AMiRo-OS

<?xml version="1.0" encoding="UTF-8" standalone="no"?><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" contentScriptType="application/ecmascript" contentStyleType="text/css" height="619px" preserveAspectRatio="none" style="width:540px;height:619px;" version="1.1" viewBox="0 0 540 619" width="540px" zoomAndPan="magnify"><defs><filter height="300%" id="f11ueldz80ay4x" width="300%" x="-1" y="-1"><feGaussianBlur result="blurOut" stdDeviation="2.0"/><feColorMatrix in="blurOut" result="blurOut2" type="matrix" values="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 .4 0"/><feOffset dx="4.0" dy="4.0" in="blurOut2" result="blurOut3"/><feBlend in="SourceGraphic" in2="blurOut3" mode="normal"/></filter></defs><g><!--entity hal.h--><ellipse cx="506" cy="367" fill="#D3D3D3" filter="url(#f11ueldz80ay4x)" rx="8" ry="8" style="stroke: #A80036; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="33" x="489.5" y="396.9951">hal.h</text><!--entity ch.h--><ellipse cx="417" cy="367" fill="#D3D3D3" filter="url(#f11ueldz80ay4x)" rx="8" ry="8" style="stroke: #A80036; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="30" x="402" y="396.9951">ch.h</text><!--entity ChibiOS--><rect fill="#D3D3D3" filter="url(#f11ueldz80ay4x)" height="46.2969" style="stroke: #A80036; stroke-width: 1.5;" width="94" x="435" y="456"/><rect fill="#D3D3D3" height="10" style="stroke: #A80036; stroke-width: 1.5;" width="15" x="509" y="461"/><rect fill="#D3D3D3" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="507" y="463"/><rect fill="#D3D3D3" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="507" y="467"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="54" x="450" y="488.9951">ChibiOS</text><!--entity OpenBLT--><rect fill="#D3D3D3" filter="url(#f11ueldz80ay4x)" height="46.2969" style="stroke: #A80036; stroke-width: 1.5;" width="104" x="193" y="562"/><rect fill="#D3D3D3" height="10" style="stroke: #A80036; stroke-width: 1.5;" width="15" x="277" y="567"/><rect fill="#D3D3D3" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="275" y="569"/><rect fill="#D3D3D3" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="275" y="573"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="64" x="208" y="594.9951">OpenBLT</text><!--entity STM32Flash--><rect fill="#D3D3D3" filter="url(#f11ueldz80ay4x)" height="46.2969" style="stroke: #A80036; stroke-width: 1.5;" width="124" x="332" y="562"/><rect fill="#D3D3D3" height="10" style="stroke: #A80036; stroke-width: 1.5;" width="15" x="436" y="567"/><rect fill="#D3D3D3" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="434" y="569"/><rect fill="#D3D3D3" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="434" y="573"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="84" x="347" y="594.9951">STM32Flash</text><!--entity amiroblt.h--><ellipse cx="313" cy="367" fill="#FEFECE" filter="url(#f11ueldz80ay4x)" rx="8" ry="8" style="stroke: #A80036; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="68" x="279" y="396.9951">amiroblt.h</text><!--entity AMiRoBLT--><rect fill="#FEFECE" filter="url(#f11ueldz80ay4x)" height="46.2969" style="stroke: #A80036; stroke-width: 1.5;" width="114" x="263" y="456"/><rect fill="#FEFECE" height="10" style="stroke: #A80036; stroke-width: 1.5;" width="15" x="357" y="461"/><rect fill="#FEFECE" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="355" y="463"/><rect fill="#FEFECE" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="355" y="467"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="74" x="278" y="488.9951">AMiRo-BLT</text><!--entity periphAL.h--><ellipse cx="178" cy="367" fill="#FEFECE" filter="url(#f11ueldz80ay4x)" rx="8" ry="8" style="stroke: #A80036; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="73" x="141.5" y="396.9951">periphAL.h</text><!