SignalReceiver PR

.github/workflows/main.yml

@@ -30,7 +30,7 @@ jobs:
     needs: intro
     strategy:
       matrix:
-        environment: ["ConvoyLeaderTarget", "ConvoyFollowerTarget", "RemoteControlTarget"]
+        environment: ["ConvoyLeaderTarget", "ConvoyFollowerTarget", "RemoteControlTarget", "SignalReceiverTarget"]
 
     # Steps represent a sequence of tasks that will be executed as part of the job.
     steps:
@@ -71,7 +71,7 @@ jobs:
     needs: intro
     strategy:
       matrix:
-        environment: ["ConvoyLeaderTarget", "ConvoyFollowerTarget", "RemoteControlTarget", "Test"]
+        environment: ["ConvoyLeaderTarget", "ConvoyFollowerTarget", "RemoteControlTarget", "SignalReceiverTarget", "Test"]
 
     steps:
     - name: Checkout repository
@@ -148,7 +148,7 @@ jobs:
     needs: intro
     strategy:
       matrix:
-        environment: ["ConvoyLeaderTarget", "ConvoyFollowerTarget", "ConvoyLeaderSim", "ConvoyFollowerSim", "RemoteControlTarget", "RemoteControlSim"]
+        environment: ["ConvoyLeaderTarget", "ConvoyFollowerTarget", "ConvoyLeaderSim", "ConvoyFollowerSim", "RemoteControlTarget", "RemoteControlSim", "SignalReceiverTarget", "SignalReceiverSim"]
 
