Update on Overleaf.

scenarios/FI DR safety scenarios.tex

@@ -69,12 +69,17 @@ HARDWARE-IN-THE-LOOP - FAULTY SAFETY SOFTWARE
 OBSERVE THAT THE ROBOT HITS THE OBSTACLE
 
 \begin{enumerate}
+    \item Implement a Safety Monitor (SM) MOCK component that:
+    \begin{itemize}
+        \item Has the same interface as the to-be-realised SM
+        \item Relays information to and from RabbitMQ. 
+    \end{itemize}
     \item Implement a PT-controller on the robot that:
     \begin{itemize}
-        \item Sends ALL sensor data via rabbitMQ to a DT-controller
-        \item Awaits commands from the DT-controller
+        \item Sends obstacle and location data to SM.
+        \item Receives commands from SM
     \end{itemize}
-    \item Implement a DT-controller that consists of the on-board safety component
+    \item Implement a Safety Monitor on the DT that receives input from RabbitMQFMU and outputs to RabbitMQFMU.
     \item Use the FI framework to tamper with the input to the DS-controller, such that the obstacle seems FURTHER away
     \item Set up a physical test environment with ONE obstacle
     \item Start both systems