--entity AMiRoLLD--><rect fill="#FEFECE" filter="url(#f11ueldz80ay4x)" height="46.2969" style="stroke: #A80036; stroke-width: 1.5;" width="113" x="114.5" y="456"/><rect fill="#FEFECE" height="10" style="stroke: #A80036; stroke-width: 1.5;" width="15" x="207.5" y="461"/><rect fill="#FEFECE" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="205.5" y="463"/><rect fill="#FEFECE" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="205.5" y="467"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="73" x="129.5" y="488.9951">AMiRo-LLD</text><!--entity amiroos.h--><ellipse cx="413" cy="143" fill="#FEFECE" filter="url(#f11ueldz80ay4x)" rx="8" ry="8" style="stroke: #A80036; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="68" x="379" y="172.9951">amiroos.h</text><!--entity AMiRoOS--><rect fill="#FEFECE" filter="url(#f11ueldz80ay4x)" height="46.2969" style="stroke: #A80036; stroke-width: 1.5;" width="108" x="311" y="232"/><rect fill="#FEFECE" height="10" style="stroke: #A80036; stroke-width: 1.5;" width="15" x="399" y="237"/><rect fill="#FEFECE" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="397" y="239"/><rect fill="#FEFECE" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="397" y="243"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="68" x="326" y="264.9951">AMiRo-OS</text><!--entity urt_osal.h--><ellipse cx="295" cy="143" fill="#FEFECE" filter="url(#f11ueldz80ay4x)" rx="8" ry="8" style="stroke: #A80036; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="67" x="261.5" y="172.9951">urt_osal.h</text><!--entity urtware.h--><ellipse cx="179" cy="143" fill="#FEFECE" filter="url(#f11ueldz80ay4x)" rx="8" ry="8" style="stroke: #A80036; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="65" x="146.5" y="172.9951">urtware.h</text><!--entity urtware.hpp--><ellipse cx="55" cy="143" fill="#FEFECE" filter="url(#f11ueldz80ay4x)" rx="8" ry="8" style="stroke: #A80036; stroke-width: 2.0;"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="83" x="13.5" y="172.9951">urtware.hpp</text><!--entity µRtWare--><rect fill="#FEFECE" filter="url(#f11ueldz80ay4x)" height="46.2969" style="stroke: #A80036; stroke-width: 1.5;" width="99" x="129.5" y="232"/><rect fill="#FEFECE" height="10" style="stroke: #A80036; stroke-width: 1.5;" width="15" x="208.5" y="237"/><rect fill="#FEFECE" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="206.5" y="239"/><rect fill="#FEFECE" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="206.5" y="243"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="59" x="144.5" y="264.9951">µRtWare</text><!--entity AMiRoApps--><rect fill="#FEFECE" filter="url(#f11ueldz80ay4x)" height="46.2969" style="stroke: #A80036; stroke-width: 1.5;" width="123" x="175.5" y="8"/><rect fill="#FEFECE" height="10" style="stroke: #A80036; stroke-width: 1.5;" width="15" x="278.5" y="13"/><rect fill="#FEFECE" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="276.5" y="15"/><rect fill="#FEFECE" height="2" style="stroke: #A80036; stroke-width: 1.5;" width="4" x="276.5" y="19"/><text fill="#000000" font-family="sans-serif" font-size="14" lengthAdjust="spacingAndGlyphs" textLength="83" x="190.5" y="40.9951">AMiRo-Apps</text><!--link hal.h to ChibiOS--><path d="M504.196,376.268 C500.555,392.956 492.219,431.164 486.863,455.713 " fill="none" id="hal.h-ChibiOS" style="stroke: #A80036; stroke-width: 1.0;"/><!--link ch.h to ChibiOS--><path d="M421.886,376.268 C431.747,392.956 454.324,431.164 468.83,455.713 " fill="none" id="ch.h-ChibiOS" style="stroke: #A80036; stroke-width: 1.0;"/><!--link AMiRoBLT to OpenBLT--><path d="M304.094,502.056 C294.946,514.7411 283.197,531.0329 272.589,545.7438 " fill="none" id="AMiRoBLT-OpenBLT" style="stroke: #A80036; stroke-width: 1.0;"/><polygon fill="none" points="278.259,549.8487,260.883,561.9761,266.903,541.6598,278.259,549.8487" style="stroke: #A80036; stroke-width: 1.0;"/><!--link AMiRoBLT to STM32Flash--><path d="M335.693,502.056 C347.27,518.326 363.069,540.5294 375.301,557.7202 " fill="none" id="AMiRoBLT-STM32Flash" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="#A80036" points="378.329,561.9761,376.3706,552.3239,375.4303,557.9021,369.8522,556.9618,378.329,561.9761" style="stroke: #A80036; stroke-width: 1.0;"/><!