Merge pull request #19 from BlueAndi/SerialMuxProt

Closes #18
BlueAndi · Sep 13, 2023 · ce96ed9 · ce96ed9
2 parents ddf6e86 + bf33f9c
commit ce96ed9
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Showing 23 changed files with 46 additions and 3,100 deletions.
diff --git a/doc/YAP/README.md b/doc/YAP/README.md
diff --git a/doc/YAP/SubscribeSequence.puml b/doc/YAP/SubscribeSequence.puml
diff --git a/doc/YAP/SyncSequence.puml b/doc/YAP/SyncSequence.puml
diff --git a/doc/architecture/REMOTECONTROL.md b/doc/architecture/REMOTECONTROL.md
@@ -1,7 +1,7 @@
 # Radon Ulzer - Remote Control <!-- omit in toc -->
 
 * [General](#general)
-  * [YAP Channels](#yap-channels)
+  * [SerialMuxProt Channels](#serialmuxprot-channels)
     * [Rx channel "REMOTE\_CMD"](#rx-channel-remote_cmd)
     * [Tx channel "REMOTE\_RSP"](#tx-channel-remote_rsp)
     * [Rx channel "MOT\_SPEEDS"](#rx-channel-mot_speeds)
@@ -22,13 +22,13 @@
 
 # General
 
-The robot can be controlled remotely by using the YAP protocol.
+The robot can be controlled remotely by using the SerialMuxProt protocol.
 
 On target the physical communication uses the serial.
 
 On simulation the physical communication uses a socket connection.
 
-## YAP Channels
+## SerialMuxProt Channels
 
 ### Rx channel "REMOTE_CMD"
 This channel is used to receive commands, which will be executed by the application in RemoteCtrl state. A command related response will be sent via the "REMOTE_RSP" channel.

diff --git a/doc/architecture/uml/LogicalView/Service.plantuml b/doc/architecture/uml/LogicalView/Service.plantuml
@@ -64,9 +64,9 @@ package "Service" as serviceLayer {
         speed with PID controllers.
     end note
 
-    class YAP <<service>>
+    class SerialMuxProt <<service>>
 
-    note top of YAP
+    note top of SerialMuxProt
         Communication Protocol for transmitting 
         and receiving information to/from a remote
         client using data channels

diff --git a/doc/configuration/uml/RemoteControlSim.puml b/doc/configuration/uml/RemoteControlSim.puml
@@ -12,15 +12,15 @@ node "PC" {
         component "DiffDrive" <<service>> as diffdrive
         component "SocketServer" <<service>> as socketServer
 
-        component "YAP" <<service>> as yap
+        component "SerialMuxProt" <<service>> as smp
         component "HAL" <<HAL>> as hal
 
-        app ..> yap: <<use>>
+        app ..> smp: <<use>>
         app <.. odometry: <<flow>>
         app <.. speedometer: <<flow>>
         app ..> diffdrive: <<control>>
 
-        yap <..> socketServer: <<flow>>
+        smp <..> socketServer: <<flow>>
 
         odometry ..> hal: <<use>>
         speedometer ..> hal: <<use>>

diff --git a/lib/ConvoyLeader/App.cpp b/lib/ConvoyLeader/App.cpp
@@ -73,12 +73,12 @@ void App::setup()
     Board::getInstance().init();
     m_systemStateMachine.setState(&StartupState::getInstance());
     m_controlInterval.start(DIFFERENTIAL_DRIVE_CONTROL_PERIOD);
-    m_yapServer.createChannel(POSITION_CHANNEL, POSITION_CHANNEL_DLC);
+    m_smpServer.createChannel(POSITION_CHANNEL, POSITION_CHANNEL_DLC);
 }
 
 void App::loop()
 {
-    m_yapServer.process(millis());
+    m_smpServer.process(millis());
     Speedometer::getInstance().process();
 
     if (true == m_controlInterval.isTimeout())
@@ -95,7 +95,7 @@ void App::loop()
          */
         Odometry::getInstance().process();
 
-        /* Send Position to YAP Client */
+        /* Send Position to SerialMuxProt Client */
         reportPosition();
 
         m_controlInterval.restart();
@@ -123,7 +123,7 @@ void App::reportPosition()
     Util::int32ToByteArray(&outBuf[0U], (sizeof(outBuf) - sizeof(int32_t)), xPos);
     Util::int32ToByteArray(&outBuf[4U], (sizeof(outBuf) - sizeof(int32_t)), yPos);
 
-    m_yapServer.sendData(POSITION_CHANNEL, outBuf, sizeof(outBuf));
+    m_smpServer.sendData(POSITION_CHANNEL, outBuf, sizeof(outBuf));
 }
 
 void App::positionCallback(const uint8_t* payload, const uint8_t payloadSize)