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mission planner - Coggle Diagram

- - - - If exptd material barcode does not match with the scanned barcode then there is a halt
        
        Mission planner should be raising issues about wrong item scan
        
        Then resets to waiting for another scan
        
        until the right amount of things are scanned, the robot will not execute more
        
        All of this will not happen if there are no exepected items
        
        Materials onboard will be reported back in the job status over server
  - - - Lane based marcro to macro navigation means auto genrating plans to go the target macro. This approach makes it simple to direct robot from middle of lane to plan for some other macro like battery charging.
    - - A to b navigation
      - Attachment
      - Sound
      - Wait for ack
      - Barcode scan
      - Lift
      - doors
      - Signal to a comm port
- - - - move to target waypoint
      - Docking
      - Wait for ack
      - lifts
      - barcode scan
      - Door
    - - Buzzer
      - LEDs
      - Sound
      - API signal
      - send someting to server/port