Developer notes

Terms and progress
Communications
Protocol
Logic
Logic with pseudocode
Features
Dev Plan log

Terms and progress:

FPS (Flight Plan Server) - Источник полётного задания
Communication - Связь
FMAC (Flight mission authenticity control) - Контроль аутентичности полётного задания
EAIC (extinguishing and ignition circuits controller) - Контроль активации цепей тушения и поджига
CCU (Central control unit) - Центральная система управления
Aggregation - Комплексирование
Navigation system - Навигация GNSS + ИНС
Movement control - Управление перемещением
Situation control - Контроль обстановки
Extinguishing - Процедура тушения

Interface

FPS is listening on 8081 port, so accessible via http://localhost:8081

Communications:

all modules have queues
- send requests go into monitor queue
monitor module logic
- subscribes to monitor
- gets { src, dst, cmd }
- checks if allowed
- publish to name

Protocol (used in mosquitto messages):

simple csv
from,to,method[,param1,param2]

Interconnection and allowed communications

@startuml
(fps) --> (communication) : 1. start at val\n(via http)
communication --> (fmac) : 2. start at val
communication --> (fps) : 31. started at val \n(not_authentic_task val)\n(via http)
fmac --> (eaic) : 3. execute at val
fmac --> (communication) : not_authentic_task val
fmac --> (ccu) : 4. execute at val
eaic -> (aggregation) : 18. get_coordinates
eaic --> (extinguishing) : 21. start_action
ccu -> (aggregation) : 9. get_coordinates
ccu --> (movement) : 11. move to val
ccu --> (extinguishing) : 14. start_action
ccu --> (extinguishing) : 27. stop_action
ccu --> (situation) : 22. is_action_running
ccu --> (communication) : 30. started at val
aggregation --> (navigation) : 5. 16. get_coordinates
aggregation --> (ccu) : 10. coordinates with val
aggregation --> (eaic) : 19. coordinates with val
navigation --> (aggregation) : 6. 17. coordinates with val
movement --> (ccu) : 13. done at val
situation --> (ccu) : 23. action_is_running
extinguishing --> (eaic) : 15. confirm_action
extinguishing --> (eaic) : 28. stop_action
@enduml

Logic (from plantuml):

fps -> communication
  1. start extinguishing at A
communication -> fmac
  2. start extinguishing at A
fmac
  3. Authentic task check
fmac -> eaic
  4. execute extinguishing at A
fmac -> ccu
  5. execute extinguishing at A
aggregation -> navigation
  6. get coordinates
navigation -> aggregation
  7. return coordinates
aggregation
  8. check coordinates validity
ccu -> aggregation
  9. get coordinates
aggregation -> ccu
 10. coordinates
ccu -> movement
 11. move to A
movement
 12. calculate movement
movement -> ccu
 13. move to A done
ccu -> extinguishing
 14. start extinguish/fire
extinguishing -> eaic
 15. extinguishing request
aggregation -> navigation
 16. get coordinates
navigation -> aggregation
 17. return coordinates
eaic -> aggregation
 18. get coordinates
aggregation -> eaic
 19. coordinates and time
eaic
 20. check if extinguishing/fire at this place (A) is allowed
eaic -> extinguishing
 21. activate extinguishing/fire
extinguishing
 22. proceed extinguishing/fire
eaic
 23. position control
ccu -> situation
 24. check if algo is running
situation
 25. check if extinguishing is running
situation -> ccu
 26. extinguishing is running
ccu -> extinguishing
 27. stop algo extinguishing
extinguishing -> eaic
 28. stop
eaic
 29. disable extinguishing/fire
ccu -> communication
 30. extinguishing/fire at A has been started
communication -> fps
 31. extinguishing/fire at A has been started

Logic with pseudocode:

[x] FPS (Flight Plan Server) - Источник полётного задания

fps -> communication
pub  1. start extinguishing at A
communication -> fps
sub 31. extinguishing/fire at A has been started

listen // for commands and an interchange data with the communication
    if started at val
        send client started at val // via web interface
    if start at val
        send communication start at val
    if not_authentic_task at val
        send client not_authentic_task at val

