The simulation stack

flowchart LR
  %% My image with a constrained aspect ratio
  cm@{ img: "https://www.ipg-automotive.com/favicon.svg", label: "CarMaker", pos: "b", h: 60, constraint: "on" }
  camera@{ img: "https://www.svgrepo.com/show/179335/photo-camera-technology.svg", label: "Virtual Camera", pos: "b", h: 60, constraint: "on" }
  pcan@{ img: "https://www.peak-system.com/favicon.svg", label: "PCAN", pos: "b", h: 60, constraint: "on" }
  subgraph stack["NRAI Stack"]
    direction TB

    nims["NIMS"]
    controller
    perception
    planner

    nims <-- FIFO --> controller
  end
  stack["NRAI Stack"]

  cm <-- Virtual CAN --> pcan <--CAN--> nims
  cm -- Simulation --> camera -- Socket --> perception --> planner --> controller

classDef ic fill:none,stroke:none;
class cm,pcan,camera ic;

The simulation stack

sequenceDiagram
    participant CarMaker@{ "type" : "boundary" } as CarMaker
    participant Camera as Virtual Camera
    participant Perception as Perception
    participant Planner as Planner
    participant Controller as Controller
    participant NIMS as NIMS

    par
      CarMaker->>NIMS: State of the vehicle
      CarMaker->>Camera: Virtual camera data
    end
    Camera->>Perception: Virtual camera data
    Perception->>Planner: Cone detection (more?)
    Planner->>Controller: Waypoints
    par
      Controller->>NIMS: High-level control inputs
      NIMS->>Controller: State of the vehicle
    end
    NIMS->>CarMaker: Low-level control inputs

The real stack

flowchart LR
  %% My image with a constrained aspect ratio
  car@{ img: "https://www.iconpacks.net/icons/2/free-car-icon-2901-thumb.png", label: "Car", pos: "b", h: 60, constraint: "on" }
  camera@{ img: "https://www.svgrepo.com/show/179335/photo-camera-technology.svg", label: "Zed Camera", pos: "b", h: 60, constraint: "on" }
  subgraph stack["NRAI Stack"]
    direction TB

    nims["NIMS"]
    controller
    perception
    planner

    nims <-- Socket --> controller
  end
  stack["NRAI Stack"]

  car <-- CAN --> nims
  camera -- ZED SDK --> perception --> planner --> controller

classDef ic fill:none,stroke:none;
class car,camera ic;

The simulation stack

sequenceDiagram
    participant Car@{ "type" : "boundary" } as Car
    participant Camera@{ "type" : "boundary" } as Zed Camera
    participant Perception as Perception
    participant Planner as Planner
    participant Controller as Controller
    participant NIMS as NIMS

    par
      Car->>NIMS: State of the car
      Camera->>Perception: Camera data
    end
    Perception->>Planner: Cone detection (more?)
    Planner->>Controller: Waypoints
    par
      Controller->>NIMS: High-level control inputs
      NIMS->>Controller: State of the car
    end
    NIMS->>Car: Low-level control inputs

CarMaker

CarMaker dashboard

FS-AI CAN API

Highlight of the CAN API messages.

Car state machine

Highlight of the car state machine. The goal is to reach the FINISHED state without triggering the EMERGENCY BRAKE state.

---
config:
  theme: dark
---
stateDiagram-v2
    state "OFF" as off
    state "READY" as ready
    state "DRIVING" as driving
    state "FINISHED" as finished
    state "EMERGENCY BRAKE" as brake
    [*] --> off
    ready --> off : AS = OFF
    off --> ready : AS = ON & TS = ON & EBS = ARMED & MISSION = SET
    ready --> driving : 5 seconds & DIRECTION = NEUTRAL & TORQUE = 0 & STEERING = 0 & GO = OFF -> ON
    driving --> finished : MISSION = FINISHED & SPEED < 10rpm
    driving --> brake : Emergency brake
    driving --> off : AS = OFF | GO = OFF | ERROR = TRUE
    brake --> off : AS = OFF
    finished --> off : AS = OFF

    classDef success stroke:#0f0
    classDef failure stroke:#f00
    class finished success
    class brake failure