--link amiroblt.h to AMiRoBLT--><path d="M313.526,376.268 C314.588,392.956 317.02,431.164 318.582,455.713 " fill="none" id="amiroblt.h-AMiRoBLT" style="stroke: #A80036; stroke-width: 1.0;"/><!--link periphAL.h to AMiRoLLD--><path d="M177.474,376.268 C176.412,392.956 173.98,431.164 172.418,455.713 " fill="none" id="periphAL.h-AMiRoLLD" style="stroke: #A80036; stroke-width: 1.0;"/><!--link AMiRoOS to hal.h--><path d="M393.533,278.26 C422.075,300.527 465.045,334.049 488.756,352.547 " fill="none" id="AMiRoOS-hal.h" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M499.6045,350.2843 A9,9 0 0 0 489.2013 363.6212" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link AMiRoOS to ch.h--><path d="M375.523,278.26 C385.339,299.024 399.781,329.576 408.777,348.605 " fill="none" id="AMiRoOS-ch.h" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M419.4799,351.4582 A9,9 0 0 0 404.1886 358.6882" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link AMiRoOS to amiroblt.h--><path d="M354.477,278.26 C344.661,299.024 330.219,329.576 321.223,348.605 " fill="none" id="AMiRoOS-amiroblt.h" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M325.8114,358.6882 A9,9 0 0 0 310.5201 351.4582" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link AMiRoOS to periphAL.h--><path d="M327.158,278.26 C287.27,301.723 226.135,337.685 196.028,355.395 " fill="none" id="AMiRoOS-periphAL.h" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M194.0246,366.3854 A9,9 0 0 0 185.4476 351.8068" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link amiroos.h to AMiRoOS--><path d="M409.392,152.268 C402.11,168.956 385.438,207.164 374.725,231.713 " fill="none" id="amiroos.h-AMiRoOS" style="stroke: #A80036; stroke-width: 1.0;"/><!--link urt_osal.h to µRtWare--><path d="M278.956,159.215 C259.136,178.009 225.256,210.136 202.503,231.713 " fill="none" id="urt_osal.h-µRtWare" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M278.2286,148.2483 A9,9 0 0 0 289.8657 160.5233" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link urtware.h to µRtWare--><path d="M179,152.268 C179,168.956 179,207.164 179,231.713 " fill="none" id="urtware.h-µRtWare" style="stroke: #A80036; stroke-width: 1.0;"/><!--link urtware.hpp to µRtWare--><path d="M64.3202,152.268 C83.1322,168.956 126.203,207.164 153.876,231.713 " fill="none" id="urtware.hpp-µRtWare" style="stroke: #A80036; stroke-width: 1.0;"/><!--link AMiRoApps to amiroos.h--><path d="M272.616,54.26 C309.796,77.498 366.592,112.995 395.207,130.879 " fill="none" id="AMiRoApps-amiroos.h" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M405.634,127.4228 A9,9 0 0 0 396.6694 141.7663" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link AMiRoApps to urtware.h--><path d="M225.263,54.26 C214.264,75.12 198.056,105.859 188.033,124.868 " fill="none" id="AMiRoApps-urtware.h" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M192.2107,135.0778 A9,9 0 0 0 177.2488 127.1885" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link AMiRoApps to urtware.hpp--><path d="M200.17,54.26 C161.535,77.611 102.4196,113.34 72.9705,131.139 " fill="none" id="AMiRoApps-urtware.hpp" style="stroke: #A80036; stroke-width: 1.0;"/><path d="M71.2025,142.0893 A9,9 0 0 0 62.4525 127.6139" fill="none" style="stroke: #A80036; stroke-width: 1.5;"/><!--link AMiRoApps to urt_osal.h--><path d="M248.737,54.26 C258.165,72.14 271.419,97.278 281.326,116.066 " fill="none" id="AMiRoApps-urt_osal.h" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><polygon fill="none" points="287.569,112.899,290.706,133.856,275.185,119.429,287.569,112.899" style="stroke: #A80036; stroke-width: 1.0;"/><!--link urt_osal.h to AMiRoOS--><path d="M300.261,152.268 C310.881,168.956 335.195,207.164 350.817,231.713 " fill="none" id="urt_osal.h-AMiRoOS" style="stroke: #A80036; stroke-width: 1.0; stroke-dasharray: 7.0,7.0;"/><!--

