classDiagram
class System {
-engine
-backend_client: BackendClient
-visualize
-map_scale
-mobile_car: Car
-cars: List[Car]
-car_size
-passengers: List[Passenger]
-update_interval
-distance_threshold
-raw_map
-raw_free_space
-map
-free_space
+System(engine, ip, port, visualize)
+_initialize_entities(info)
+upload_car_info(car)
+refresh_mobile_car()
+get_free_space_with_obstacles(car_id)
+assign_passengers()
+plot_map_with_entities()
+move_car(car: Car)
+run()
}
class BackendClient {
-url
+BackendClient(url)
+init_backend()
+get_all_cars_info()
+get_car_info(car_id)
+set_car_info(car_id, x, y, theta)
+get_all_passengers_info()
+get_passenger_info(passenger_id)
+pick_passenger(passenger_id)
+drop_passenger(passenger_id)
+get_map(online=True)
}
class Car {
+Status
-engine
-id
-x: float
-y: float
-theta
-dt
-wheelbase
-speed
-max_speed
-controller: Controller
-passenger_id
-status: Car.Status
+Car(engine, id, x, y, theta, dt)
+assign_passenger(passenger_id)
+pick_passenger()
+drop_passenger()
+control_along_path(cx, cy)
+stop()
}
class Controller {
-Kp
-Ki
-Kd
-target_speed
-integral
-prev_error
+Controller(Kp, Ki, Kd, target_speed)
+update_params(integral, prev_error)
}
class Passenger {
+Status
-id
-start_x
-start_y
-dest_x
-dest_y
-car_id
-status: Passenger.Status
+Passenger(id, start_x, start_y, dest_x, dest_y, car_id)
+pick_up(car_id)
+drop_off()
}
class Passenger.Status {
<<enumeration>>
WAITING
PICKED_UP
DROPPED_OFF
}
class Car.Status {
<<enumeration>>
IDLE
PICKING_UP
DROPPING_OFF
FINISHED
}
System o-- Car
System o-- Passenger
System o-- BackendClient
Car *-- Controller
Car *-- Car.Status
Passenger *-- Passenger.Status
%% Car "1" <--> "1" Passenger