Changes on tower

uml/actor_server_activity.puml

@@ -0,0 +1,13 @@
+@startuml
+start
+
+:Initialisiere MessageQueue;
+if (Graphviz installed?) then (yes)
+  :process all\ndiagrams;
+else (no)
+  :process only
+  __sequence__ and __activity__ diagrams;
+endif
+
+stop
+@enduml

uml/animation_states.puml

@@ -1,32 +1,39 @@
 @startuml animation_states
 hide empty description
+skinparam Shadowing true
 
 [*] --> Standing
 
 state Standing{
-    [*] --> StandingIdle
-    StandingIdle --> [*]
-    StandingIdle --> ExtendArm
-    ExtendArm --> RetractArm
-    RetractArm --> StandingIdle
+    [*] --> [*]
+    [*] --> standing_extend_arm
+    standing_extend_arm --> standing_retract_arm
+    standing_retract_arm --> [*]
 
-    StandingIdle --> Walk
-    Walk --> StandingIdle
+    [*] --> standing_walk
+    standing_walk --> [*]
 }
+Standing -> Standing
 
 state Low{
-    [*] --> LowIdle
-    LowIdle --> [*]
-    LowIdle --> InspectLow
-    InspectLow --> PutBackLow
-    InspectLow --> GrabLow
-    PutBackLow --> LowIdle
-    GrabLow --> LowIdle
+    [*] --> [*]
+    [*] --> low_inspect
+    low_inspect --> low_put_back
+    low_inspect --> low_grab
+    low_put_back --> [*]
+    low_grab --> [*]
 }
 
-Standing -> ToLow
-ToLow -> Low
-Low --> ToStanding
-ToStanding --> Standing
+Low -> Low
+
+'Spacer :D
+state a #transparent;line:transparent;text:transparent
+Low -up[hidden]-> a
+
+Standing -up-> standing_to_low
+standing_to_low -down-> Low
+Low -up-> low_to_standing
+low_to_standing -down-> Standing
+
 
 @enduml

uml/plugin_connectivity.puml

@@ -8,38 +8,34 @@ skinparam ArrowColor #404040
 participant "ROS ActionClient" as client
 participant ActorServer as server
 participant ActorPlugin as plugin
-
-note left of client: Protocol:
-/note left of server: ros_action
-/note left of plugin: MessageQueue
-
-
-==Goal==
 activate server
 activate plugin
 
-[-> client: create ActionClient
+==Goal==
+
+[-> client: neuer ActionClient
 activate client
 
-client -> server: goal request
-server -->> client: goal response
+client -> server: Goal-Anfrage
+server -->> client: Antwort auf Anfrage
 
-alt goal accepted
-server ->> plugin: set state and target
-plugin -->> server: state change
+alt Anfrage akzeptiert?
+server ->> plugin: neuen Status und Ziel setzen
+plugin -->> server: Zustandswechsel bei\nnächstem Simulationsschritt
 == Feedback==
-group opt par [abort of current action]
-client->server: abort request
-server->plugin: set state to Idle
-server-->>client: abort response
+group opt par [Abbruch der Aktion]
+client->server: Cancel-Anfrage
+server->plugin: Status auf Idle setzen
+plugin -->> server: Zustandswechsel auf Idle
+server-->>client: positive Abbruchantwort
 end
-loop until action is completed or aborted
-plugin -->> server: feedback
-server -->> client: feedback callback
+loop Bis Aktion vollständig ausgeführt oder abgebrochen ist
+plugin -->> server: Feedback
+server -->> client: Feedback
 end
 ==Result==
-plugin -->> server: state change
-server -->> client: result callback 
+plugin -->> server: Zustandswechsel auf Idle
+server -->> client: Result-Antwort
 end
 destroy client
 @enduml

uml/subtree_deposit.puml

@@ -0,0 +1,25 @@
+@startmindmap
+
+
+skinparam Linetype ortho
+skinparam defaultTextAlignment center
+top to bottom direction
+
+* Sequence
+** WeightedRandom\nWichtung 1:1:1
+*** Laufe zu 1. Regal
+*** Laufe zu 2. Regal
+*** Laufe zu 3. Regal
+
+** WeightedRandom\nWichtung 1:1
+*** Sequence
+**** Animation\nstanding_extend_arm
+**** Animation\nstanding_retract_arm
+
+*** Sequence
+**** Animation\nstanding_to_low
+**** Animation\nlow_inspect
+**** Animation\nlow_put_back
+**** Animation\nlow_to_standing
+
+@endmindmap