Class Diagram

APP

classDiagram
    class ctask{
        run()
        step()        
    }

    class service{
      comm::i_comm* comm
      hal::i_hardware* hardware
      serve()
    }

    namespace comm {
    class i_comm{
        <<interface>>
      init()
      send()
      receive()
    }
    }

    namespace hal {
    class i_hardware{
        <<interface>>
      read()
      write()
    }
    }
    
    i_comm <|-- service
    i_hardware <|-- service
    service <|-- ctask

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ACT

GCU

IMU

SKR

DTO

common

classDiagram
    class common_parameter{
      uint16_t message_id
      uint8_t mcu_voltage
      uint8_t cpu_temperature
      uint8_t cpu_usage
      uint8_t ram_usage
      uint8_t heap_usage
    }

    class feature_inspect_finish_res {
        uint16_t message_id
    }

    class feature_inspect_finish_command{
        uint16_t message_id
    }

    class feature_inspect_result{
        uint16_t message_id
        uint32_t count
    }

    class reboot_command {
        uint16_t message_id
        subsystem target
    }

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ACT

classDiagram
   class act_info{
    uint16_t message_id
    uint8_t act_status
    int32_t a_motor_theta
    int32_t a_motor_omega
    int32_t b_motor_theta
    int32_t b_motor_omega
    
   }

   class pin_control_res{
    uint16_t message_id
   }

   class pin_control_req{
    uint16_t message_id
    int32_t a_motor_theta
    int32_t b_motor_theta
   }

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GCU

classDiagram
    class full_system_info{
      uint16_t message_id
      gcu_status gcu_status
      common_parameter common_parameter
      act_info act_info
      imu_info imu_info
      skr_info skr_info
    }
    class target_distance_req{
        uint16_t message_id
    }
    class position_req{
        uint16_t message_id
    }
    class feature_inspect_result{
        uint16_t message_id
   	target_distance_req target_distance_req
	position_res position_res
	pin_control_req pin_control_req
	uint32_t algorithm_time
	uint32_t act_comm_time
	uint32_t imu_comm_time
	uint32_t skr_comm_time
    }

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IMU

classDiagram
    class imu_data {
        int16_t message_id
        int32_t latitude
        int32_t longitude
        int32_t altitude
        int16_t yaw
        int16_t pitch
        int16_t roll
    }
    class imu_info {
        uint16_t message_id  
        imu_status status    
        imu_data data        
    }
    class position_req {
        uint16_t message_id 
    }
    class position_res {
        uint16_t message_id 
        imu_data data        
    }

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SKR

classDiagram
    SKR_info          
    SRK_info : uint16_t message_id
    SRK_info : skr_status status
    SRK_info : common-parameter com_param    
    
    SRK_dist
    SRK_dist : uint16_t message_id
    SRK_dist : int16_t srk_dist

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UI

classDiagram
    class feature_inspect_command {
        uint16_t message_id
        uint32_t loop_count
    }

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