forked from HEL/chronos
271 lines
4.5 KiB
Typst
271 lines
4.5 KiB
Typst
#import "../src/lib.typ": from-plantuml
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#set page(width: auto, height: auto)
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/*
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#from-plantuml(```
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@startuml
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actor User as usr
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participant can_message as can
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control kartculator as kc
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queue XF as xf
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entity Drive as drive
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entity Steering as steering
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usr -\ xf : set message "move"
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xf -> can : new value on joystick
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== If X axis change value ==
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can -> kc : calculate new position
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kc -> can : build message
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can -> steering : set new position
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== If Y axis change value ==
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can -> kc : calculate new torque
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kc -> can : build message
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can -> xf : set message "torque"
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xf -> drive : set new torque
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@enduml
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```)
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#pagebreak(weak: true)
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#from-plantuml(```
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@startuml
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actor CAN_BUS as bus
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participant interrupt as ISR
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queue XF as xf
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participant ecan as ecan
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participant canInterface as can
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control canMessageController as msg
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bus -\\ ISR ++ : can message
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ISR -> can : newMsg
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can -> ecan : read
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ecan --> can : message
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can -> xf : POST XF
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destroy ISR
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group TICK XF
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xf o-> can : receiveCan()
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can -> msg : processIncoming()
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msg -> can : create message
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can -> xf : POST XF
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end
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group TICK XF
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xf o-> can : sendCan()
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can -> ecan : write
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ecan -\\ bus : can message
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end
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@enduml
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```)
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#pagebreak(weak: true)
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*/
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/*
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#from-plantuml(```
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@startuml
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participant "Behavior::StateMachine" as sm
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participant Dispatcher as d
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participant TimeoutManager as tm
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entity "Event::Timeout" as t
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queue "TimeoutManager::timeouts_" as timeouts
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autoactivate off
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== Schedule timeout ==
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sm -> sm++ : scheduleTimeout
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sm -> d ++: getDispatcher
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d --> sm --: dispatcher
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sm -> d --++ : scheduleTimeout
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d -> tm ++: getTimeoutManager
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tm --> d --: timeoutManager
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d -> tm --++ : scheduleTimeout
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tm -> t ** : new
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t --> tm
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tm -> timeouts --++: insert
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== Decrement timeout (and dispatch) ==
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loop every tickInterval
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?->> tm ++: tick
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tm -> timeouts : getFront
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timeouts -> t ++
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t --> timeouts
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timeouts --> tm : timeout
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tm -> t --: decrement
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end
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note left t
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When timeout is 0,
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dispatch event
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end note
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t -> timeouts : pop
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deactivate timeouts
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t ->? --: pushEvent
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== Unschedule timeout ==
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sm -> sm++ : unscheduleTimeout
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sm -> d ++: getDispatcher
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d --> sm --: dispatcher
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sm -> d --++ : unscheduleTimeout
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d -> tm ++: getTimeoutManager
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tm --> d --: timeoutManager
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d -> tm --++ : unscheduleTimeout
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tm -> timeouts --: erase
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timeouts -> t !!
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@enduml
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```)
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*/
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#pagebreak(weak: true)
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#from-plantuml(```
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@startuml
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participant Behavior as b
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participant Dispatcher as d
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entity Event as e
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participant EventQueue as eq
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queue "EventQueue::queue_" as q
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== Create an Event ==
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?->> b ++ : GEN
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b -> e ** : new
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b -> b --++ : pushEvent
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e -> b : getBehavior
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b --> e ++: setBehavior
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e --> b --
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b -> d ++ : getDispatcher
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d --> b
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b -> d -- : pushEvent
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d ->? -- : push
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== Push Event ==
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?->> d ++: pushEvent
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d -> eq--++: push
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eq -> q ++
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q --> eq
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eq -> q -- : pushEndQueue
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== Dispatch ==
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?->> d ++: executeOnce
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d -> q : getFront
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q -> e ++
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e --> q
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q --> d : event
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d -> q : pop
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deactivate q
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d -> d --++ : dispatchEvent
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d -> b ++ : getBehavior
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b --> d
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d -> b -- : process
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b -> b--: processEvent
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destroy e
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@enduml
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```)
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#pagebreak(weak: true)
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#from-plantuml(```
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@startuml
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'https://plantuml.com/sequence-diagram
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actor User as usr
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participant "Pb L" as pbL
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participant "Pb R" as pbR
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participant "LED L" as ledL
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participant "LED R" as ledR
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== Single click ==
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group Single click left
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usr -\ pbL ++: pressButton
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usr -\ pbL : releaseButton
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pbL -> ledL --++ : blink
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usr -\ pbL ++: pressButton
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usr -\ pbL : releaseButton
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pbL -> ledL -- : endBlink
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deactivate ledL
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end
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group Single click right
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usr -\ pbR ++: pressButton
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usr -\ pbR : releaseButton
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pbR -> ledR --++ : blink
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usr -\ pbR ++: pressButton
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usr -\ pbR : releaseButton
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pbR -> ledR -- : endBlink
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deactivate ledR
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end
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== Double click ==
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group Double click left
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usr -\ pbL ++: pressButton
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usr -\ pbL : releaseButton
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usr -\ pbL : pressButton
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pbL -> ledL --++ : blink
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note right ledL: blink 3x
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ledL ->x ledL -- : finished
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end
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group Double click right
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usr -\ pbR ++: pressButton
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usr -\ pbR : releaseButton
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usr -\ pbR : pressButton
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pbR -> ledR --++ : blink
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note right ledR: blink 3x
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ledR ->x ledR -- : finished
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end
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== Long click ==
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group Long click left
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usr -\ pbL ++: pressButton
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pbL -> ledR--: blink
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activate ledL
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activate ledR
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usr -\ pbL ++: pressButton
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pbL -> ledR -- : endBlink
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deactivate ledL
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deactivate ledR
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end
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group Long click right
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usr -\ pbR ++: pressButton
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pbR -> ledR--: blink
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activate ledL
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activate ledR
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usr -\ pbL ++: pressButton
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pbL -> ledR -- : endBlink
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deactivate ledL
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deactivate ledR
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end
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@enduml
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```) |