From e98033240f9f49f4d081dd70de4cc7ca03c4c2f7 Mon Sep 17 00:00:00 2001 From: horverno Date: Tue, 16 Apr 2024 08:05:12 +0200 Subject: [PATCH] =?UTF-8?q?Mermaid=20hozz=C3=A1adva?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- docs/bevezetes/practice.md | 2 +- docs/feleves_beadando/kisbeadando.md | 2 +- docs/onallo/mermaid.md | 294 +++++++++++++++++++++++++++ docs/onallo/mermaid01.png | Bin 0 -> 63884 bytes docs/onallo/mermaid02.png | Bin 0 -> 89519 bytes 5 files changed, 296 insertions(+), 2 deletions(-) create mode 100644 docs/onallo/mermaid.md create mode 100644 docs/onallo/mermaid01.png create mode 100644 docs/onallo/mermaid02.png diff --git a/docs/bevezetes/practice.md b/docs/bevezetes/practice.md index 18d307b..487fcfb 100644 --- a/docs/bevezetes/practice.md +++ b/docs/bevezetes/practice.md @@ -47,7 +47,7 @@ A [https://jkk-research.github.io/#dataset](https://jkk-research.github.io/#data ## A Foxglove bemutatása -Amíg az `.mcap` töltődik, röviden bemutatjuk a Foxglove Studio programot. A Foxglove Studio egy nyílt forráskódú, robotikai adatokat vizualizáló és hibakereső eszköz. Egész pontosan a `v1.87.0`-ig bezárólag nyílt forráskódu volt, a `v2.0.0`-tól pedig ingyenesen hazsnálható, de zárt forráskódú. Elérhető számos módon: +Amíg az `.mcap` töltődik, röviden bemutatjuk a Foxglove Studio programot. A Foxglove Studio egy nyílt forráskódú, robotikai adatokat vizualizáló és hibakereső eszköz. Egész pontosan a `v1.87.0`-ig bezárólag nyílt forráskódu volt, a `v2.0.0`-tól pedig ingyenesen használható, de zárt forráskódú. Elérhető számos módon: - önálló asztali alkalmazásként futtatható - böngészőben hozzáférhető - saját domainen, önállóan hostolható diff --git a/docs/feleves_beadando/kisbeadando.md b/docs/feleves_beadando/kisbeadando.md index 658792a..6dcd1e2 100644 --- a/docs/feleves_beadando/kisbeadando.md +++ b/docs/feleves_beadando/kisbeadando.md @@ -34,7 +34,7 @@ Elvárt kvalitások: - Minél több commit, hogy a munkafolyamatot is lássuk - Terjedelem 30-100 kódsor node-onként + CMakeLists.txt, package.xml, README.md, launch fájlok (nem baj, ha hosszabb, de nem elvárt) - Lehetőleg képpel illusztrálva (lásd [példák](#példák)) -- Lehetőleg [mermaid](https://mermaid.js.org/intro/) diagram a node-ok, topic-ok viszonyáról (lásd [példák](#példák)) +- Lehetőleg [mermaid](https://mermaid.js.org/intro/) diagram a node-ok, topic-ok viszonyáról (lásd [példák](#példák), [leírás](https://sze-info.github.io/arj/onallo/mermaid.html)) ## Példák diff --git a/docs/onallo/mermaid.md b/docs/onallo/mermaid.md new file mode 100644 index 0000000..f2bc861 --- /dev/null +++ b/docs/onallo/mermaid.md @@ -0,0 +1,294 @@ +--- +layout: default +title: Mermaid gráf +parent: Önálló feladatok +--- + + + +
+ + Tartalom + + {: .text-delta } +1. TOC +{:toc} +
+ +--- + + +# Mermaid gyakorlás + +A mermaid hasznos kiegészője lehet a markdown fájlainknak (pl `README.md`). Különböző grafikononokat, flowchartokat tudunk vele viszonylag könnyen létrehozni. + +## VS code extension + +Bal oldalt az Extension ikonra kattintva vagy a `Ctrl` + `Shift` + `X` után a meraid kulcsszót beírva előjön a Markdown Preview kiegészítő, ez egy katintással telepíthető és használhat is. Ezután a Markdown előnézetében (`Ctrl` + `Shift` + `V` vagy felső ikon) már látható is lesz az előlnézet. +
+ + +