     steps:
     - name: Checkout repository

doc/architecture/uml/LogicalView/SignalReceiver/Application.puml

@@ -0,0 +1,167 @@
+@startuml SignalReceiverApplication
+
+title SignalReceiver app
+
+package "Application" as appLayer {
+
+    class App {
+        - bool gIsListening
+        - Color clr 
+        - Color oldClr
+        + setup() : void
+        + loop() : void
+        + sendCurrentColor() : void
+        + App_odometryChannelCallback(const uint8_t* payload, const uint8_t payloadSize, void* userData) : void
+        + trafficLightColorsCallback(const String& payload) : void
+        + settingsCallback(const String& payload) : void
+    }
+
+    note left of App::gIsListening
+        Once conditions are fullfilled, gIsListening is set as true and
+        the robot receives the relevant color ID through SMP/USB.
+    end note
+
+    note left of App::App_odometryChannelCallback
+        Receives and deserializes odometry information from RadonUlzer. 
+    end note
+
+    note left of App::trafficLightColorsCallback
+        Receives and deserializes MQTT signals.
+        * Type: {"COLOR": ID}
+    end note
+
+    note left of App::settingsCallback
+        Receives and deserializes MQTT signals 
+        with settings of IEs present in the system.
+        * Type: {"FROM": , "TOWARDS": , "EX": , "EY": }
+    end note
+
+    class "TrafficElement" as te 
+    {
+        -String m_nameElement
+        -int32_t m_orientation
+        -int32_t m_entryX
+        -int32_t m_entryY
+        -int32_t m_distance
+        -int32_t m_previousDistance
+        -String m_topicName
+        -uint8_t m_trafficStatus
+        +setIEName(String name) : void
+        +getIEName() : String
+        +setRequiredOrientation(int32_t requiredOrientation) : void
+        +getRequiredOrientation() : int32_t
+        +setEntryValues(int32_t entryX, int32_t entryY) : void
+        +getEntryX() : int32_t
+        +getEntryY() : int32_t
+        +setDistance(int32_t currentDistance) : void
+        +getDistance() : int32_t
+        +setPreviousDistance(int32_t previousDistance) : void
+        +getPreviousDistance() : int32_t   
+        +setTopicName(String topic) : void
+        +getTopicName() : String
+        +setStatus(uint8_t status) : void
+        +getStatus() : uint8_t
+        +isEmpty() : bool
+    }
+
+    note bottom of te
+        * The TrafficElement class contains methods to save 
+        incoming relevant settings from IEs.
+        * It is used by TrafficHandler to create a list of 
+        all present IEs in the system.
+    end note
+
+    class "TrafficHandler" as th 
+    {
+        -uint8_t MAX_ELEMENTS
+        -uint8_t NR_OF_ELEMENTS
+        -String lockedOnto
+        -TrafficElement listOfElements[10]
+        +process() : bool
+        +setNewInfrastructureElement() : bool
+        +checkLockIn() : bool
+        +isNear() : bool
+        +getTargetName() : String
+    }
+
+    note top of th
+        * Adds new IEs to the list once it receives relevant settings.
+        * Processes this list and outputs a status between the robot and each IE.
+        * Important statuses are checked using checkLockIn() and isNear()
+    end note
+
+    note left of th::setNewInfrastructureElement()
+        Various parameters are passed through in order to add 
+        the IE to the list.
+    end note
+
+    class "CoordinateHandler" as ch 
+    {
+        -enum CurrentStatus
+        -CurrentStatus m_currentStatus
+        -int32_t m_distance
+        -int32_t m_oldDistance
+        -int32_t m_currentX
+        -int32_t m_currentY
+        -int32_t m_currentOrientation
+        +setCurrentCoordinates(int32_t xPos, int32_t yPos) : void
+        +getCurrentXCoord() : int32_t 
+        +getCurrentYCorrd() : int32_t
+        +setCurrentOrientation() : void
+        +getCurrentOrientation() : int32_t
+        +getCurrentDistance() : int32_t
+        +getOldDistance() : int32_t
+        +process(const String& ieName, int32_t ieOrientation, int32_t distanceToIE, int32_t previousDistanceToIE) : bool
+        +calculateDistance(int32_t xPos, int32_t yPos) : int32_t
+        +getStatus() : uint8_t
+        -isMovingTowards(int32_t currentDistance, int32_t previousDistance) : bool
+        -checkOrientation(int32_t orientationIE) : bool
+    }
+
+    note bottom of ch
+        Processes and compares the coordinates of the robot (current)
+        with the ones of each enlisted IE.
+    end note 
+}
+
+package "Service" as serviceLayer {
+    class SettingsHandler {
+        - String m_robotName
+        - String m_wifiSSID
+        - String m_wifiPassword
+        - String m_mqttBrokerAddress
+        - uint16_t m_mqttPort
+        - String m_apSSID
+        - String m_apPassword
+        - String m_webServerUser
+        - String m_webServerPassword
+        - uint8_t m_platoonPlatoonId
+        - uint8_t m_platoonVehicleId
+        - FileHandler m_fileHandler
+        + getInstance() : SettingsHandler
+        + loadConfigurationFile(const String& filename) : bool
+        + saveConfigurationFile(const String& filename) : bool
+        + getRobotName() : const String&
+        + setRobotName(const String& robotName) : void
+        + getWiFiSSID() : const String&
+        + setWiFiSSID(const String& wifiSSID) : void 
+        + getWiFiPassword() : const String&
+        + setWiFiPassword(const String& wifiPassword) : void
+        + getMqttBrokerAddress() : const String&
+        + getMqttPort() : uint16_t
+        + getApSSID() : const String&
+        + getApPassword() : const String&
+        + getWebServerUser() : const String&
+        + getWebServerPassword() : const String&
+        + getPlatoonPlatoonId() : uint8_t
+        + getPLatoonVehicleId() : uint8_t
+    }
+}
+
+App ---o th
+App --o ch 
+App ----> SettingsHandler : <<use>>
+th "1" --> "0...10" te : <<use>>
+th --o ch 
+
+@enduml

