AppSequence.puml

@startuml LeaderAppSequenceDiagram

autoactivate on

Title Leader App Sequence Diagram

participant "App" as App
participant "State Machine" as SM
participant "SMP Server" as Smp
participant "V2V Client" as Mqtt
participant "Remote Command Response Handler" as RCRH
participant "Startup State" as StartupState
participant "Driving State" as DrivingState
participant "Safety Monitor" as SafetyMonitor

entity "RadonUlzer" as RU

== State Machine: Startup State ==

group Startup Commands [Repeats for each pending command]
    App -> SM : process()
        SM -> StartupState : process()
        return
    return

    App -> StartupState : getPendingCommand(Command& cmd) : bool
        StartupState -> SM: inCorrectState()
        return true
    return pending command is valid

    App -> Smp : sendCommand(cmd) : bool
        Smp -> RU : send
        deactivate
    return command sent

    RU -->> Smp : response

    App -> Smp : process()
        Smp -> App : CMD_RSP callback
            App -> RCRH : handleCommandResponse(rsp)
                RCRH -> StartupState : notify(Event event)
                return
                RCRH -> DrivingState : setMaxSpeed(speed)
                return
            return
        return
    return
end group

App -> SM : process()
    SM -> StartupState : process()
        StartupState -> SM : setState(IdleState)
        return
    return
return

== State Machine: Idle State ==

group Wait for release
    App -> Mqtt : process()
        Mqtt -> App : cmdCallback(releaseCmd)
            App -> Smp : sendCommand(releaseCmd)
                Smp -> RU : send
                deactivate
            return
        return
    return

    RU -->> Smp : response

    App -> Smp : process()
        Smp -> App : CMD_RSP callback
            App -> RCRH : handleCommandResponse(OK)
                RCRH -> SM : setState(DrivingState)
                return
            return
        return
    return
end group

== State Machine: Driving State ==
group Driving
    App -> Smp : process()
        Smp -> App : currentVehicleDataCallback(CurrentVehicleData data)
            App -> DrivingState : calculateTopMotorSpeed(const Waypoint& currentVehicleData): int16_t
                DrivingState -> SM : inCorrectState()
                return true
            return top speed
            App -> Smp : sendSpeed(topSpeed)
                Smp -> RU : send
                deactivate
            return
        return
    return

    App -> Mqtt : process()
        Mqtt -> App : lastFollowerFeedbackCallback()
            App -> DrivingState : setLastFollowerFeedback(const Waypoint& feedback)
            return 
        return
    return

    App -> DrivingState : getLatestVehicleData(Waypoint& vehicleData)
        DrivingState -> SM : inCorrectState()
        return true
    return vehicle data is valid

    App -> Mqtt : sendWaypoint(const Waypoint& vehicleData)
    return

end group

== Stateless ==

loop 
    App -> Smp : process()
        Smp -> App : Heartbeat callback
            App -> SafetyMonitor : heartbeatCallback()
            return
        return
    return

    App -> SafetyMonitor : process()
        SafetyMonitor -> SafetyMonitor : checkHeartbeat()
        return false
        SafetyMonitor -> SM : setState(ErrorState)
        return
    return
end loop

@enduml