From 96fb59b407bbafbb3689a9c623f771f31efd8f0b Mon Sep 17 00:00:00 2001 From: MrVym Date: Mon, 27 Nov 2023 18:27:11 +0100 Subject: [PATCH] [ROOT] Add some documentation on the architecture --- README.md | 42 ++++++++++++++++++++++++++++++++++++++++++ src/strategy/README.md | 14 ++++++++++++++ 2 files changed, 56 insertions(+) create mode 100644 src/strategy/README.md diff --git a/README.md b/README.md index 210e1b9..69b5a0c 100644 --- a/README.md +++ b/README.md @@ -4,3 +4,45 @@ ```sh cargo run ``` +# Wanted Architecture +```mermaid +flowchart RL + STM + subgraph ide1 [UsbManager] + UsbDecoder + UsbEncoder + end + STM --> UsbDecoder + UsbEncoder --> STM + + subgraph ide2 [Capteur] + LidarProcessor + IMUProccesor + OdometerProcessor + CameraProcessor + end + + LidarProcessor --> PositionManager + IMUProccesor --> PositionManager + OdometerProcessor --> PositionManager + CameraProcessor --> PositionManager + + CameraProcessor --> ObjectManager + LidarProcessor --> ObjectManager + + subgraph ide3 [State] + Mapper + PositionMedium + end + + MQTTClient <--> PositionMedium + MQTTClient <--> UsbDecoder + + TrajectoryPlanner --> TrajectoryGenerator + TrajectoryGenerator --> UsbEncoder + + PositionMedium --> TrajectoryPlanner + TrajectoryPlanner --> PositionManager + PositionManager --> PositionMedium + MQTTClient --> MQTT +``` diff --git a/src/strategy/README.md b/src/strategy/README.md new file mode 100644 index 0000000..32b41d7 --- /dev/null +++ b/src/strategy/README.md @@ -0,0 +1,14 @@ +## Strategy + +```mermaid +flowchart RL + Wait ==> FindFlower + FindFlower ==> GotoFlower --> Wait + GotoFlower ==> GrabFlower + GrabFlower ==> FindPot --> Wait + FindPot ==> GotoPot --> Wait + GotoPot ==> Planting --> Wait + Planting ==> GotoSerre --> Wait + GotoSerre ==> FindFlower --> Wait + +```