rover-esp32-control-server/docs/server-control-flow.puml at main · arunkumar-mourougappane/rover-esp32-control-server · GitHub

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@startuml server-control-flow
!theme plain
skinparam defaultFontName "DejaVu Sans"
skinparam defaultFontSize 11
skinparam backgroundColor #FAFAFA
skinparam activityBackgroundColor #EEF2FF
skinparam activityBorderColor #5566AA
skinparam activityDiamondBackgroundColor #FFF8E0
skinparam activityDiamondBorderColor #AA8833
skinparam swimlaneBorderColor #888888
skinparam noteBackgroundColor #FFFBE0
skinparam noteBorderColor #AAAAAA

title Server — FreeRTOS Task Control Flow

' ──────────────────────────────────────────────────────────────────
' SETUP
' ──────────────────────────────────────────────────────────────────
|#E8EEFF|setup()|
start
:Serial.begin(115200);
:NeoPixel init
red → purple → off;
:imu_data_mutex = xSemaphoreCreateMutex()
memset(&shared_imu_data, 0);
fork
    :xTaskCreatePinnedToCore
    **SensorDataTask** → Core 0;
fork again
    :xTaskCreatePinnedToCore
    **WebServerTask** → Core 1;
end fork
end
note right
  setup() returns immediately.
  All work is done in FreeRTOS tasks.
  loop() is empty.
end note

' ──────────────────────────────────────────────────────────────────
' SENSOR TASK (Core 0)
' ──────────────────────────────────────────────────────────────────
|#DDEEFF|SensorDataTask (Core 0)|
start
:delay(2000ms)
I²C bus settle;
repeat
    :lsm6dsox.begin_I2C()\n SDA=42, SCL=41;
    backward:delay(1000ms);
repeat while (found?) is (no)
->yes;
:log "LSM6DSOX initialised";

repeat
    :lsm6dsox.getEvent(&accel, &gyro, &temp);
    note right
      ~50 Hz sample rate
      (20 ms period)
    end note
    #lightgreen:**xSemaphoreTake**(imu_data_mutex, 5ms);
    :shared_imu_data ← accel/gyro/temp;
    #lightgreen:**xSemaphoreGive**(imu_data_mutex);
    if (blinkCtr >= 20?) then (yes)
        :NeoPixel green flash (30ms);
        :blinkCtr = 0;
    else (no)
        :blinkCtr++;
    endif
    :delay(20ms);
repeat while (true) is (forever)
stop

' ──────────────────────────────────────────────────────────────────
' WEB SERVER TASK (Core 1)
' ──────────────────────────────────────────────────────────────────
|#D8F0FF|WebServerTask (Core 1)|
start
:CGrpcServer grpcServer(SSID, pass);
:grpcServer.SetupNetwork()
→ WiFi AP "MOONBASE-II";
:grpcServer.StartServer()
→ :50051 (cmd), :50052 (stream);
:grpcServer.SetStreamRate(20 Hz);
:CMotorController motorCtrl(5,6,9,10,11);
:motorCtrl.Begin()
ledcSetup/AttachPin ch4-7
Servo.attach(GPIO11);

repeat
    #lightgreen:**xSemaphoreTake**(imu_data_mutex, 5ms);
    :imu_copy ← shared_imu_data;
    #lightgreen:**xSemaphoreGive**(imu_data_mutex);
    :grpcServer.UpdateImuData(imu_copy);
    :**HandleClients()**;
    :joy ← grpcServer.GetJoystickData();
    :motorCtrl.Update(joy);
    :delay(1ms);
repeat while (true) is (forever)
stop

' ──────────────────────────────────────────────────────────────────
' HANDLE CLIENTS — called each loop iteration
' ──────────────────────────────────────────────────────────────────
|#E8FFE8|HandleClients() — non-blocking|
start
if (now − lastStreamTime >= 50ms?) then (yes)
    :PushImuStream()
    serializeMsgPack → writeStreamFrame(:50052);
    :lastStreamTime = now;
endif
if (m_StreamServer.available()?) then (yes)
    :Stop old stream client (if any);
    :m_StreamClient = new subscriber;
endif
if (m_CommandServer.available()?) then (yes)
    :Stop old command client (if any);
    :m_CommandClient = new client;
endif
if (m_CommandClient.connected()\n&& available() >= 3?) then (yes)
    :readCommandHeader()
    → method_id, payload_len;
    :wait for full payload\n(max 10ms spin);
    :readBytes(payload, len);
    :ProcessCommand()
    → switch(method_id);
    split
        :LED ON/OFF;
    split again
        :IMU one-off query;
    split again
        :Joystick data update;
    end split
else (no)
    :—no-op—;
endif
stop

@enduml