Leader App

.vscode/templates.code-snippets

@@ -61,7 +61,7 @@
 		"body": [
 			"/* MIT License",
 			" *",
-			" * Copyright (c) $CURRENT_YEAR Andreas Merkle <web@blue-andi.de>",
+			" * Copyright (c) 2023 - $CURRENT_YEAR Andreas Merkle <web@blue-andi.de>",
 			" *",
 			" * Permission is hereby granted, free of charge, to any person obtaining a copy",
 			" * of this software and associated documentation files (the \"Software\"), to deal",
@@ -128,7 +128,7 @@
 		"body": [
 			"/* MIT License",
 			" *",
-			" * Copyright (c) $CURRENT_YEAR Andreas Merkle <web@blue-andi.de>",
+			" * Copyright (c) 2023 - $CURRENT_YEAR Andreas Merkle <web@blue-andi.de>",
 			" *",
 			" * Permission is hereby granted, free of charge, to any person obtaining a copy",
 			" * of this software and associated documentation files (the \"Software\"), to deal",

data/config/follower_1.json

@@ -0,0 +1,28 @@
+{
+  "robotName": "follower_1",
+  "wifi": {
+    "ssid": "TheForce",
+    "pswd": "hanshotfirst"
+  },
+  "mqtt": {
+    "host": "localhost",
+    "port": 1883
+  },
+  "ap": {
+    "ssid": "DCS_AP",
+    "pswd": "hanshotfirst"
+  },
+  "webServer": {
+    "user": "admin",
+    "pswd": "admin"
+  },
+  "platoon": {
+    "platoonId": "0",
+    "vehicleId": "1"
+  },
+  "initialPosition": {
+    "x": "0",
+    "y": "0",
+    "heading": "0"
+  }
+}

data/config/follower_2.json

@@ -0,0 +1,28 @@
+{
+  "robotName": "follower_2",
+  "wifi": {
+    "ssid": "TheForce",
+    "pswd": "hanshotfirst"
+  },
+  "mqtt": {
+    "host": "localhost",
+    "port": 1883
+  },
+  "ap": {
+    "ssid": "DCS_AP",
+    "pswd": "hanshotfirst"
+  },
+  "webServer": {
+    "user": "admin",
+    "pswd": "admin"
+  },
+  "platoon": {
+    "platoonId": "0",
+    "vehicleId": "2"
+  },
+  "initialPosition": {
+    "x": "0",
+    "y": "0",
+    "heading": "0"
+  }
+}

data/config/leader.json

@@ -0,0 +1,28 @@
+{
+  "robotName": "leader",
+  "wifi": {
+    "ssid": "TheForce",
+    "pswd": "hanshotfirst"
+  },
+  "mqtt": {
+    "host": "localhost",
+    "port": 1883
+  },
+  "ap": {
+    "ssid": "DCS_AP",
+    "pswd": "hanshotfirst"
+  },
+  "webServer": {
+    "user": "admin",
+    "pswd": "admin"
+  },
+  "platoon": {
+    "platoonId": "0",
+    "vehicleId": "0"
+  },
+  "initialPosition": {
+    "x": "0",
+    "y": "0",
+    "heading": "1588"
+  }
+}

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

@@ -0,0 +1,102 @@
+@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

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

@@ -0,0 +1,127 @@
+@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 -> StartupState : getPendingCommand
+    return pendingCommand
+
+    App -> Smp : sendCommand(pendingCommand)
+        Smp -> RU : send
+        deactivate
+    return command sent
+
+    RU -->> Smp : response
+
+    App -> Smp : process()
+        Smp -> App : CMD_RSP callback
+            App -> RCRH : handleCommandResponse(rsp)
+                alt OK
+                    RCRH -> StartupState : notify(Event event)
+                    return
+                end
+                alt max speed received
+                    RCRH -> DrivingState : setMaxSpeed(speed)
+                    return
+                end
+                alt error received
+                    RCRH -> SM : setState(ErrorState)
+                    return
+                end
+            return
+        return
+    return
+end group
+
+== State Machine: Idle State ==
+
+group Wait for release
+    App -> Mqtt : process()
+        Mqtt -> App : release command
+            App -> Smp : release command
+                Smp -> RU : send
+                deactivate
+            return
+        return
+    return
+
+    RU -->> Smp : response
+
+    App -> Smp : process()
+        Smp -> App : CMD_RSP callback
+            App -> RCRH : handleCommandResponse(rsp)
+                alt OK
+                    RCRH -> SM : setState(DrivingState)
+                    return
+                end
+                alt error received
+                    RCRH -> SM : setState(ErrorState)
+                    return
+                end
+            return
+        return
+    return
+end group
+
+== State Machine: Driving State ==
+group Driving
+    App -> Smp : process()
+        Smp -> App : CurrentVehicleData
+            App -> DrivingState : CurrentVehicleData
+            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)
+    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

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

@@ -0,0 +1,53 @@
+@startuml CommSequence
+
+Title Sequence Diagram RU and DCS
+
+autoactivate on
+
+participant "RU" as RU
+participant "DCS" as DCS
+
+note across: Possible STATUS = {STARTUP, OK, ERROR}
+
+group State-Independent Messages
+    RU --> DCS: STATUS: RU_STATE
+    DCS --> RU: STATUS: DCS_STATE
+end
+
+group StateLessSetup
+    RU --> DCS: Subscribe: STATUS
+    RU --> DCS: Subscribe: CMD
+    RU --> DCS: Subscribe: SPEED_SETPOINT
+    DCS --> RU: Subscribe: STATUS
+    DCS --> RU: Subscribe: CMD_RSP
+    DCS --> RU: Subscribe: CURRENT_VEHICLE_DATA
+end
+
+group StatupState
+    DCS -> RU: CMD: GetMaxSpeed
+    RU -->> DCS: CMD_RSP:OK + maxSpeed
+    DCS -> RU: CMD: SetInitialPosition
+    RU -->> DCS: CMD_RSP:OK
+end
+
+group LineSensorsCalibrationState
+
+end
+
+group IdleState
+    DCS -> RU: CMD: Release
+    RU -->> DCS: CMD_RSP:OK
+end
+
+group DrivingState
+    RU ->> DCS: CURRENT_VEHICLE_DATA:Data
+    DCS -> DCS: CalculateSpeed
+    return
+    DCS --> RU: SPEED_SETPOINT: Top Center Speed
+end
+
+group ErrorState
+
+end
+
+@enduml