[x] Communication - Связь

fps -> communication
- sub  1. start extinguishing at A
communication -> fmac
- pub  2. start extinguishing at A
ccu -> communication
- sub 30. extinguishing/fire at A has been started
communication -> fps
- pub 31. extinguishing/fire at A has been started

listen
    if start at val
        pub fmac start at var
sub communication
    if started at var:
        send fps started at var
    if not_authentic_task at var:
        send fps not_authentic_task at var

[x] FMAC (Flight mission authenticity control) - Контроль аутентичности полётного задания

communication -> fmac
- sub  2. start extinguishing at A
fmac
- private  3. Authentic task check
fmac -> eaic
- pub  4. execute extinguishing at A
fmac -> ccu
- pub  5. execute extinguishing at A

sub fmac
    if start at var:
        if(authentic_task_check(var))
            pub eaic execute at var
            pub ccu execute at var

[x] EAIC (extinguishing and ignition circuits controller) - Контроль активации цепей тушения и поджига

fmac -> eaic
- sub  4. execute extinguishing at A
extinguishing -> eaic
- sub 15. extinguishing request
eaic -> aggregation
- pub 18. get coordinates
aggregation -> eaic
- sub 19. coordinates and time
eaic
- private 20. check if extinguishing/fire at this place (A) is allowed
eaic -> extinguishing
- pub 21. activate extinguishing/fire
eaic
- private 23. position control
extinguishing -> eaic
- sub 28. stop
eaic
- private 29. disable extinguishing/fire

sub eaic
    execute_action at var // 4
        task = var
    action_request // 15
        pub aggregation get_coordinates // 18
    coordinates
        action_is_allowed at task // 20
        pub extinguishing start_action //21
        position_control // 23
    stop_action // 28
        task="" // 29

[x] CCU (Central control unit) - Центральная система управления

fmac -> ccu
- sub  5. execute extinguishing at A
ccu -> aggregation
- pub  9. get coordinates
aggregation -> ccu
- sub 10. coordinates
ccu -> movement
- pub 11. move to A
movement -> ccu
- sub 13. move to A done
ccu -> extinguishing
- pub 14. start extinguish/fire
ccu -> situation
- pub 24. check if algo is running
situation -> ccu
- sub 26. extinguishing is running
ccu -> extinguishing
- pub 27. stop algo extinguishing
ccu -> communication
- pub 30. extinguishing/fire at A has been started

sub ccu:
    if start_action at A // 5
        pub aggregation get_coordinates // 9
    if coordinates //10
        pub movement move to A // 11
    if done_movement at A // 13
        pub extinguishing start_action // 14 extinguish/fire
    if action_is_running // 26
        pub extinguishing stop_action // 27
        pub communication started at A // 30
loop:
    pub situation is_action_in_progress // 24

[x] Aggregation - Комплексирование

aggregation -> navigation
- pub  6. get coordinates
navigation -> aggregation
- sub  7. return coordinates
aggregation
- pub  8. check coordinates validity
ccu -> aggregation
- sub  9. get_coordinates
aggregation -> ccu
- pub 10. coordinates
aggregation -> navigation
- pub 16. get coordinates
navigation -> aggregation
- sub 17. return coordinates
eaic -> aggregation
- sub 18. get coordinates
aggregation -> eaic
- pub 19. coordinates and time

sub aggregation
    coordinates,var_gps,var_ins
        check_coordinates_validity(var_gps, var_ins):
                var_gps == var_ins
                save coordinates
    get_coordinates
            pub from coordinates,var_ins
loop:
    pub navigation get_coordinates

[x] Navigation system - Навигация GNSS + ИНС

aggregation -> navigation
- sub 6. get_coordinates
navigation -> aggregation
- pub  7. return coordinates
aggregation -> navigation
- sub 16. get_coordinates
navigation -> aggregation
- pub 17. return coordinates

sub navigation
    get_coordinates
        pub from coordinates,var_gps,var_ins

[x] Movement control - Управление перемещением

ccu -> movement
- sub 11. move to A
movement
- private 12. calculate movement
movement -> ccu
- pub 13. move to A done

sub movement
  move at val
    to_position(val)
    pub ccu done

[x] Situation control - Контроль обстановки

ccu -> situation
 24. check if algo is running
situation
 25. check if extinguishing is running
situation -> ccu
 26. extinguishing is running
ccu -> situation

