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Merge pull request #84 from BlueAndi/platoon/leader_refactoring
Platoon: Leader App
2 parents b61db69 + 0f91e24 commit beaa2ed

22 files changed

+2019
-762
lines changed

‎data/config/follower_1.json

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{
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"robotName": "follower_1",
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"wifi": {
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"ssid": "TheForce",
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"pswd": "hanshotfirst"
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},
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"mqtt": {
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"host": "localhost",
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"port": 1883
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},
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"ap": {
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"ssid": "DCS_AP",
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"pswd": "hanshotfirst"
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},
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"webServer": {
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"user": "admin",
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"pswd": "admin"
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},
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"platoon": {
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"platoonId": "0",
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"vehicleId": "1"
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},
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"initialPosition": {
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"x": "0",
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"y": "0",
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"heading": "0"
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}
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}

‎data/config/follower_2.json

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{
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"robotName": "follower_2",
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"wifi": {
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"ssid": "TheForce",
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"pswd": "hanshotfirst"
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},
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"mqtt": {
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"host": "localhost",
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"port": 1883
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},
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"ap": {
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"ssid": "DCS_AP",
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"pswd": "hanshotfirst"
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},
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"webServer": {
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"user": "admin",
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"pswd": "admin"
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},
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"platoon": {
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"platoonId": "0",
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"vehicleId": "2"
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},
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"initialPosition": {
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"x": "0",
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"y": "0",
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"heading": "0"
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}
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}

‎data/config/leader.json

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{
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"robotName": "leader",
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"wifi": {
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"ssid": "TheForce",
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"pswd": "hanshotfirst"
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},
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"mqtt": {
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"host": "localhost",
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"port": 1883
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},
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"ap": {
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"ssid": "DCS_AP",
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"pswd": "hanshotfirst"
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},
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"webServer": {
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"user": "admin",
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"pswd": "admin"
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},
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"platoon": {
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"platoonId": "0",
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"vehicleId": "0"
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},
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"initialPosition": {
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"x": "0",
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"y": "0",
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"heading": "1588"
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}
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}

‎doc/architecture/uml/LogicalView/Leader/Leader.puml

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@startuml DcsClassDiagram
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Title DCS Class Diagram
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class "Application" as app {
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+ setup() : void
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+ loop() : void
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+ release() : void
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- m_serialMuxProtServer : SMPServer
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- m_systemStateMachine : StateMachine
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- m_remoteControlHandler : RemoteControlHandler
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- m_safetyMonitor : SafetyMonitor
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}
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note right of app
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Callbacks for SerialMuxProtServer and MqttClient are defined here.
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Uses the setters of each class or state to forward the data.
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Uses the getters of each class or state to get the data that shall be sent to the RU or the V2V controller.
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end note
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class "V2V Controller" as v2v {
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- m_mqttClient : MqttClient
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- m_rxWaypointQueue : Queue
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+ init(MqttConfig) : bool
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+ process() : bool
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+ sendWaypoint(const Waypoint&) : bool
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+ getWaypoint(Waypoint&) : bool
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}
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class StateMachine <<control>> {
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+ setState(state : IState*) : void
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+ getState() : IState*
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+ process() : void
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}
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class "RemoteCommandResponseHandler" as smpHandler {
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+ processResponse(const CommandResponse&) : void
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}
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note right of smpHandler
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This class is responsible for handling
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the response from the remote command
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sent to RU.
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- Notifies StartupState of successful commands.
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- Sets max speed in DrivingState.
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end note
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class "SafetyMonitor" as safety {
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+ process(StateMachine& sm) : void
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+ getPendingHeartbeat(const Hearbeat& hb) : bool
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+ heartbeatCallback(const Hearbeat& hb) : void
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}
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interface IState {
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+ {abstract} entry() : void
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+ {abstract} process(sm : StateMachine&) : void
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+ {abstract} exit() : void
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}
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class StartupState <<Singleton>>
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{
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+ getPendingCommand(Command& cmd) : bool
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+ notify(Event event) : void
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}
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class IdleState <<Singleton>>
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class DrivingState <<Singleton>> {
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- m_longitudinalController : LongitudinalController
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+ setMaxMotorSpeed(int16_t maxMotorSpeed) : void
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+ calculateTopMotorSpeed(const Waypoint& currentVehicleData): int16_t
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+ setLastFollowerFeedback(const Waypoint& feedback) : void
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+ getLatestVehicleData(Waypoint& vehicleData) : bool
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}
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protocol "SerialMuxChannels" as smpch {
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+ typedef SerialMuxProtServer<MAX_CHANNELS> SMPServer
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+ struct Command
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+ struct CommandReponse
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+ struct SpeedData
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+ struct VehicleData
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}
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app *--> v2v
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app *--> StateMachine
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app *--> smpHandler
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app *--> safety
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app ..> DrivingState: <<use>>
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app ..> StartupState: <<use>>
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app ..> smpch: <<use>>
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StateMachine o--> "0..1" IState
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IState <|.. StartupState: <<realize>>
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IState <|.. IdleState: <<realize>>
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IState <|.. DrivingState: <<realize>>
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IState <|.. ErrorState: <<realize>>
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smpHandler ..> StartupState: <<use>>
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smpHandler ..> DrivingState: <<use>>
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@enduml

