kraken/docs/UML/外设_seq.svg

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@startuml
title 外设工作时序图

hide unlinked

participant frontend
participant router_peripheral 
participant PeripheralHandManager << (C,#ADD1B2) >>
participant PeripheralHandFactory << (C,#ADD1B2) >>
participant 具体外设类 << (C,#ADD1B2) >>
participant webapps
participant 数据库

note over 具体外设类: 如 RuishouClient
note over webapps: webapps/trains/router_trains:\ncreate_train

=== 外设初始化 ==

frontend -> router_peripheral:  fetch: xxx/peripheral/hand/init (hand_init())
note left: 新建训练页面：选择设备点击初始化机械手\n（部分设备要额外选择参数）
router_peripheral ->  PeripheralHandManager: 初始化manager
activate PeripheralHandManager
PeripheralHandManager -> PeripheralHandFactory: 初始化factory
activate PeripheralHandFactory
PeripheralHandManager -> PeripheralHandFactory: create_client()
PeripheralHandFactory -> 具体外设类: 初始化具体外设类(client)
activate 具体外设类
PeripheralHandFactory  - -> PeripheralHandManager: client
deactivate PeripheralHandFactory
router_peripheral ->  PeripheralHandManager: init()
PeripheralHandManager -> 具体外设类: init()
具体外设类 - -> PeripheralHandManager: 连接状态
PeripheralHandManager - -> router_peripheral: 连接状态
router_peripheral - -> frontend: 连接状态
note left: 显示连接状态，按钮设置可用

=== 外设设备状态更新 ==

frontend -> webapps:  form请求post: xxx/trains
note left: 点击创建训练 (TODO: 选中外设且未连接可提示?)
webapps ->  数据库: 为选中设备新增数据
webapps - -> frontend: 跳转至准备训练页

loop 设备状态监听, 1s一次
    frontend -> router_peripheral:  fetch: xxx/peripheral/hand/status (hand_status())
    note left: 获取设备状态
    router_peripheral ->  PeripheralHandManager: status()
    PeripheralHandManager -> 具体外设类: status()
    具体外设类 - -> PeripheralHandManager: 连接状态
    PeripheralHandManager - -> router_peripheral: 连接状态
    router_peripheral - -> frontend: 连接状态
    note left: 更新连接状态指示灯(TODO: 断开时弹窗?)
end

=== 外设触发反馈 ==
frontend -> router_peripheral:  fetch: xxx/peripheral/hand/start (hand_start())
note left: 用户被判定想象成功
router_peripheral ->  数据库: 读取对应设备参数
数据库 - -> router_peripheral :
router_peripheral ->  PeripheralHandManager: start()
PeripheralHandManager -> 具体外设类: start()
具体外设类 - -> PeripheralHandManager: 设备反馈
PeripheralHandManager - -> router_peripheral: 设备反馈
router_peripheral - -> frontend: 设备反馈


@enduml

PlantUML version 1.2022.7(Tue Aug 23 01:01:30 CST 2022)
(GPL source distribution)
Java Runtime: Java(TM) SE Runtime Environment
JVM: Java HotSpot(TM) 64-Bit Server VM
Default Encoding: GBK
Language: zh
Country: CN
--></g></svg>