Plantuml Diagrams for CAN, Local, and Remote Transceiver

projects/can_transceiver/diagrams/common_sequence.puml

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+@startuml Common Sequence
+title Common Sequence
+
+!startsub PARTICIPANTS
+' TODO: Move parameters to a general template
+autonumber
+!$MAX_MESSAGE_SIZE = 100
+skinparam {
+    BoxPadding 10
+    MaxMessageSize $MAX_MESSAGE_SIZE
+    ParticipantPadding 20
+    SequenceMessageAlign center
+    wrapWidth $MAX_MESSAGE_SIZE
+}
+
+box "Common Sequence"
+participant CanTransceiver as can
+participant CanTransceiverRosIntf as ros_intf
+end box
+== Inbound ==
+!endsub PARTICIPANTS
+
+-> can : Inbound Sensor(s) [CAN]
+
+!startsub SEQUENCE
+
+activate can
+can -> can : Convert from CAN to ROS
+can -> can : Filter Sensor(s)
+can -> ros_intf --++ : Transmit Sensor(s) [ROS]
+ros_intf -> : Publish sensor(s) to Software ROS Network
+deactivate ros_intf
+
+== Outbound ==
+
+ros_intf <- ++ : Command(s) from Software ROS Network (ex. Desired Heading)
+can <- ros_intf --++ : Transmit Command(s) [ROS]
+can -> can : Convert Command(s) from ROS to CAN
+!endsub SEQUENCE
+
+<- can : Outbound Command(s) [CAN]
+deactivate can
+
+@enduml

projects/can_transceiver/diagrams/deployment_sequence.puml

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+@startuml Deployment Sequence
+
+title Deployment Sequence
+
+!includesub common_sequence.puml!PARTICIPANTS
+
+-> can : Sensors from ELEC [CAN]
+
+!includesub common_sequence.puml!SEQUENCE
+
+<- can -- : Transmit Command(s) to ELEC [CAN]
+
+@enduml

projects/can_transceiver/diagrams/simulation_sequence.puml

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+@startuml Simulation Sequence
+
+title Simulation Sequence
+
+box "Simulation Sequence"
+participant CanSimIntf as sim_intf
+participant CanSimTransceiver as sim_t
+end box
+
+!includesub common_sequence.puml!PARTICIPANTS
+
+-> sim_intf ++ : Mock Sensors from Simulator [ROS]
+sim_intf -> sim_t --++ : Process Mock Sensors [ROS]
+sim_t -> sim_t : Convert ROS sensor object to CAN
+sim_t --> can -- : Call new Sensors API [CAN]
+deactivate sim_intf
+note right sim_t : API call should be async to replicate deployment behavior.
+
+!includesub common_sequence.puml!SEQUENCE
+
+sim_t <-- can --++ : Call Write to CAN API
+note left can : API call should be async to replicate deployment behavior.
+sim_t -> sim_t : Convert Command(s) from CAN to ROS
+sim_intf <- sim_t --++ : Transmit Command(s) [ROS]
+activate sim_intf
+<- sim_intf -- : Publish Command(s) to Simulator [ROS]