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Add UML Diagram for External Intfs (#29)
* Add UML Diagram for External Intfs * Update with export flow * Update diagrams * Remove external_interfaces table
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| # PlantUML export directory | ||
| /diagrams/out/*.png | ||
| !/diagrams/out/external_interfaces.png |
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| @startuml external_interfaces | ||
| Title External Interfaces | ||
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| !include %getenv("PLANTUML_TEMPLATE_PATH") | ||
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| ' Define stereotypes to categorize states | ||
| skinparam State { | ||
| BackgroundColor { | ||
| <<Legend>> White | ||
| <<Topic>> SlateBlue | ||
| <<Pub>> Green | ||
| <<Sub>> Red | ||
| <<SimTopic>> MidnightBlue | ||
| <<Node>> $SAILBOT_DARK_BLUE | ||
| <<SimNode>> Purple | ||
| } | ||
| Font { | ||
| Color<<Legend>> Black | ||
| Style<<Legend>> Bold | ||
| } | ||
| } | ||
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| State Legend<<Legend>> { | ||
| State "Publisher" <<Pub>> | ||
| State "Subscriber" <<Sub>> | ||
| State Topic <<Topic>> : Type | ||
| State "Sim Topic" <<SimTopic>> : Type | ||
| State Node { | ||
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| } | ||
| State "Sim Node" as sim_node <<SimNode>> { | ||
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| } | ||
| } | ||
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| ' Define topics and sim topics | ||
| State ais_ships<<Topic>> : AISShips | ||
| State mock_ais_ships<<SimTopic>> : AISShips | ||
| State batteries<<Topic>> : Batteries | ||
| State boat_sim_input<<SimTopic>> : CanSimToBoatSim | ||
| state desired_heading<<Topic>> : DesiredHeading | ||
| State data_sensors<<Topic>> : GenericSensors | ||
| State gps<<Topic>> : GPS | ||
| State mock_gps<<SimTopic>> : GPS | ||
| State local_path_data<<Topic>> : LPathData | ||
| State global_path<<Topic>> : Path | ||
| State "global_path" as mock_global_path<<SimTopic>> : 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<<Topic>> : SailCmd | ||
| State filtered_wind_sensor<<Topic>> : WindSensor | ||
| State mock_wind_sensors<<SimTopic>> : WindSensors | ||
| State wind_sensors<<Topic>> : WindSensors | ||
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| ' Define nodes and sim nodes | ||
| State "Local Pathfinding" as l_path <<Node>> { | ||
| State "Publish" as l_path_pub <<Pub>> | ||
| State "Subscribe" as l_path_sub <<Sub>> | ||
| } | ||
| State "Local Transceiver" as l_trans <<Node>> { | ||
| State "Publish" as l_trans_pub <<Pub>> | ||
| State "Subscribe" as l_trans_sub <<Sub>> | ||
| } | ||
| State "Controller" as ctrl <<Node>> { | ||
| State "Publish" as ctrl_pub <<Pub>> | ||
| State "Subscribe" as ctrl_sub <<Sub>> | ||
| } | ||
| State "Boat Simulator" as sim <<SimNode>> { | ||
| State "Publish" as sim_pub <<Pub>> | ||
| State "Subscribe" as sim_sub <<Sub>> | ||
| } | ||
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| State "Can Transceiver" as can<<Legend>> { | ||
| State "CanTrxRosIntf" as can_trx <<Node>> { | ||
| State "Publish" as can_trx_pub <<Pub>> | ||
| State "Subscribe" as can_trx_sub <<Sub>> | ||
| } | ||
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| State "CanSimIntf" as can_sim <<SimNode>> { | ||
| State "Publish" as can_sim_pub <<Pub>> | ||
| State "Subscribe" as can_sim_sub <<Sub>> | ||
| } | ||
| } | ||
| note top of can | ||
| Note: Can Transceiver is a module that | ||
| encompasses and connects CanTrxRosIntf | ||
| and CanSimIntf | ||
| end note | ||
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| State "Mock Ais" as ais <<SimNode>> { | ||
| state "Publish" as ais_pub <<Pub>> | ||
| } | ||
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| State "Mock Global Path" as g_path <<SimNode>> { | ||
| State "Publish" as g_path_pub <<Pub>> | ||
| } | ||
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| ' Publisher --> Topic | ||
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| ais_pub --> mock_ais_ships | ||
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| 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 | ||
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| can_sim_pub --> boat_sim_input | ||
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| ctrl_pub -up-> sail_cmd | ||
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| l_path_pub --> desired_heading | ||
| l_path_pub --> local_path_data | ||
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| l_trans_pub --> global_path | ||
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| g_path_pub --> mock_global_path | ||
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| sim_pub -left-> mock_gps | ||
| sim_pub -left-> mock_wind_sensors | ||
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| ' Topic --> Subscriber | ||
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| ais_ships --> l_path_sub | ||
| ais_ships --> l_trans_sub | ||
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| batteries --> l_trans_sub | ||
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| boat_sim_input --> sim_sub | ||
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| desired_heading --> ctrl_sub | ||
| desired_heading --> sim_sub | ||
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| data_sensors --> l_trans_sub | ||
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| global_path --> l_path_sub | ||
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| mock_global_path -up-> l_path_sub | ||
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| gps --> l_trans_sub | ||
| gps --> l_path_sub | ||
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| local_path_data -up-> l_trans_sub | ||
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| mock_ais_ships --> can_sim_sub | ||
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| mock_gps -up-> can_sim_sub | ||
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| filtered_wind_sensor --> l_path_sub | ||
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| mock_wind_sensors -up-> can_sim_sub | ||
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| sail_cmd -up-> can_trx_sub | ||
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| wind_sensors --> l_trans_sub |