110 lines
9.2 KiB
XML
110 lines
9.2 KiB
XML
<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 1060 500" font-family="'Segoe UI',Roboto,Helvetica,Arial,'DejaVu Sans',sans-serif">
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<defs>
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<marker id="arw" markerWidth="9" markerHeight="9" refX="7" refY="3" orient="auto">
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<path d="M0,0 L7,3 L0,6 Z" fill="#5f6368"/>
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</marker>
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</defs>
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<rect width="1060" height="500" fill="#f6f8fa"/>
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<!-- title -->
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<text x="30" y="34" font-size="22" font-weight="700" fill="#202124">Sanad Fleet — one agent, five endpoints</text>
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<text x="30" y="57" font-size="13.5" fill="#5f6368">Robot state -> containerized agent -> YS Lootah fleet server · outbound HTTPS only, read-only toward the robot</text>
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<!-- =============== ROBOT =============== -->
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<rect x="24" y="84" width="300" height="372" rx="12" fill="#ffffff" stroke="#4285f4" stroke-width="1.5"/>
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<text x="40" y="110" font-size="15" font-weight="700" fill="#1a73e8">ROBOT · G1 · R1 · Go2</text>
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<text x="40" y="128" font-size="11.5" fill="#5f6368">unitree_hg (G1/R1) · unitree_go (Go2)</text>
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<rect x="40" y="144" width="268" height="150" rx="8" fill="#f1f6ff" stroke="#c6dafc"/>
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<text x="54" y="166" font-size="12.5" font-weight="700" fill="#202124">DDS topics</text>
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<text x="54" y="190" font-size="11" fill="#3c4043" font-family="'Roboto Mono',Menlo,Consolas,monospace">rt/lf/bmsstate</text><text x="182" y="190" font-size="11" fill="#5f6368">-> battery, SoH</text>
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<text x="54" y="212" font-size="11" fill="#3c4043" font-family="'Roboto Mono',Menlo,Consolas,monospace">rt/lowstate</text><text x="182" y="212" font-size="11" fill="#5f6368">-> temps, faults</text>
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<text x="54" y="234" font-size="11" fill="#3c4043" font-family="'Roboto Mono',Menlo,Consolas,monospace">rt/lf/odommodestate</text>
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<text x="54" y="250" font-size="11" fill="#5f6368">-> position</text>
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<text x="54" y="274" font-size="11" fill="#3c4043" font-family="'Roboto Mono',Menlo,Consolas,monospace">sport RPC 7001</text><text x="182" y="274" font-size="11" fill="#5f6368">-> loco mode (ro)</text>
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<rect x="40" y="304" width="268" height="66" rx="8" fill="#f1f6ff" stroke="#c6dafc"/>
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<text x="54" y="326" font-size="12.5" font-weight="700" fill="#202124">Files · via /host:ro mount</text>
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<text x="54" y="348" font-size="11" fill="#5f6368">SLAM <tspan font-family="'Roboto Mono',Menlo,Consolas,monospace" fill="#3c4043">.db</tspan> · Nav2/Pudu <tspan font-family="'Roboto Mono',Menlo,Consolas,monospace" fill="#3c4043">map.pgm+yaml</tspan></text>
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<text x="54" y="363" font-size="10.5" fill="#80868b">rendered to PNG for upload</text>
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<rect x="40" y="380" width="268" height="64" rx="8" fill="#f1f6ff" stroke="#c6dafc"/>
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<text x="54" y="402" font-size="12.5" font-weight="700" fill="#202124">Sanad app</text>
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<text x="54" y="422" font-size="11" fill="#5f6368">docker json-log -> project logs</text>
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<text x="54" y="438" font-size="11" fill="#5f6368">dashboard :8001 -> remote URL</text>
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<!-- robot -> agent -->
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<line x1="324" y1="250" x2="380" y2="250" stroke="#5f6368" stroke-width="2" marker-end="url(#arw)"/>
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<text x="352" y="242" text-anchor="middle" font-size="10.5" fill="#5f6368">reads</text>
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<!-- =============== AGENT =============== -->
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<rect x="380" y="84" width="300" height="372" rx="12" fill="#ffffff" stroke="#34a853" stroke-width="2"/>
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<text x="530" y="110" text-anchor="middle" font-size="16" font-weight="700" fill="#188038">sanad_api_<type></text>
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<text x="530" y="130" text-anchor="middle" font-size="11.5" fill="#5f6368">Docker · --network host · user systemd · no sudo</text>
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<text x="530" y="148" text-anchor="middle" font-size="11.5" fill="#5f6368">read-only · never commands motion</text>
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<!-- loop rows -->
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<g font-family="'Segoe UI',Roboto,Helvetica,Arial,'DejaVu Sans',sans-serif">
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<!-- telemetry -->
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<rect x="398" y="167" width="264" height="42" rx="7" fill="#f1f6ff" stroke="#c6dafc"/><rect x="398" y="167" width="5" height="42" rx="2.5" fill="#1a73e8"/>
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<text x="414" y="185" font-size="12.5" font-weight="700" fill="#202124">Telemetry · 2s</text>
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<text x="414" y="201" font-size="10.5" fill="#5f6368">battery · status · position · faults · control mode</text>
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<!-- map -->
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<rect x="398" y="219" width="264" height="42" rx="7" fill="#f0faf3" stroke="#b7e1c4"/><rect x="398" y="219" width="5" height="42" rx="2.5" fill="#34a853"/>
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<text x="414" y="237" font-size="12.5" font-weight="700" fill="#202124">Map sync · 30s</text>
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<text x="414" y="253" font-size="10.5" fill="#5f6368">discover pgm+yaml / .db · upload once per change</text>
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<!-- alert -->
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<rect x="398" y="271" width="264" height="42" rx="7" fill="#fdecea" stroke="#f5c0ba"/><rect x="398" y="271" width="5" height="42" rx="2.5" fill="#ea4335"/>
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<text x="414" y="289" font-size="12.5" font-weight="700" fill="#202124">Alert scan · 10s</text>
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<text x="414" y="305" font-size="10.5" fill="#5f6368">battery<=50 · Gemini billing · any error</text>
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<!-- logs -->
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<rect x="398" y="323" width="264" height="42" rx="7" fill="#f7f0fe" stroke="#d9c2f5"/><rect x="398" y="323" width="5" height="42" rx="2.5" fill="#a142f4"/>
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<text x="414" y="341" font-size="12.5" font-weight="700" fill="#202124">Log ship · 60s</text>
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<text x="414" y="357" font-size="10.5" fill="#5f6368">agent lines + <tspan font-family="'Roboto Mono',Menlo,Consolas,monospace">[sanadr1-logs]</tspan></text>
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<!-- remote -->
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<rect x="398" y="375" width="264" height="42" rx="7" fill="#fef4e5" stroke="#fadfa8"/><rect x="398" y="375" width="5" height="42" rx="2.5" fill="#f29900"/>
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<text x="414" y="393" font-size="12.5" font-weight="700" fill="#202124">Remote register · 60s</text>
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<text x="414" y="409" font-size="10.5" fill="#5f6368">dashboard URL + <tspan font-family="'Roboto Mono',Menlo,Consolas,monospace">ssh unitree@ip</tspan></text>
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</g>
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<text x="530" y="437" text-anchor="middle" font-size="10.5" fill="#80868b">all three generated from agents/g1 · gen_agents.py</text>
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<!-- agent -> server arrows -->
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<g stroke-width="2" marker-end="url(#arw)">
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<line x1="680" y1="188" x2="736" y2="188" stroke="#1a73e8"/>
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<line x1="680" y1="240" x2="736" y2="240" stroke="#34a853"/>
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<line x1="680" y1="292" x2="736" y2="292" stroke="#ea4335"/>
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<line x1="680" y1="344" x2="736" y2="344" stroke="#a142f4"/>
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<line x1="680" y1="396" x2="736" y2="396" stroke="#f29900"/>
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</g>
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<!-- =============== SERVER =============== -->
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<rect x="736" y="84" width="300" height="372" rx="12" fill="#ffffff" stroke="#5f6368" stroke-width="1.5"/>
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<text x="886" y="110" text-anchor="middle" font-size="15" font-weight="700" fill="#202124">Fleet server</text>
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<text x="886" y="129" text-anchor="middle" font-size="11.5" fill="#5f6368" font-family="'Roboto Mono',Menlo,Consolas,monospace">eco.yslootahrobotics.com</text>
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<text x="886" y="148" text-anchor="middle" font-size="10.5" fill="#80868b">Authorization: Bearer <token> · keyed by sn</text>
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<g>
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<rect x="754" y="167" width="264" height="42" rx="7" fill="#f1f6ff" stroke="#c6dafc"/>
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<text x="768" y="185" font-size="11.5" font-weight="700" fill="#1a73e8" font-family="'Roboto Mono',Menlo,Consolas,monospace">POST /ingest/telemetry</text>
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<text x="768" y="201" font-size="10.5" fill="#5f6368">every ~2s · 27 fields</text>
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<rect x="754" y="219" width="264" height="42" rx="7" fill="#f0faf3" stroke="#b7e1c4"/>
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<text x="768" y="237" font-size="11.5" font-weight="700" fill="#188038" font-family="'Roboto Mono',Menlo,Consolas,monospace">POST /ingest/{sn}/map</text>
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<text x="768" y="253" font-size="10.5" fill="#5f6368">on change · PNG + resolution + origin</text>
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<rect x="754" y="271" width="264" height="42" rx="7" fill="#fdecea" stroke="#f5c0ba"/>
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<text x="768" y="289" font-size="11.5" font-weight="700" fill="#c5221f" font-family="'Roboto Mono',Menlo,Consolas,monospace">POST /ingest/{sn}/alert</text>
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<text x="768" y="305" font-size="10.5" fill="#5f6368">on new fault (strings)</text>
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<rect x="754" y="323" width="264" height="42" rx="7" fill="#f7f0fe" stroke="#d9c2f5"/>
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<text x="768" y="341" font-size="11.5" font-weight="700" fill="#8430ce" font-family="'Roboto Mono',Menlo,Consolas,monospace">POST /ingest/{sn}/logs</text>
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<text x="768" y="357" font-size="10.5" fill="#5f6368">every 60s · ring-buffered lines</text>
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<rect x="754" y="375" width="264" height="42" rx="7" fill="#fef4e5" stroke="#fadfa8"/>
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<text x="768" y="393" font-size="11.5" font-weight="700" fill="#b06000" font-family="'Roboto Mono',Menlo,Consolas,monospace">POST /ingest/{sn}/remote</text>
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<text x="768" y="409" font-size="10.5" fill="#5f6368">kind: web + ssh</text>
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</g>
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<text x="886" y="437" text-anchor="middle" font-size="10.5" fill="#80868b">also GET /ingest/{sn}/commands (+ ack)</text>
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<!-- footer -->
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<line x1="30" y1="474" x2="1030" y2="474" stroke="#e0e0e0"/>
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<text x="30" y="492" font-size="11" fill="#80868b">No inbound port on the robot · each robot type is its own Docker image · installed & managed over SSH by <tspan font-family="'Roboto Mono',Menlo,Consolas,monospace" fill="#5f6368">fleet_install.sh</tspan> · user-level systemd auto-start, no sudo.</text>
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</svg>
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