2                | No                  | Yes                                        |
| Hydro-Surv   | platform status        | Hydrosurv C2                | Autonomy Engine             | Yes                 | No                                         |
| Hydro-Surv   | mission plan           | Autonomy Engine             | Hydrosurv C2                | Yes                 | No                                         |
| Hydro-Surv   | mission plan           | Hydrosurv C2                | Reav-60                     | No                  | Yes                                        |
| Hydro-Surv   | acknowledgement        | Hydrosurv C2                | Comms Backbone (Audit)      | Yes                 | No                                         |
| Planet Ocean | platform status        | Ecosub                      | Hydrosurv Adapter           | No                  | Yes                                        |
| Planet Ocean | platform status        | Hydrosurv Adapter           | Ecosub C2                   | Yes                 | Yes                                        |
| Planet Ocean | platform status        | Ecosub C2                   | Autonomy Engine             | Yes                 | No                                         |
| Planet Ocean | mission plan           | Autonomy Engine             | Ecosub C2                   | Yes                 | No                                         |
| Planet Ocean | mission plan           | Ecosub C2                   | Hydrosurv Adapter           | Yes                 | Yes                                        |
| Planet Ocean | mission plan           | Hydrosurv Adapter           | Ecosub                      | No                  | Yes                                        |
| Planet Ocean | observation            | Ecosub                      | Hydrosurv Adapter           | No                  | Yes                                        |
| Planet Ocean | observation            | Hydrosurv Adapter           | Ecosub C2                   | Yes                 | Yes                                        |
| Planet Ocean | observation            | Ecosub C2                   | Autonomy Engine             | Yes                 | No                                         |
| NOC          | platform status        | Ecosub                      | Hydrosurv Adapter           | No                  | Yes                                        |
| NOC          | platform status        | Hydrosurv Adapter           | Ecosub C2                   | Yes                 | Yes                                        |
| NOC          | platform status        | Ecosub C2                   | Autonomy Engine             | Yes                 | No                                         |
| NOC          | mission plan           | Autonomy Engine             | Ecosub C2                   | Yes                 | No                                         |
| NOC          | mission plan           | Ecosub C2                   | Hydrosurv Adapter           | Yes                 | Yes                                        |
| NOC          | mission plan           | Hydrosurv Adapter           | Ecosub                      | No                  | Yes                                        |