From 3c80177e150d00ec3f15e533658b8246c1a24708 Mon Sep 17 00:00:00 2001 From: hhenry01 Date: Fri, 8 Dec 2023 23:06:49 -0800 Subject: [PATCH] Update diagrams --- .gitignore | 3 +- README.md | 2 + diagrams/out/external_interfaces.png | Bin 0 -> 148617 bytes diagrams/src/external_interfaces.puml | 104 ++++++++++++++++++++------ 4 files changed, 84 insertions(+), 25 deletions(-) create mode 100644 diagrams/out/external_interfaces.png diff --git a/.gitignore b/.gitignore index e650203..f3496c7 100644 --- a/.gitignore +++ b/.gitignore @@ -1,2 +1,3 @@ # PlantUML export directory -/diagrams/out/ +/diagrams/out/*.png +!/diagrams/out/external_interfaces.png diff --git a/README.md b/README.md index 1b75fb5..155f1db 100644 --- a/README.md +++ b/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) + 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z*mRQjv?|hzHIebbUcmSi1q%C3j~;phA>}PihWEv!M2Y7i$eQ<;s7!%wE$AhZt?@6S z0kvggWmV$N^PRG^^f;h%qf{VBQT{uW6tATOv>!<^F(edcY9)i})-sR@up4(?4AkZA zdBxiS5%{3wM3DZH3`)#@vxNwb4h|pY=4?QbWxUKW7;;FS>Rsi4EmCy&7-JPii zR6t?2X$-(Eb>I;K(xwv7CfKh%T^s~LK{4NZ*> White - <> $SAILBOT_BLUE - <> Green - <> Red + <> White + <> SlateBlue + <> Green + <> Red + <> MidnightBlue + <> $SAILBOT_DARK_BLUE + <> Purple } Font { Color<> Black @@ -18,61 +22,105 @@ skinparam State { State Legend<> { State "Publisher" <> - State Topic <> : Type State "Subscriber" <> + State Topic <> : Type + State "Sim Topic" <> : Type State Node { + } + State "Sim Node" as sim_node <> { + } } +' Define topics and sim topics State ais_ships<> : AISShips +State mock_ais_ships<> : AISShips State batteries<> : Batteries +State boat_sim_input<> : CanSimToBoatSim state desired_heading<> : DesiredHeading State data_sensors<> : GenericSensors -State global_path<> : Path State gps<> : GPS +State mock_gps<> : GPS State local_path_data<> : LPathData -State mock_gps<> : GPS +State global_path<> : Path +State "global_path" as mock_global_path<> : 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<> : SailCmd State filtered_wind_sensor<> : WindSensor -State mock_wind_sensors<> : WindSensors +State mock_wind_sensors<> : WindSensors State wind_sensors<> : WindSensors -State "Local Pathfinding" as l_path { +' Define nodes and sim nodes +State "Local Pathfinding" as l_path <> { State "Publish" as l_path_pub <> State "Subscribe" as l_path_sub <> } -State "Local Transceiver" as l_trans { +State "Local Transceiver" as l_trans <> { State "Publish" as l_trans_pub <> State "Subscribe" as l_trans_sub <> } -State "Controller" as ctrl { - ' State "Publish" as ctrl_pub <> +State "Controller" as ctrl <> { + State "Publish" as ctrl_pub <> State "Subscribe" as ctrl_sub <> } -State "Boat Simulator" as sim { +State "Boat Simulator" as sim <> { State "Publish" as sim_pub <> State "Subscribe" as sim_sub <> } -State "Can Transceiver" as can { - State "Publish" as can_pub <> - State "Subscribe" as can_sub <> +State "Can Transceiver" as can<> { + State "CanTrxRosIntf" as can_trx <> { + State "Publish" as can_trx_pub <> + State "Subscribe" as can_trx_sub <> + } + + State "CanSimIntf" as can_sim <> { + State "Publish" as can_sim_pub <> + State "Subscribe" as can_sim_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 <> { + state "Publish" as ais_pub <> +} + +State "Mock Global Path" as g_path <> { + State "Publish" as g_path_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 @@ -83,6 +131,8 @@ ais_ships --> l_trans_sub batteries --> l_trans_sub +boat_sim_input --> sim_sub + desired_heading --> ctrl_sub desired_heading --> sim_sub @@ -90,15 +140,21 @@ 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