generated from wessel/boilerplate
114 lines
3.5 KiB
Markdown
114 lines
3.5 KiB
Markdown
# ROS2 IMU Reader — Design Document
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## Project Overview
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This projects reads data from a ESP32 communicating with serial or MQTT and writes this into a database for further processing
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## System Architecture
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### High-Level Architecture
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The system consists of multiple ROS2 nodes that communicate through standardized topics and services to process imu data and store it in a database
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### Key Design Principles
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- **Microservices Architecture**: Each component has a single responsibility
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- **Asynchronous Communication**: Uses ROS2 topics and services for loose coupling
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- **Data Persistence**: Centralized database management for datastorage
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- **Comprehensive Testing**: Unit tests ensure code reliability
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## System Components
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### ESP32-IMU
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*For ESP32 specific documentation see [ESP32-IMU.md](IMU/ESP32-IMU.md)*
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### Core Nodes
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#### 1. IMU Databse writer Node
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**Namespace**: `assignments::two::imu_database_writer`
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**Brief Description**: Recieves and stores IMU data.
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**Key Features**: Database persistence
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*For detailed documentation, see: [IMUDatabaseWriter.md](nodes/IMUDatabaseWriter.md)*
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#### 2. LifeCycle Node
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**Namespace**: `assignments::two::lifecycle_manager`
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**Brief Description**: Configures low level communication and manages the hardware interface to read on either serial or mqtt comunications.
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**Key Features**: Configuration of communications, device read activation and deactivation.
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*For detailed documentation, see: [LifecycleManager.md](nodes/LifecycleManager.md)*
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#### 3. Hardware Interface
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**Namespace**: `assignments::two::hardware_interface`
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**Brief Description**: Manages low-level communication protocols (Serial/MQTT) for ESP32 data acquisition and forwards raw sensor data to processing nodes.
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**Key Features**: Multi-protocol communication support, connection management, raw data parsing and streaming.
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*For detailed documentation, see: [HardwareInterface.md](nodes/HardwareInterface.md)*
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### Data Management
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#### DatabaseManager
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**Brief Description**: PostgreSQL database interface handling connections, table management, and data persistence.
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**Key Features**: Connection management, automatic table creation, student enrollment tracking, exam result storage
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*For detailed documentation, see: [DatabaseManager.md](../DatabaseManager.md)*
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#### ConfigManager
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**Brief Description**: TOML-based configuration management system allowing runtime configuration without recompilation.
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**Key Features**: Automatic config file discovery, type-safe TOML parsing, database connection configuration
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*For detailed documentation, see: [ConfigManager.md](../ConfigManager.md)*
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### Communication Interfaces
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#### ROS2 Message Interface
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**Brief Description**: This project uses the ROS2 standard IMU sensor message
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## System Workflow
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### 1. Imu data Processing
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1. **Input**: IMU data is sent from the ESP32 to the lifecycle node
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2. **Collection**: The lifcycle node recieves the data via a serial or MQTT connection
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4. **Data passthrough**: When data is recieved it is sent to the database writer
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### 2. Data Management
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1. **Database Storage**: IMU data is persisted/stored in the database
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## Configuration Management
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### TOML Configuration Structure
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The system uses TOML files for environment-specific configuration:
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```toml
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[database]
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host = "localhost"
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port = 5432
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name = "grade_db"
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user = "grade_user"
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password = "secure_password"
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[grade_calculation]
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collection_amount = 5
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min_grade = 10
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max_grade = 100
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[logging]
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level = "INFO"
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output_file = "grade_system.log"
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```
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## Testing
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The testing documentation can be found in the [doc/tests](/doc/tests/) folder for each node
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