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@startuml Common Sequence | ||
title Common Sequence | ||
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!startsub PARTICIPANTS | ||
' TODO: Move parameters to a general template | ||
autonumber | ||
!$MAX_MESSAGE_SIZE = 100 | ||
skinparam { | ||
BoxPadding 10 | ||
MaxMessageSize $MAX_MESSAGE_SIZE | ||
ParticipantPadding 20 | ||
SequenceMessageAlign center | ||
wrapWidth $MAX_MESSAGE_SIZE | ||
} | ||
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box "Common Sequence" | ||
participant CanTransceiver as can | ||
participant CanTransceiverRosIntf as ros_intf | ||
end box | ||
== Inbound == | ||
!endsub PARTICIPANTS | ||
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-> can : Inbound Sensor(s) [CAN] | ||
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!startsub SEQUENCE | ||
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activate can | ||
can -> can : Convert from CAN to ROS | ||
can -> can : Filter Sensor(s) | ||
can -> ros_intf --++ : Transmit Sensor(s) [ROS] | ||
ros_intf -> : Publish sensor(s) to Software ROS Network | ||
deactivate ros_intf | ||
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== Outbound == | ||
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ros_intf <- ++ : Command(s) from Software ROS Network (ex. Desired Heading) | ||
can <- ros_intf --++ : Transmit Command(s) [ROS] | ||
can -> can : Convert Command(s) from ROS to CAN | ||
!endsub SEQUENCE | ||
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<- can : Outbound Command(s) [CAN] | ||
deactivate can | ||
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@enduml |
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projects/can_transceiver/diagrams/deployment_sequence.puml
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@startuml Deployment Sequence | ||
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title Deployment Sequence | ||
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!includesub common_sequence.puml!PARTICIPANTS | ||
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-> can : Sensors from ELEC [CAN] | ||
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!includesub common_sequence.puml!SEQUENCE | ||
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<- can -- : Transmit Command(s) to ELEC [CAN] | ||
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@enduml |
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projects/can_transceiver/diagrams/simulation_sequence.puml
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@startuml Simulation Sequence | ||
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title Simulation Sequence | ||
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box "Simulation Sequence" | ||
participant CanSimIntf as sim_intf | ||
participant CanSimTransceiver as sim_t | ||
end box | ||
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!includesub common_sequence.puml!PARTICIPANTS | ||
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-> sim_intf ++ : Mock Sensors from Simulator [ROS] | ||
sim_intf -> sim_t --++ : Process Mock Sensors [ROS] | ||
sim_t -> sim_t : Convert ROS sensor object to CAN | ||
sim_t --> can -- : Call new Sensors API [CAN] | ||
deactivate sim_intf | ||
note right sim_t : API call should be async to replicate deployment behavior. | ||
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!includesub common_sequence.puml!SEQUENCE | ||
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sim_t <-- can --++ : Call Write to CAN API | ||
note left can : API call should be async to replicate deployment behavior. | ||
sim_t -> sim_t : Convert Command(s) from CAN to ROS | ||
sim_intf <- sim_t --++ : Transmit Command(s) [ROS] | ||
activate sim_intf | ||
<- sim_intf -- : Publish Command(s) to Simulator [ROS] |