‎doc/architecture/uml/ProcessView/Leader/AppSequence.puml

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@startuml LeaderAppSequenceDiagram
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autoactivate on
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Title Leader App Sequence Diagram
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participant "App" as App
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participant "State Machine" as SM
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participant "SMP Server" as Smp
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participant "V2V Client" as Mqtt
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participant "Remote Command Response Handler" as RCRH
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participant "Startup State" as StartupState
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participant "Idle State" as IdleState
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participant "Driving State" as DrivingState
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participant "Safety Monitor" as SafetyMonitor
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entity "RadonUlzer" as RU
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== State Machine: Startup State ==
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group Startup Commands [Repeats for each pending command]
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App -> StartupState : getPendingCommand
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return pendingCommand
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App -> Smp : sendCommand(pendingCommand)
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Smp -> RU : send
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deactivate
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return command sent
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RU -->> Smp : response
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App -> Smp : process()
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Smp -> App : CMD_RSP callback
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App -> RCRH : handleCommandResponse(rsp)
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alt OK
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RCRH -> StartupState : notify(Event event)
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return
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end
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alt max speed received
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RCRH -> DrivingState : setMaxSpeed(speed)
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return
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end
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alt error received
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RCRH -> SM : setState(ErrorState)
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return
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end
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return
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return
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return
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end group
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== State Machine: Idle State ==
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group Wait for release
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App -> Mqtt : process()
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Mqtt -> App : release command
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App -> IdleState : release()
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return
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return
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return
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end group
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== State Machine: Driving State ==
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group Driving
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App -> Smp : process()
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Smp -> App : CurrentVehicleData
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App -> DrivingState : CurrentVehicleData
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return top speed
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App -> Smp : sendSpeed(topSpeed)
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Smp -> RU : send
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deactivate
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return
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return
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return
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App -> Mqtt : process()
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Mqtt -> App : lastFollowerFeedbackCallback()
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App -> DrivingState : setLastFollowerFeedback(const Waypoint& feedback)
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return
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return
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return
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App -> DrivingState : getLatestVehicleData(Waypoint& vehicleData)
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return vehicle data is valid
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App -> Mqtt : sendWaypoint(const Waypoint& vehicleData)
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return
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end group
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== Stateless ==
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loop
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App -> Smp : process()
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Smp -> App : Heartbeat callback
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App -> SafetyMonitor : heartbeatCallback()
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return
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return
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return
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App -> SafetyMonitor : process()
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SafetyMonitor -> SafetyMonitor : checkHeartbeat()
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return false
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SafetyMonitor -> SM : setState(ErrorState)
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return
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return
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end loop
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@enduml

‎doc/architecture/uml/ProcessView/Leader/SerialMuxProtCommunication.puml

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@startuml CommSequence
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Title Sequence Diagram RU and DCS
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autoactivate on
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participant "RU" as RU
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participant "DCS" as DCS
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note across: Possible STATUS = {STARTUP, OK, ERROR}
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group State-Independent Messages
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RU --> DCS: STATUS: RU_STATE
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DCS --> RU: STATUS: DCS_STATE
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end
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group StateLessSetup
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RU --> DCS: Subscribe: STATUS
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RU --> DCS: Subscribe: CMD
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RU --> DCS: Subscribe: SPEED_SETPOINT
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DCS --> RU: Subscribe: STATUS
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DCS --> RU: Subscribe: CMD_RSP
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DCS --> RU: Subscribe: CURRENT_VEHICLE_DATA
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end
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group StatupState
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DCS -> RU: CMD: GetMaxSpeed
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RU -->> DCS: CMD_RSP:OK + maxSpeed
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DCS -> RU: CMD: SetInitialPosition
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RU -->> DCS: CMD_RSP:OK
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end
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group LineSensorsCalibrationState
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end
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group IdleState
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DCS -> RU: CMD: Release
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RU -->> DCS: CMD_RSP:OK
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end
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group DrivingState
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RU ->> DCS: CURRENT_VEHICLE_DATA:Data
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DCS -> DCS: CalculateSpeed
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return
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DCS --> RU: SPEED_SETPOINT: Top Center Speed
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end
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group ErrorState
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end
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@enduml

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