Update diagrams

.gitignore

@@ -1,2 +1,3 @@
 # PlantUML export directory
-/diagrams/out/
+/diagrams/out/*.png
+!/diagrams/out/external_interfaces.png

README.md

@@ -36,6 +36,8 @@ Formatting reminder:
 | `wind_sensors`         | WindSensors     | CanTrxRosIntf                        | Local Transceiver                                  |
 | `mock_wind_sensors`    | WindSensors     | Boat Simulator                       | CanSimIntf                                         |
 
+![External Interface Diagram](diagrams/out/external_interfaces.png)
+
 ### Project-wide Internal Interfaces
 
 | Interface           | Used In                            |

diagrams/src/external_interfaces.puml

@@ -3,12 +3,16 @@ Title External Interfaces
 
 !include %getenv("PLANTUML_TEMPLATE_PATH")
 
+' Define stereotypes to categorize states
 skinparam State {
     BackgroundColor {
-        <<Legend>> White
-        <<Topic>>  $SAILBOT_BLUE
-        <<Pub>>    Green
-        <<Sub>>    Red
+        <<Legend>>   White
+        <<Topic>>    SlateBlue
+        <<Pub>>      Green
+        <<Sub>>      Red
+        <<SimTopic>> MidnightBlue
+        <<Node>>     $SAILBOT_DARK_BLUE
+        <<SimNode>>  Purple
     }
     Font {
         Color<<Legend>> Black
@@ -18,61 +22,105 @@ skinparam State {
 
 State Legend<<Legend>> {
     State "Publisher" <<Pub>>
-    State Topic <<Topic>> : Type
     State "Subscriber" <<Sub>>
+    State Topic <<Topic>> : Type
+    State "Sim Topic" <<SimTopic>> : Type
     State Node {
 
+    }
+    State "Sim Node" as sim_node <<SimNode>> {
+
     }
 }
 
+' Define topics and sim topics
 State ais_ships<<Topic>> : AISShips
+State mock_ais_ships<<SimTopic>> : AISShips
 State batteries<<Topic>> : Batteries
+State boat_sim_input<<SimTopic>> : CanSimToBoatSim
 state desired_heading<<Topic>> : DesiredHeading
 State data_sensors<<Topic>> : GenericSensors
-State global_path<<Topic>> : Path
 State gps<<Topic>> : GPS
+State mock_gps<<SimTopic>> : GPS
 State local_path_data<<Topic>> : LPathData
-State mock_gps<<Topic>> : GPS
+State global_path<<Topic>> : Path
+State "global_path" as mock_global_path<<SimTopic>> : Path
+note right of mock_global_path
+    Note: the global_path topic
+    used during simulation is
+    the same topic used
+    during deployment
+end note
+State sail_cmd<<Topic>> : SailCmd
 State filtered_wind_sensor<<Topic>> : WindSensor
-State mock_wind_sensors<<Topic>> : WindSensors
+State mock_wind_sensors<<SimTopic>> : WindSensors
 State wind_sensors<<Topic>> : WindSensors
 
-State "Local Pathfinding" as l_path {
+' Define nodes and sim nodes
+State "Local Pathfinding" as l_path <<Node>> {
     State "Publish" as l_path_pub <<Pub>>
     State "Subscribe" as l_path_sub <<Sub>>
 }
-State "Local Transceiver" as l_trans {
+State "Local Transceiver" as l_trans <<Node>> {
     State "Publish" as l_trans_pub <<Pub>>
     State "Subscribe" as l_trans_sub <<Sub>>
 }
-State "Controller" as ctrl {
-    ' State "Publish" as ctrl_pub <<Pub>>
+State "Controller" as ctrl <<Node>> {
+    State "Publish" as ctrl_pub <<Pub>>
     State "Subscribe" as ctrl_sub <<Sub>>
 }
-State "Boat Simulator" as sim {
+State "Boat Simulator" as sim <<SimNode>> {
     State "Publish" as sim_pub <<Pub>>
     State "Subscribe" as sim_sub <<Sub>>
 }
 
-State "Can Transceiver" as can {
-    State "Publish" as can_pub <<Pub>>
-    State "Subscribe" as can_sub <<Sub>>
+State "Can Transceiver" as can<<Legend>> {
+    State "CanTrxRosIntf" as can_trx <<Node>> {
+        State "Publish" as can_trx_pub <<Pub>>
+        State "Subscribe" as can_trx_sub <<Sub>>
+    }
+
+    State "CanSimIntf" as can_sim <<SimNode>> {
+        State "Publish" as can_sim_pub <<Pub>>
+        State "Subscribe" as can_sim_sub <<Sub>>
+    }
+}
+note top of can
+    Note: Can Transceiver is a module that
+    encompasses and connects CanTrxRosIntf
+    and CanSimIntf
+end note
+
+State "Mock Ais" as ais <<SimNode>> {
+    state "Publish" as ais_pub <<Pub>>
+}
+
+State "Mock Global Path" as g_path <<SimNode>> {
+    State "Publish" as g_path_pub <<Pub>>
 }
 
 ' Publisher --> Topic
 
-can_pub --> ais_ships
-can_pub --> batteries
-can_pub --> data_sensors
-can_pub --> gps
-can_pub --> filtered_wind_sensor
-can_pub --> wind_sensors
+ais_pub --> mock_ais_ships
+
+can_trx_pub --> ais_ships
+can_trx_pub --> batteries
+can_trx_pub --> data_sensors
+can_trx_pub --> gps
+can_trx_pub --> filtered_wind_sensor
+can_trx_pub --> wind_sensors
+
+can_sim_pub --> boat_sim_input
+
+ctrl_pub -up-> sail_cmd
 
 l_path_pub --> desired_heading
 l_path_pub --> local_path_data
 
 l_trans_pub --> global_path
 
+g_path_pub --> mock_global_path
+
 sim_pub -left-> mock_gps
 sim_pub -left-> mock_wind_sensors
 
@@ -83,22 +131,30 @@ ais_ships --> l_trans_sub
 
 batteries --> l_trans_sub
 
+boat_sim_input --> sim_sub
+
 desired_heading --> ctrl_sub
 desired_heading --> sim_sub
 
 data_sensors --> l_trans_sub
 
 global_path --> l_path_sub
 
+mock_global_path -up-> l_path_sub
+
 gps --> l_trans_sub
 gps --> l_path_sub
 
 local_path_data -up-> l_trans_sub
 
-mock_gps -up-> can_sub
+mock_ais_ships --> can_sim_sub
+
+mock_gps -up-> can_sim_sub
 
 filtered_wind_sensor --> l_path_sub
 
-mock_wind_sensors -up-> can_sub
+mock_wind_sensors -up-> can_sim_sub
+
+sail_cmd -up-> can_trx_sub
 
 wind_sensors --> l_trans_sub