sub situation
  if is_action_running
      pub from state.action_in_progress

[x] Extinguishing - Процедура тушения

ccu -> extinguishing
- sub 14. start extinguish/fire
extinguishing -> eaic
- pub 15. extinguishing request
eaic -> extinguishing
- sub 21. activate extinguishing/fire
extinguishing
- private 22. proceed extinguishing/fire
ccu -> extinguishing
- sub 27. stop algo extinguishing
extinguishing -> eaic
- pub 28. stop

sub extinguishing
    action
        pub eaic action
    start_action
        proceed_action()
    stop_action
        pub eaic stop_action

Features

Dockerfile
- Contains everything what might be required for developer to build and test.
  - Runs unit tests on build stage to make sure that our code is in a good shape.
  - Builds doxygen generated docs in md format
- It has one huge layer which builds once and small layers.
- One image for every component for simplicity
Mosquitto
- Uses configuration file cfg/mosquitto.conf
- allow anonymous access for simplicity
- starts as separate container
Docker compose
- Uses the same image for everythig, for simplicity
- FPS depends from every other container to make sure that web UI is workable
Makefiles
- Two Makefiles
- Might be used to build project on a host or inside a container
Doxygen + doxybook2
- Generates .md documentation by make docs in docs folder
- configuration for Doxygen is cfg/Doxyfile
- configuration for doxybook2 is cfg/doxybook.json
Render PlantUML
- Auto generation of svg from plantuml in markdown or from plantuml files
- Configuration .github/workflows/generate-plantuml-action.yaml

Dev Plan log:

Day 1 Dec 5

figureout what terms to use (translation of them)
figureout how to make a build system (Cmake/Make)
11 components and 1 broker pack to container
Docker-compose setup

Day 2 Dec 6

add sub pub mosquitto code for any components and monitor
- mosquitto configuration has been added
define who should talk with who and how

Day 3 Dec 7

add logic for local/docker build (port)
fix monitor

Day 4 Dec 8

some docs
simplify broker
open dev log doc
check tests - unit tests implemented

Day 5 Dec 9

add unit tests for monitor
add logic for other compoments
check eaic logic for stop fire/extinguishing

Day 6 Dec 10

doxygen -> doxybook2 -> code to *.md generation

Day 7 Dec 11

Interconnection and allowed communications docs/schema
monitor allow rules check

Day 8 Dec 12

interface via tcp for fps and communication

Day 9 Dec 13

e2e tests
docs

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

dev.md

dev.md

Developer notes

Terms and progress:

Interface

Communications:

Protocol (used in mosquitto messages):

Interconnection and allowed communications

Logic (from plantuml):

Logic with pseudocode:

[x] FPS (Flight Plan Server) - Источник полётного задания

[x] Communication - Связь

[x] FMAC (Flight mission authenticity control) - Контроль аутентичности полётного задания

[x] EAIC (extinguishing and ignition circuits controller) - Контроль активации цепей тушения и поджига

[x] CCU (Central control unit) - Центральная система управления

[x] Aggregation - Комплексирование

[x] Navigation system - Навигация GNSS + ИНС

[x] Movement control - Управление перемещением

[x] Situation control - Контроль обстановки

[x] Extinguishing - Процедура тушения

Features

Dev Plan log:

Files

dev.md

Latest commit

History

dev.md

File metadata and controls

Developer notes

Terms and progress:

Interface

Communications:

Protocol (used in mosquitto messages):

Interconnection and allowed communications

Logic (from plantuml):

Logic with pseudocode:

[x] FPS (Flight Plan Server) - Источник полётного задания

[x] Communication - Связь

[x] FMAC (Flight mission authenticity control) - Контроль аутентичности полётного задания

[x] EAIC (extinguishing and ignition circuits controller) - Контроль активации цепей тушения и поджига

[x] CCU (Central control unit) - Центральная система управления

[x] Aggregation - Комплексирование

[x] Navigation system - Навигация GNSS + ИНС

[x] Movement control - Управление перемещением

[x] Situation control - Контроль обстановки

[x] Extinguishing - Процедура тушения

Features

Dev Plan log: