UML Sequence Diagrams¶

Start Game¶

$@startuml 'Look params' skinparam sequence { hide footbox shadowing false ParticipantPadding 20 BoxPadding 10 ArrowColor Black ActorBorderColor Black LifeLineBorderColor Black LifeLineBackgroundColor Black ParticipantBorderColor Black ParticipantBackgroundColor Grey ParticipantFontName Roboto ParticipantFontSize 18 ParticipantFontColor White ActorBackgroundColor White ActorFontColor Black ActorFontSize 18 ActorFontName Roboto BoxFontSize 16 TitleFontSize 20 } 'Box and participants' box "Robot CPU" #FFFFFF participant openni participant body_tracking participant human_finder participant image_dispatcher participant dialog_control participant scene_finder participant snips end box box "Robot Embedded" #LightBlue participant irl1 end box 'UML' title Start Game == Wait for human == loop until a human is close enough and for more than 0.5 sec. openni -> image_dispatcher : /openni/rgb/image_color/compressed (CompressedImage) openni -> image_dispatcher : /openni/depth/points (PointCloud2) dialog_control -> human_finder : /devine/human_finder (LookAtHumanGoal) loop until human is found image_dispatcher -> body_tracking : /devine/image/body_tracking (CompressedImage) body_tracking -> human_finder : /devine/body_tracking (String) human_finder -> dialog_control : /devine/human_finder (LookAtHumanActionFeedback) human_finder -> irl1 : /jn0/neck_controller/follow_joint_trajectory (JointTrajectoryPoint) end == Ask human if wants to play == loop until discussion is complete dialog_control -> snips : /devine/tts/query (TtsQuery) snips -> dialog_control : /devine/tts/answer (TtsAnswer) end dialog_control -> image_dispatcher : /devine/player_name (String) == Find scene to play == loop until 2 AprilTags are found image_dispatcher -> scene_finder : /devine/zone_detection (CompressedImage) scene_finder -> irl1 : /jn0/neck_controller/follow_joint_trajectory (JointTrajectoryPoint) end scene_finder -> image_dispatcher: /devine/scene_found (Bool) @enduml$

Play Game¶

$@startuml 'Look params' skinparam sequence { hide footbox shadowing false ParticipantPadding 20 BoxPadding 10 ArrowColor Black ActorBorderColor Black LifeLineBorderColor Black LifeLineBackgroundColor Black ParticipantBorderColor Black ParticipantBackgroundColor Grey ParticipantFontName Roboto ParticipantFontSize 18 ParticipantFontColor White ActorBackgroundColor White ActorFontColor Black ActorFontSize 18 ActorFontName Roboto BoxFontSize 16 TitleFontSize 20 } 'Box and participants' box "External GPU" #LightGreen participant image_processing end box box "Robot CPU" #FFFFFF participant guesswhat participant image_dispatcher participant snips end box 'UML' title Play Game == Prepare data for GuessWhat?! == image_dispatcher -> image_processing : /devine/image/segmentation (CompressedImage) image_processing -> guesswhat : /devine/image_features (VGG16Features) image_processing -> guesswhat : /devine/objects (SegmentedImage) == Play GuessWhat?! == loop until discussion is completed guesswhat -> snips : /devine/tts/query (TtsQuery) snips -> guesswhat : /devine/tts/answer (TtsAnswer) end @enduml$

End of Game¶

$@startuml 'Look params' skinparam sequence { hide footbox shadowing false ParticipantPadding 20 BoxPadding 10 ArrowColor Black ActorBorderColor Black LifeLineBorderColor Black LifeLineBackgroundColor Black ParticipantBorderColor Black ParticipantBackgroundColor Grey ParticipantFontName Roboto ParticipantFontSize 18 ParticipantFontColor White ActorBackgroundColor White ActorFontColor Black ActorFontSize 18 ActorFontName Roboto BoxFontSize 16 TitleFontSize 20 } 'Box and participants' box "Robot CPU" #FFFFFF participant guesswhat participant image_dispatcher participant snips participant pos_lib participant openni participant robot_control participant dialog_control end box box "Robot Embedded" #LightBlue participant irl1 end box 'UML' title End of Game == Point guessed object == guesswhat -> dialog_control : /devine/objects_confidence (Float64MultiArray) guesswhat -> dialog_control : /devine/guess_category (String) guesswhat -> pos_lib : /devine/guess_location/image (PointStamped) openni -> pos_lib: /openni/depth/points (PointCloud2) pos_lib -> robot_control : /devine/guess_location/world (PoseStamped) note left: referenced from 'base_link' robot_control -> irl1 : /jn0/<left/right>_arm_controller/follow_joint_trajectory (JointTrajectoryPoint) robot_control -> dialog_control : /devine/robot/is_pointing (Bool) == Ask player if guess is good == dialog_control -> snips : /devine/tts/query (TtsQuery) snips -> dialog_control : /devine/tts/answer (TtsAnswer) == Emote based on game result == dialog_control -> robot_control : /devine/guesswhat_succeeded (Bool) guesswhat -> robot_control : /devine/objects_confidence (Float64MultiArray) guesswhat -> robot_control : /devine/object_guess_success (Bool) robot_control -> irl1 : /jn0/emo_intensity (EmoIntensity) @enduml$