@startuml

skinparam componentStyle uml2

skinparam componentStyle uml2

interface hal.h #lightgrey

interface ch.h #lightgrey

component ChibiOS #lightgrey

ChibiOS -up- hal.h

ChibiOS -up- ch.h

skinparam componentStyle uml2

component OpenBLT #lightgrey

component STM32Flash #lightgrey

interface amiroblt.h

component "AMiRo-BLT" as AMiRoBLT

AMiRoBLT -down-|> OpenBLT

AMiRoBLT .down.> STM32Flash

AMiRoBLT -up- amiroblt.h

skinparam componentStyle uml2

interface periphAL.h

component "AMiRo-LLD" as AMiRoLLD

AMiRoLLD -up- periphAL.h

interface amiroos.h

component "AMiRo-OS" as AMiRoOS

AMiRoOS -down-( hal.h

AMiRoOS -down-( ch.h

AMiRoOS -down-( amiroblt.h

AMiRoOS -down-( periphAL.h

AMiRoOS -up- amiroos.h

skinparam componentStyle uml2

interface urt_osal.h

interface urtware.h

interface urtware.hpp

component µRtWare

µRtWare -up-( urt_osal.h

µRtWare -up- urtware.h

µRtWare -up- urtware.hpp

component "AMiRo-Apps" as AMiRoApps

AMiRoApps -down-( amiroos.h

AMiRoApps -down-( urtware.h

AMiRoApps -down-( urtware.hpp

AMiRoApps ..|> urt_osal.h

urt_osal.h .. AMiRoOS

@enduml

PlantUML version 1.2018.11(Sat Sep 22 18:43:53 CEST 2018)

(GPL source distribution)

Java Runtime: OpenJDK Runtime Environment

JVM: OpenJDK 64-Bit Server VM

Java Version: 1.8.0_181-8u181-b13-1ubuntu0.16.04.1-b13

Operating System: Linux

OS Version: 4.15.0-38-generic

Default Encoding: UTF-8

Language: en

Country: US

--></g></svg>

/'

AMiRo-Apps is a collection of applications for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2018..2018  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

'/

@startuml

skinparam componentStyle uml2

!include ../os/AMiRo-OS/doc/AMiRo-OS.uml

!include ../middleware/uRtWare/doc/componentdiagrams/µRtWare.uml

component "AMiRo-Apps" as AMiRoApps

AMiRoApps -down-( amiroos.h

AMiRoApps -down-( urtware.h

AMiRoApps -down-( urtware.hpp

AMiRoApps ..|> urt_osal.h

urt_osal.h .. AMiRoOS

@enduml

Subproject commit 265a3b558e887756141a01909fa2bfdf29fcb854

Subproject commit 0039ffcba666aba026895861b3ab792a8a815df4