About arc42

arc42, the Template for documentation of software and system architecture.

Created and maintained by Dr. Peter Hruschka, Dr. Gernot Starke and contributors.

Template Revision: 8.0 EN (based on asciidoc), February 2022

© We acknowledge that this document uses material from the arc 42 architecture template, https://arc42.org.

Introduction and Goals

This document describes the distributed control system for at least 16 robotic arms for the distributed systems practical exam part.

Requirements Overview

ID	Requirement	Explanation
UC0	move_arm	change the position of the arm in three axis: left/right, back/forth, up/down. Absolute values should be provided.
UC1	toggle_gripper	toggle the gripper state between open and closed

Quality Goals

Stakeholders

Name	Role	Contact	Expectations
Martin Becke	Customer	[email protected]	Working control-system in accordance to documentation
Hugo Protsch	Developer / Maintainer	[email protected]
Justin Hoffmann	Developer / Maintainer	[email protected]

Architecture Constraints

The control-system shall:

• be integrable with any robotic arm that implements the ICaDSRoboticArm Interface
• be scalable for at least 16 robotic arms
• contain a custom IDL and source generator
• contain a custom nameserver

System Scope and Context

Business Context

<Diagram or Table>

<optionally: Explanation of external domain interfaces>

Technical Context

<Diagram or Table>

<optionally: Explanation of technical interfaces>

<Mapping Input/Output to Channels>

Solution Strategy

Building Block View

Whitebox Overall System

Motivation

: <text explanation>

Contained Building Blocks

: <Description of contained building block (black boxes)>

Important Interfaces

: <Description of important interfaces>

<Name black box 1>

<Purpose/Responsibility>

<Interface(s)>

<(Optional) Quality/Performance Characteristics>

<(Optional) Directory/File Location>

<(Optional) Fulfilled Requirements>

<(optional) Open Issues/Problems/Risks>

<Name black box 2>

<black box template>

<Name black box n>

<black box template>

<Name interface 1>

...

<Name interface m>

Level 2

White Box <building block 1>

<white box template>

White Box <building block 2>

<white box template>

...

White Box <building block m>

<white box template>

Level 3

White Box <_building block x.1_>

<white box template>

White Box <_building block x.2_>

<white box template>

White Box <_building block y.1_>

<white box template>

Runtime View

<Runtime Scenario 1>

• <insert runtime diagram or textual description of the scenario>

• <insert description of the notable aspects of the interactions between the building block instances depicted in this diagram.>

<Runtime Scenario 2>

...

<Runtime Scenario n>

Deployment View

Infrastructure Level 1

<Overview Diagram>

Motivation

: <explanation in text form>

Quality and/or Performance Features

: <explanation in text form>

Mapping of Building Blocks to Infrastructure

: <description of the mapping>

Infrastructure Level 2

<Infrastructure Element 1>

<diagram + explanation>

<Infrastructure Element 2>

<diagram + explanation>

...

<Infrastructure Element n>

<diagram + explanation>

Cross-cutting Concepts

<Concept 1>

<explanation>

<Concept 2>

<explanation>

...

<Concept n>

<explanation>

Architecture Decisions

Quality Requirements

Quality Tree

Quality Scenarios

Risks and Technical Debts

Glossary

+-----------------------+-----------------------------------------------+ | Term | Definition | +=======================+===============================================+ | <Term-1> | <definition-1> | +-----------------------+-----------------------------------------------+ | <Term-2> | <definition-2> | +-----------------------+-----------------------------------------------+