Message Passing Architecture - AlandSailingRobots/sailingrobot GitHub Wiki
Overview
images/SoftwareArchitecture/SoftwareFunctionArch.png
How It Works
The active nodes (purple) keep actively sending messages to the message bus, and those nodes which register that they want a specific node will receive that message as soon as itโs been registered by the message bus.
The Vessel State node will collect the compass, GPS, wind sensor and arduino node as it has registered that it wants them, process their messages and send the vessel states data to the message bus.
The Sailing Logic node will do some form of work as soon as it receives a Waypoint or a Vessel State node. The waypoint node will change waypoints in the sailing logic, and vessel state will make the sailing logic calculate which direction the boat should go, and send actuator messages on how the actuators should position the rudder and sail.