+ +# Példák + +Az `LR` a left-right rövidítése: + +``` ruby +graph LR; +id1([node1]) +id2([node2]) +id3[topic] + +id1 --> id3 --> id2 +``` + + +```mermaid +graph LR; +id1([node1]) +id2([node2]) +id3[topic] + +id1 --> id3 --> id2 +``` + +Az `TD` a top-down rövidítése: + +```ruby +graph TD; +id1([node1]) +id2([node2]) +id3[topic] + +id1 --> id3 --> id2 +``` + +```mermaid +graph TD; +id1([node1]) +id2([node2]) +id3[topic] + +id1 --> id3 --> id2 +``` + +```ruby +graph TD; +id1([node1]):::red +id2([node2]):::red +id3[topic]:::light + +id1 --> id3 --> id2 + +classDef light fill:#34aec5,stroke:#152742,stroke-width:2px,color:#152742 +classDef dark fill:#152742,stroke:#34aec5,stroke-width:2px,color:#34aec5 +classDef white fill:#ffffff,stroke:#152742,stroke-width:2px,color:#152742 +classDef red fill:#ef4638,stroke:#152742,stroke-width:2px,color:#fff +``` + +```mermaid +graph TD; +id1([node1]):::red +id2([node2]):::red +id3[topic]:::light + +id1 --> id3 --> id2 +classDef light fill:#34aec5,stroke:#152742,stroke-width:2px,color:#152742 +classDef dark fill:#152742,stroke:#34aec5,stroke-width:2px,color:#34aec5 +classDef white fill:#ffffff,stroke:#152742,stroke-width:2px,color:#152742 +classDef red fill:#ef4638,stroke:#152742,stroke-width:2px,color:#fff +``` + +```ruby +graph LR; + +gen([ /gen_node]) --> sine +gen --> rand[ /rand
std_msgs/Float32] +sine[ /sine
std_msgs/Float32] --> sum([ /sum_node]) +sum --> out[ /out
std_msgs/Float32] +rand --> sum +in[ /in
std_msgs/Float32] --> sum +``` + + +```mermaid +graph LR; + +gen([ /gen_node]) --> sine +gen --> rand[ /rand
std_msgs/Float32] +sine[ /sine
std_msgs/Float32] --> sum([ /sum_node]) +sum --> out[ /out
std_msgs/Float32] +rand --> sum +in[ /in
std_msgs/Float32] --> sum +``` + +```ruby +graph LR + +gen([ /gen_node]):::red --> sine +gen --> rand[ /rand
std_msgs/Float32]:::light +sine[ /sine
std_msgs/Float32]:::light --> sum([ /sum_node]):::red +sum --> out[ /out
std_msgs/Float32]:::light +rand --> sum +in[ /in
std_msgs/Float32]:::light --> sum + +classDef light fill:#34aec5,stroke:#152742,stroke-width:2px,color:#152742 +classDef dark fill:#152742,stroke:#34aec5,stroke-width:2px,color:#34aec5 +classDef white fill:#ffffff,stroke:#152742,stroke-width:2px,color:#152742 +classDef red fill:#ef4638,stroke:#152742,stroke-width:2px,color:#fff + +``` + +```mermaid +graph LR + +gen([ /gen_node]):::red --> sine +gen --> rand[ /rand
std_msgs/Float32]:::light +sine[ /sine
std_msgs/Float32]:::light --> sum([ /sum_node]):::red +sum --> out[ /out
std_msgs/Float32]:::light +rand --> sum +in[ /in
std_msgs/Float32]:::light --> sum + +classDef light fill:#34aec5,stroke:#152742,stroke-width:2px,color:#152742 +classDef dark fill:#152742,stroke:#34aec5,stroke-width:2px,color:#34aec5 +classDef white fill:#ffffff,stroke:#152742,stroke-width:2px,color:#152742 +classDef red fill:#ef4638,stroke:#152742,stroke-width:2px,color:#fff + +``` + + +```ruby +graph LR + +gen([ /gen_node]) --> sine +gen --> rand[ /rand
std_msgs/Float32] +sine[ /sine
std_msgs/Float32] --> sum([ /sum_node]) +sum --> out[ /out
std_msgs/Float32] +rand --> sum +in[ /in
std_msgs/Float32] --> sum + +classDef light fill:#34aec5,stroke:#152742,stroke-width:2px,color:#152742 +classDef dark fill:#152742,stroke:#34aec5,stroke-width:2px,color:#34aec5 +classDef white fill:#ffffff,stroke:#152742,stroke-width:2px,color:#152742 +classDef red fill:#ef4638,stroke:#152742,stroke-width:2px,color:#fff + +class gen,sum red +class rand,sine,in,out light + +``` + +```mermaid +graph LR + +gen([ /gen_node]) --> sine +gen --> rand[ /rand
std_msgs/Float32] +sine[ /sine
std_msgs/Float32] --> sum([ /sum_node]) +sum --> out[ /out
std_msgs/Float32] +rand --> sum +in[ /in
std_msgs/Float32] --> sum + +classDef light fill:#34aec5,stroke:#152742,stroke-width:2px,color:#152742 +classDef dark fill:#152742,stroke:#34aec5,stroke-width:2px,color:#34aec5 +classDef white fill:#ffffff,stroke:#152742,stroke-width:2px,color:#152742 +classDef red fill:#ef4638,stroke:#152742,stroke-width:2px,color:#fff + +class gen,sum red +class rand,sine,in,out light + +``` + + +```ruby +flowchart LR + +A{{max_deg
param}}:::gray --> D([display_tree
node]):::gray +B{{max_dist
