From 8a31427aa92c54f086643ca393c4cc149f1c8970 Mon Sep 17 00:00:00 2001
From: Mehul Goel <mehulgoel873@gmail.com>
Date: Tue, 15 Oct 2024 08:53:04 -0700
Subject: [PATCH] added detailed flowchart

---
 docs/architecture/code_flow_detailed.md | 114 ++++++++++++++++++++++++
 1 file changed, 114 insertions(+)
 create mode 100644 docs/architecture/code_flow_detailed.md

diff --git a/docs/architecture/code_flow_detailed.md b/docs/architecture/code_flow_detailed.md
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+# Code Flow Document
+## Scope
+The purpose of this file is to outline the desired framework of the auton stack (and the simulator + logging capabilities) of the RD25 software on a file level. This document should be referenced when writing new files for this framework.
+
+The large boxes are ROSNodes. Each individual smaller box is a file. Data within ROSNodes are transferred via function calls, while data between node are transferred via publishers and subscribers.
+
+## Viewing On VSCode
+Install `bierne
+r.markdown-mermaid` from the extension marketplace to render the charts in VSCode markdown preview.
+
+## Chart!
+
+
+```mermaid
+flowchart LR
+
+    subgraph "ROS Topic - Raw State"
+        self/raw_state
+        other/raw_state
+        self/gps
+        self/encoder_speed
+        self/stepper_steering
+    end
+
+    subgraph "ROS Topic - Clean State"
+        self/state
+        other/state
+    end
+
+    subgraph "ROS Topic - Trajectory"
+        self/global_traj
+        self/cur_traj
+    end
+
+    subgraph "ROS Topic - Output"
+        self/steering
+    end
+
+    subgraph "ROS Topic - Debug"
+        self/ins_topics 
+        self/gnss1
+        self/gnss2
+        self/firmware_debug
+        self/sanity
+    end
+    
+    subgraph "Serial Node"
+        ROS_serial_translator
+        serial_port_parser
+    end
+
+    subgraph "UKF Node"
+        UKF
+    end
+
+    subgraph "Buggy State Node"
+        buggy_state_converter
+    end
+
+    subgraph "Debug Telem Node"
+        telemetry
+        watchdog
+    end
+
+    subgraph "Pathplanner Node - 10 Hz"
+        initialize_trajectory
+        path_planner
+        trajectory_wrapper
+    end
+
+    subgraph "Controller Node - 100 Hz"
+        controller
+    end
+
+    self/encoder_speed --> |"10 Hz"| UKF
+    self/stepper_steering --> |"10 Hz"| UKF
+    self/gps --> |"10 Hz"| UKF
+    UKF --> |"100 Hz"| self/raw_state
+    INS --> |"100 Hz"| self/raw_state
+    INS --> |"100 Hz"| self/ins_topics
+    INS --> |"10 Hz"| self/gnss1
+    INS --> |"10 Hz"| self/gnss2
+
+    ROS_serial_translator --> |"10 Hz - SC"| self/encoder_speed
+    ROS_serial_translator --> |"10 Hz - SC"| self/stepper_steering
+    ROS_serial_translator --> |"10 Hz - SC"| self/gps
+    ROS_serial_translator --> |"10 Hz - SC"| other/raw_state
+    ROS_serial_translator --> |"100 Hz - NAND"| self/raw_state
+    ROS_serial_translator --> |"100 Hz"| self/firmware_debug
+    self/steering --> |"100 Hz"| ROS_serial_translator
+
+    other/raw_state --> |"10 Hz"| buggy_state_converter
+    buggy_state_converter --> |"10 Hz"| other/state
+    self/raw_state --> |"100 Hz"| buggy_state_converter
+    buggy_state_converter --> |"100 Hz"| self/state
+
+    initialize_trajectory --> |"once"| self/global_traj
+    initialize_trajectory --> |"once"| self/cur_traj
+    self/global_traj --> path_planner
+    self/cur_traj --> path_planner
+    self/state --> path_planner
+    other/state --> path_planner
+    path_planner --> self/cur_traj
+
+    self/cur_traj --> controller
+    self/state --> controller
+    controller --> self/steering
+
+    self/state --> telemetry
+    other/state --> telemetry
+    self/cur_traj --> telemetry
+    watchdog --> self/sanity
+    
+```
\ No newline at end of file