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uses: ts-graphviz/setup-graphviz@v2 | ||
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- name: Set up doxygen and generate documentation for ${{ matrix.environment }} | ||
uses: mattnotmitt/[email protected].5 | ||
uses: mattnotmitt/[email protected].8 | ||
with: | ||
working-directory: './doc/doxygen' | ||
doxyfile-path: './${{ matrix.environment }}Doxyfile' | ||
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.vscode/extensions.json | ||
lib/Webots | ||
*.wbproj | ||
webots/worlds/*.jpg | ||
doc/doxygen/*/* | ||
__pycache__ |
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30 changes: 12 additions & 18 deletions
30
doc/architecture/uml/ProcessView/SensorFusion/SystemStates.puml
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@startuml | ||
@startuml SensorFusionSystemStates | ||
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title System States | ||
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state StartupState: /entry Initialize HAL. | ||
state StartupState: /entry Show operator info on LCD. | ||
state StartupState: /do Wait for pushbutton A is triggered. | ||
state StartupState: /entry Try to load Max. Motor Speed from Settings. | ||
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state MotorSpeedCalibrationState: /entry Show operator info on LCD. | ||
state MotorSpeedCalibrationState: /do Perform calibration. | ||
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state LineSensorsCalibrationState: /entry Show operator info on LCD. | ||
state LineSensorsCalibrationState: /do Perform calibration. | ||
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state ErrorState: /entry Show error info on LCD. | ||
state ErrorState: /do Wait for pushbutton A is triggered. | ||
state ErrorState: /do Wait for pushbutton A to be triggered. | ||
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state ReadyState: /entry Show operator info on LCD. | ||
state ReadyState: /do Wait for pushbutton A is triggered. | ||
state ReadyState: /do Wait for pushbutton A to be triggered. | ||
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state ReleaseTrackState: /entry Choose parameter set 1 | ||
state ReleaseTrackState: /entry Show parameter set on LCD. | ||
state ReleaseTrackState: /entry Choose parameter set 0 | ||
state ReleaseTrackState: /entry Start release timer. | ||
state ReleaseTrackState: /do If pushbutton A is triggered, choose next parameter set and update LCD. | ||
state ReleaseTrackState: /do If pushbutton A is triggered, restart release timer. | ||
state ReleaseTrackState: /do If pushbutton A to be triggered, choose next parameter set. | ||
state ReleaseTrackState: /do If pushbutton A to be triggered, restart release timer. | ||
state ReleaseTrackState: /exit Stop release timer. | ||
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state DrivingState: /entry Start observation timer. | ||
state DrivingState: /do Perform driving. | ||
state DrivingState: /do Read out Odometry unit and IMU. | ||
state DrivingState: /do Send Odometry values and IMU values via SerialMuxProt. | ||
state DrivingState: /exit Stop observation timer. | ||
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[*] --> StartupState: Power up | ||
StartupState --> MotorSpeedCalibrationState: [Pushbutton A triggered] | ||
MotorSpeedCalibrationState --> LineSensorsCalibrationState: [Calibration finished] | ||
StartupState --> LineSensorsCalibrationState: [Max. Motor Speed is defined] | ||
StartupState --> ErrorState: [Max. Motor Speed is not defined] | ||
LineSensorsCalibrationState --> ReadyState: [Calibration finished] | ||
LineSensorsCalibrationState --> ErrorState: [Calibration failed] | ||
ReadyState --> ReleaseTrackState: [Pushbutton A triggered] | ||
ReleaseTrackState --> DrivingState: [Release timer timeout] | ||
ReleaseTrackState --> ReleaseTrackState: [Pushbutton A triggered] | ||
DrivingState --> ReadyState: [Track lost] or\n[Observation timer timeout] | ||
ErrorState --> MotorSpeedCalibrationState: [Pushbutton A triggered] | ||
ErrorState --> StartupState: [Pushbutton A triggered] | ||
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@enduml |
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