param}}:::gray --> D +C{{seed_size
param}}:::gray --> D +D --> |visualization_msgs/marker_array| P[ /path_marker_topic
topic]:::gray + + +classDef light fill:#34aec5,stroke:#152742,stroke-width:2px,color:#152742 +classDef dark fill:#152742,stroke:#34aec5,stroke-width:2px,color:#34aec5 +classDef white fill:#ffffff,stroke:#152742,stroke-width:2px,color:#152742 +classDef gray fill:#f6f8fa,stroke:#152742,stroke-width:2px,color:#152742 +classDef red fill:#ef4638,stroke:#152742,stroke-width:2px,color:#fff + +``` + + +```mermaid +flowchart LR + +A{{max_deg
param}}:::gray --> D([display_tree
node]):::gray +B{{max_dist
param}}:::gray --> D +C{{seed_size
param}}:::gray --> D +D --> |visualization_msgs/marker_array| P[ /path_marker_topic
topic]:::gray + + +classDef light fill:#34aec5,stroke:#152742,stroke-width:2px,color:#152742 +classDef dark fill:#152742,stroke:#34aec5,stroke-width:2px,color:#34aec5 +classDef white fill:#ffffff,stroke:#152742,stroke-width:2px,color:#152742 +classDef gray fill:#f6f8fa,stroke:#152742,stroke-width:2px,color:#152742 +classDef red fill:#ef4638,stroke:#152742,stroke-width:2px,color:#fff + +``` + +``` ruby +flowchart TD + S[State Machine
/plan_state_machine] -.->|/plan_state*| LS[LIDAR segementation
/prcp_ground_obstacle_segm_lidar] + S -.-> CS[Cone detection camera
and de-projection] + S -.-> O[Object fusion] + CS -->|/prcp_obj_list_camera| O + LS -->|/prcp_obj_list_lidar| O + O -->|/prcp_obj_list_fused| T[Trajectory planner
/plan_trajectory_planner] + T --> C[Control
/ctrl_vehicle_control] + S -.-> T + S -.-> C + O --> M[Map Creation
/prc_slam] + M -->|/prcp_map| T + L[Localization
/prcp_odometry_kf_prediction] --> T + C --> CAN[To CAN] + + classDef light fill:#34aec5,stroke:#152742,stroke-width:2px,color:#152742 + classDef dark fill:#152742,stroke:#34aec5,stroke-width:2px,color:#34aec5 + classDef white fill:#ffffff,stroke:#152742,stroke-width:2px,color:#15274 + classDef dash fill:#ffffff,stroke:#152742,stroke-width:2px,color:#15274, stroke-dasharray: 5 5 + classDef red fill:#ef4638,stroke:#152742,stroke-width:2px,color:#fff + + class CS,LS,L,T,M,C white + class O light + class S dash + class CAN red + ``` + +```mermaid +flowchart TD + S[State Machine
/plan_state_machine] -.->|/plan_state*| LS[LIDAR segementation
/prcp_ground_obstacle_segm_lidar] + S -.-> CS[Cone detection camera
and de-projection] + S -.-> O[Object fusion] + CS -->|/prcp_obj_list_camera| O + LS -->|/prcp_obj_list_lidar| O + O -->|/prcp_obj_list_fused| T[Trajectory planner
/plan_trajectory_planner] + T --> C[Control
/ctrl_vehicle_control] + S -.-> T + S -.-> C + O --> M[Map Creation
/prc_slam] + M -->|/prcp_map| T + L[Localization
/prcp_odometry_kf_prediction] --> T + C --> CAN[To CAN] + classDef light fill:#34aec5,stroke:#152742,stroke-width:2px,color:#152742 + classDef dark fill:#152742,stroke:#34aec5,stroke-width:2px,color:#34aec5 + classDef white fill:#ffffff,stroke:#152742,stroke-width:2px,color:#15274 + classDef dash fill:#ffffff,stroke:#152742,stroke-width:2px,color:#15274, stroke-dasharray: 5 5 + classDef red fill:#ef4638,stroke:#152742,stroke-width:2px,color:#fff + class CS,LS,L,T,M,C white + class O light + class S dash + class CAN red + ``` + +# Linkek +- [Mermaid flowchart](https://mermaid.js.org/syntax/flowchart.html) +- [Mermaid pie chart](https://mermaid.js.org/syntax/pie.html) +- [Mermaid intro](https://mermaid.js.org/intro/) diff --git a/docs/onallo/mermaid01.png b/docs/onallo/mermaid01.png new file mode 100644 index 0000000000000000000000000000000000000000..3c31cd0e5e4229d4f054e4a8435d231ae036b500 GIT binary patch literal 63884 zcmbSyRa9I-vu+G`cL+{!g6rTmxVyW%O9(c&y9IX*uEE{iT?cpPlKkg9+=p||TK8er 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