Removing the training status from the application architecture and co…

…rrecting the spelling
BlueAndi · Jul 29, 2024 · f589e5c · f589e5c
1 parent 81a0bcf
commit f589e5c
Show file tree

Hide file tree

Showing 5 changed files with 19 additions and 141 deletions.
diff --git a/doc/architecture/uml/LogicalView/ReinforcementLearning/Application.plantuml b/doc/architecture/uml/LogicalView/ReinforcementLearning/Application.plantuml
@@ -41,18 +41,17 @@ package "Application" as appLayer {
     class MotorSpeedCalibrationState <<control>>
     class LineSensorsCalibrationState <<control>>
     class ErrorState <<control>>
-    class DringState <<control>>
+    class DrivingState <<control>>
     class ReadyState <<control>>
-    class TrainingState <<control>>
 
     note bottom of StartupState
         The system starts up and shows
-        the Applikation name on the display.
+        the Application name on the display.
     end note
 
     note bottom of MotorSpeedCalibrationState
         The robot drives with full speed forward
-        and with full speed backwar to determine
+        and with full speed backwards to determine
         the max speed in steps/s. The slowest
         motor is considered!
     end note
@@ -68,18 +67,14 @@ package "Application" as appLayer {
         Confirmation from operator is requested.
     end note
 
-    note bottom of DringState
+    note bottom of DrivingState
         The robot follows the line.
     end note
 
     note bottom of ReadyState
         The robot is stopped and waits for
         operator input.
     end note
-
-    note bottom of TrainingState
-       the robot trains to follow the line.
-    end note
 }
 
 note top of  appLayer
@@ -88,16 +83,14 @@ note top of  appLayer
 end note
 
 App *--> StateMachine
-
 StateMachine o--> "0..1" IState
 
 IState <|.. StartupState: <<realize>>
 IState <|.... MotorSpeedCalibrationState: <<realize>>
 IState <|.. LineSensorsCalibrationState: <<realize>>
 IState <|.... ErrorState: <<realize>>
 IState <|.. ReadyState: <<realize>>
-IState <|.... TrainingState: <<realize>>
-IState <|.... DringState: <<realize>>
+IState <|.... DrivingState: <<realize>>
 
 
 @enduml
diff --git a/doc/architecture/uml/LogicalView/ReinforcementLearning/DrivingState.plantuml b/doc/architecture/uml/LogicalView/ReinforcementLearning/DrivingState.plantuml
@@ -4,7 +4,7 @@ title Driving State
 
 package "Application" as appLayer {
 
-    class RacingState <<control>> {
+    class DrivingState <<control>> {
         + {static} getInstance() : DrivingState
         + entry() : void
         + process(sm : StateMachine&) : void
@@ -13,8 +13,7 @@ package "Application" as appLayer {
 
     class ReadyState <<control>>
 
-    RacingState .r.> ReadyState: <<use>>
-
+    DrivingState .r.> ReadyState: <<use>>
 }
 
 package "Service" as serviceLayer {
@@ -94,12 +93,12 @@ package "HAL" as hal {
     }
 }
 
-RacingState *-> SimpleTimer
-RacingState ..> DifferentialDrive: <<use>>
-RacingState ...> IDisplay: <<use>>
-RacingState ...> ILineSensors: <<use>>
-RacingState ...> ILed: <<use>>
-RacingState ...> Board: <<use>>
-RacingState ...>WebotsSerialDrv: <<use>>
-RacingState ...>IButton: <<use>>
+DrivingState *-> SimpleTimer
+DrivingState ..> DifferentialDrive: <<use>>
+DrivingState ...> IDisplay: <<use>>
+DrivingState ...> ILineSensors: <<use>>
+DrivingState ...> ILed: <<use>>
+DrivingState ...> Board: <<use>>
+DrivingState ...>WebotsSerialDrv: <<use>>
+DrivingState ...>IButton: <<use>>
 @enduml
diff --git a/doc/architecture/uml/LogicalView/ReinforcementLearning/ReadyState.plantuml b/doc/architecture/uml/LogicalView/ReinforcementLearning/ReadyState.plantuml
@@ -12,10 +12,8 @@ package "Application" as appLayer {
         + setLapTIme(lapTime : uint32_t)  void
     }
 
-    class TrainingState <<control>>
-    class RacingState <<control>>
-    ReadyState .r.> RacingState: <<use>>
-    ReadyState .l.> TrainingState: <<use>>
+    class DrivingState <<control>>
+    ReadyState .r.> DrivingState: <<use>>
 }
 
 package "HAL" as hal {

diff --git a/doc/architecture/uml/LogicalView/ReinforcementLearning/TrainigState.plantuml b/doc/architecture/uml/LogicalView/ReinforcementLearning/TrainigState.plantuml
diff --git a/doc/architecture/uml/ProcessView/ReinforcementLearning/SystemStates.plantuml b/doc/architecture/uml/ProcessView/ReinforcementLearning/SystemStates.plantuml
@@ -18,12 +18,6 @@ state ErrorState: /do Wait for pushbutton A is triggered.
 state ReadyState: /entry Show operator info on LCD.
 state ReadyState: /do Wait for button A or B to be triggered.
 
-state TrainingState: /entry Show operator info on LCD.
-state TrainingState: /entry Start observation timer.
-state TrainingState: /do Perform training.
-state DrivingState: /exit Stop observation timer.
-
-state DrivingState: /entry Show operator info on LCD. 
 state DrivingState: /entry Start observation timer.
 state DrivingState: /do Perform driving.
 state DrivingState: /exit Stop observation timer.
@@ -34,10 +28,8 @@ StartupState --> LineSensorsCalibrationState: [Pushbutton B triggered] and\n[Max
 MotorSpeedCalibrationState --> LineSensorsCalibrationState: [Calibration finished]
 LineSensorsCalibrationState --> ReadyState: [Calibration finished]
 LineSensorsCalibrationState --> ErrorState: [Calibration failed]
-ReadyState ---> DrivingState: [Pushbutton A triggered]
-ReadyState --> TrainingState: [Pushbutton B triggered]
-TrainingState --> ReadyState: [Pushbutton A triggered] or\n [End line detected] or\n[Observation timer timeout]
-DrivingState ---> ReadyState: [End line detected] or\n[Pushbutton A triggered] or\n[Observation timer timeout]
+ReadyState ---> DrivingState: [Pushbutton A triggered] or\n [Pushbutton B triggered] or \n [mode timer timeout]
+DrivingState ---> ReadyState: [End line detected] or\n [Observation timer timeout] or\n [No Line Deteceted]
 ErrorState --> StartupState: [Pushbutton A triggered]
 
 @enduml