una-auxme / paf

Praktikum Autonomes Fahren - PAF

MIT License

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[EpicFeature]: Design Acting architecture #489

Open SirMDA opened 2 weeks ago

SirMDA commented 2 weeks ago

Feature Description

The Acting architecture needs a redesign/design because:

Control was separated out from acting
A interface overhaul is imminent between planning and acting.
Because of the potential field method proposed.

Definition of Done

[ ] Create Diagram of the necessary components and connections
[ ] Plan steps for implementing
[ ] Execute implementations steps

Effort Estimate

long

Testability

With the acting debug node as well as with the real system (leaderboard)

Dependencies

511 needs to be implemented (New message definition)

492 research on potential field "finished"

vinzenzm commented 1 day ago

This is a first draft with implications and design ideas for the architecture. Major decisions are marked in purple. @seitzseb , @Johannes1098 , @THDThieleT we will need a meeting to discuss this in detail.