Modules

Modules

Vehicle System (src/vehicle.cpp)

• Maintains vehicle state (VSS-aligned), actuates chassis/body.
• Publishes/subscribes via Zenoh.

Middleware (src/middleware.cpp)

• CAN → Zenoh: telemetry (e.g., speed, battery, lights).
• Zenoh → CAN: control (steering, throttle, lights).
• Configured by config/Zenoh/MiddleWareConfig.json.

Combined Controller (src/combinedControl.cpp)

• Threads:
  • ManualControl (XboxController): reads inputs, exposes manual speed/steering.
  • PIDController or MPCController: steering control (same behavior in current code; MPC is a drop-in alternative to PID).
  • SpeedPidController: throttle control using desiredSpeed and currentSpeed.
• In SAE_0 / SAE_1_*: uses manual inputs. In higher levels: uses Detection outputs.

Detection (src/detection.cpp)

• Lane Detection: midpoint error (PID input) and trajectory line (MPC input).
• Object Detection: obstacle/road checks; supports ACC; emergency brake triggers.
• Signs/Lights: crops ROIs and classifies; feeds behavior (speed/brake).
• TrajectoryDefinition behavior by mode:
  • SAE_4: can alter trajectory to avoid obstacles (re-routing).
  • SAE_3: no obstacle-based re-routing (keeps nominal trajectory).
  • SAE_2: planned; would require at least two lanes to allow safe lateral maneuvers.