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Communication - Coggle Diagram
Communication
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HW faults - Recieved
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a single bit is accumulated with all the faults - {PLC (TCP/IP)}, var_name(bool){critical_hw_fault}
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LEDs - 4 Leds, FrontL, FrontR, BackL, BackR each led needs 4 bits for R, G, B, blink
Sent
Target state -
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{front_left_r_bit, front_left_g_bit, front_left_b_bit, front_left_blink_bit}
{front_right_r_bit, front_right_g_bit, front_right_b_bit, front_right_blink_bit}
{back_left_r_bit, back_left_g_bit, back_left_b_bit, back_left_blink_bit}
{back_right_r_bit, back_right_g_bit, back_right_b_bit, back_right_blink_bit}
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Buzzer
Recieve
current_buzzer_state - {PLC (TCP/IP)} - 4 bools {buzzer_bit_1, buzzer_bit_2, buzzer_bit_3, buzzer_bit_4}
Sent
Target state,- {PLC (TCP/IP)} - 4 bools {buzzer_target_bit_1, buzzer_target_bit_2, buzzer_target_bit_3, buzzer_target_bit_4}
Safety
recieve
current Field - {PLC (TCP/IP)} - 4 bools {safety_getbit_1, safety_getbit_2, safety_getbit_3, safety_getbit_4, safety_getbit_5, safety_getbit_6}
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sent
Feild to be switched - {PLC (TCP/IP)} - 4 bools {safety_setbit_1, safety_setbit_2, safety_setbit_3, safety_setbit_4, safety_setbit_5, safety_setbit_6}
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Mission manager
Recieve
Recovery (int) - {PCL(TCP/IP)},
Reset cmd - resets mission q on the robot and current mission as well {PLC (TCP/IP)}, var_name(bool){reset_mission_q}
Stop cmd - Used mainly by trafic manager to stop a robot, {PLC (TCP/IP)}, var_name(bool){stop_ack_state}
Init amcl - used to relocalize the robot at the first point of current mission {PLC (TCP/IP)}, var_name(bool){inti_amcl_state}
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spare_bit_1(int32), spare_bit_2(int32)
spare_float_1(float), spare_float_2(float)
spare_bools_1(uint32), spare_bools_2(uint32)
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Send
Location in map frame - X, Y , theta
X - {PLC (TCP/IP)}, var_name(float){location_x}
Y - {PLC (TCP/IP)}, var_name(float){location_y}
theta - {PLC (TCP/IP)}, var_name(float){location_theta}
Following mission no - {PLC (TCP/IP)}, var_name(int){current_mission}
Current mission step - {PLC (TCP/IP)}, var_name(int){current_mission_step}
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robot state - {PLC (TCP/IP)}, var_name(int){robot_state}
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Attachments
Sent
Execute_attachment {PLC (TCP/IP)}, var_name(bool){execute_attachment}
Pendent
Recieve
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F , B, L, R - {PLC (TCP/IP)} 4 bools {front_bit, back_bit, left_bit, right_bit}
Wait_state
Wait ack - s/w is put to wait state when an attachment is being executed or a docking behaviour is in place. A wait_ack is needed to close the current controller. when s/w is waiting for the {wait_ack_state}, {waiting_state} is set to true and sent to PLC, so that PLC is aware of s/w is waiting for a {wait_ack_state} and action is in process
Wait ack (recieved) - {PLC (TCP/IP)}, var_name(bool){wait_ack_state}
waiting state (sent) - {PLC (TCP/IP)}, var_name(bool){wait_state}