doc/architecture/uml/ProcessView/SignalReceiver/Applicaion.plantuml

@@ -0,0 +1,80 @@
+@startuml
+
+title SignalReceiver Sequence
+
+actor Infrastructure_Element
+actor RadonUlzer
+participant App 
+participant Settings 
+participant TrafficElements
+participant TrafficHandler
+participant CoordinateHandler
+
+group Setup
+    App -> App : setup()
+
+        App -> Settings: getMqttConfig()
+        return success
+
+    Infrastructure_Element -> App: settings through MQTT
+        App -> TrafficHandler: setNewInfrastructureElement()
+            TrafficHandler -> TrafficElements: isEmpty()
+            return if true, add it to list of IEs
+end
+
+group Loop 
+    Infrastructure_Element -> Infrastructure_Element: runs through states
+    RadonUlzer -> RadonUlzer: follows the line
+    RadonUlzer -> App : <<SMP/USB>> Receive Odometry info (X,Y and Orientation)
+    App -> CoordinateHandler: setCurrentOrientation(), setCurrentCoordinates()
+    App -> TrafficHandler : TrafficHandler::process()
+    note right: < processing for each IE in the list
+
+    group TrafficHandler::process()
+    TrafficHandler -> TrafficHandler: setPreviousDistance()
+
+    TrafficHandler -> CoordinateHandler: setDistance(calculateDistance())
+    return distance
+
+    TrafficHandler -> CoordinateHandler: CoordinateHandler::process() with given distances
+
+        group CoordinateHandler::process()
+
+            hnote over CoordinateHandler: STATUS_IDLE
+            CoordinateHandler -> CoordinateHandler: isMovingTowards() is true \n then
+
+            hnote over CoordinateHandler: STATUS_TOWARDS
+            CoordinateHandler -> CoordinateHandler: checkOrientation() is true \n then
+
+            hnote over CoordinateHandler: STATUS_LOCKED_IN
+            CoordinateHandler -> CoordinateHandler: distance < 200 is true \n then
+
+            hnote over CoordinateHandler: STATUS_NEAR 
+            hnote over CoordinateHandler: else STATUS_PASSED
+        end
+    end
+
+    TrafficHandler -> CoordinateHandler: setStatus(STATUS)
+
+    group Subscription
+        App -> TrafficHandler: checkLockIn()
+        note left: is getStatus() == LOCKED_IN || NEAR ?
+        return if true, subscribe to IE's MQTT topic
+
+        Infrastructure_Element -> App: <<MQTT>>Incoming color: \n receive and deserialize message, save it in Color clr
+
+        group Listening
+            App -> TrafficHandler: isNear()
+            note left: is getStatus() == NEAR ?
+            return if true, then gIsListening is true
+
+            App -> App: if (oldClr != clr) then
+            App -> RadonUlzer: sendColor() 
+            App -> App: oldClr = clr
+        else gIsListening = false
+        end
+    else unsubscribe from IE
+    end
+end
+
+@enduml

doc/architecture/uml/ProcessView/SignalReceiver/WholeSystemSequenced.plantuml

@@ -0,0 +1,76 @@
+@startuml
+
+title Sequence
+
+note right #Aqua
+Info:
+Tx - transmit
+Rx - receive
+SMP - SerialMuxProt/USB connection
+MQTT - Mosquitto broker
+end note
+
+participant RadonUlzer as RU
+note right of RU
+    running EndlessRun
+end note
+
+participant DroidControlShip as DCS
+note right of DCS
+    running SignalReceiver
+end note
+
+participant InfrastructureElements as IE
+note right of IE
+    running SmartTrafficLight
+end note
+
+== Setup ==
+
+RU --> RU: Init Board + SMP
+RU --> RU: Run Calibration
+DCS --> DCS: Init Board + MQTT Broker
+IE --> IE: Init Board + MQTT Broker
+IE --> IE: wait 5s
+IE --> IE: send settings: \n name \n orientation \n entry x \n entry y
+IE --> DCS: TxMQTT Settings
+DCS --> DCS: settingsCallback()
+DCS --> DCS: Create list of IEs, each member with: \n name \n orientation \n entry x \n entry y
+
+== Loop ==
+
+RU -> RU: follows the line
+
+hnote over RU : sending x,y coordinates and orientation
+RU -> DCS: TxSMP Odometry (x,y,orientation)
+DCS -> DCS: RxSMP Odometry
+
+group TrafficHandler::process()
+
+    group CoordinateHandler::process()
+        hnote over DCS: \nSTATUS_IDLE\n
+        group isMovingTowards = true
+            hnote over DCS: \nSTATUS_TOWARDS\n
+            group checkOrientation = true
+                hnote over DCS: \nSTATUS_LOCKED_IN\n
+
+                group is robot close?
+                    hnote over DCS: \nSTATUS_NEAR\n
+        else return process() as false, STATUS_LOCKED_IN
+                end
+            else return process() as false, STATUS_TOWARDS 
+            end
+        else return process() as false, STATUS_PASSED    
+        end
+    end
+end
+
+hnote over DCS: if status is LOCKED_IN, subscribe to the IE the robot is locked onto
+
+IE -> DCS: TxMQTT trafficLightColors \n periodically publishing relevant color
+DCS -> DCS: RxMQTT trafficLightColorsCallback\n deserialize 
+
+hnote over DCS: if status is NEAR, send last relevant color to RadonUlzer
+DCS -> RU: TxSMP sendColor()
+
+@enduml