Leader.puml

@startuml DcsClassDiagram

Title DCS Class Diagram

class "Application" as app {
    + setup() : void
    + loop() : void
    + release() : void
    - m_serialMuxProtServer : SMPServer
    - m_systemStateMachine : StateMachine
    - m_remoteControlHandler : RemoteControlHandler
    - m_safetyMonitor : SafetyMonitor
}

note right of app 
    Callbacks for SerialMuxProtServer and MqttClient are defined here.
    Uses the setters of each class or state to forward the data.
    Uses the getters of each class or state to get the data that shall be sent to the RU or the V2V controller.
end note

class "V2V Controller" as v2v {
    - m_mqttClient : MqttClient
    - m_rxWaypointQueue : Queue
    + init(MqttConfig) : bool
    + process() : bool
    + sendWaypoint(const Waypoint&) : bool
    + getWaypoint(Waypoint&) : bool
}

class StateMachine <<control>> {
    + setState(state : IState*) : void
    + getState() : IState*
    + process() : void
}

class "RemoteCommandResponseHandler" as smpHandler {
    + processResponse(const CommandResponse&) : void
}

note right of smpHandler
    This class is responsible for handling
    the response from the remote command
    sent to RU.
    - Notifies StartupState of successful commands.
    - Sets max speed in DrivingState.
end note

class "SafetyMonitor" as safety {
    + process(StateMachine& sm) : void
    + getPendingHeartbeat(const Hearbeat& hb) : bool
    + heartbeatCallback(const Hearbeat& hb) : void
}

interface IState {
    + {abstract} entry() : void
    + {abstract} process(sm : StateMachine&) : void
    + {abstract} exit() : void
}

class StartupState <<Singleton>> 
{
   + getPendingCommand(Command& cmd) : bool
   + notify(Event event) : void
}

class IdleState <<Singleton>>

class DrivingState <<Singleton>> {
    - m_longitudinalController : LongitudinalController
    + setMaxMotorSpeed(int16_t maxMotorSpeed) : void
    + calculateTopMotorSpeed(const Waypoint& currentVehicleData): int16_t
    + setLastFollowerFeedback(const Waypoint& feedback) : void
    + getLatestVehicleData(Waypoint& vehicleData) : bool
}

protocol "SerialMuxChannels" as smpch {
    + typedef SerialMuxProtServer<MAX_CHANNELS> SMPServer
    + struct Command
    + struct CommandReponse
    + struct SpeedData
    + struct VehicleData
}

app *--> v2v
app *--> StateMachine
app *--> smpHandler
app *--> safety
app ..> DrivingState: <<use>>
app ..> StartupState: <<use>>
app ..> smpch: <<use>>

StateMachine o--> "0..1" IState

IState <|.. StartupState: <<realize>>
IState <|.. IdleState: <<realize>>
IState <|.. DrivingState: <<realize>>
IState <|.. ErrorState: <<realize>>

smpHandler ..> StartupState: <<use>>
smpHandler ..> DrivingState: <<use>>

@enduml