Update services descriptions/API

website/docs/concepts/canbus_service/README.md

@@ -16,22 +16,34 @@ or microcontrollers and devices.
 - **Dependencies**: Standalone service, but pivotal for many autonomous operations.
 Notably, the Track Follower service is heavily reliant on the Canbus service.
 
-# Data Streams
+## Data Streams
 
-- `/twist`: The commanded linear velocity of the vehicle in the x direction in meters per second.
- Check the protobuf definition for more details:
- [canbus_pb2.Twist2d](https://github.com/farm-ng/farm-ng-amiga/blob/main/protos/farm_ng/canbus/canbus.proto#L58-L61)
+- `/motor_states`: Streams state messages from the motors of your Amiga, such as voltage and RPM.
+Check the protobuf definition for more details:
+[canbus_pb2.MotorStates](https://github.com/farm-ng/farm-ng-amiga/blob/main/protos/farm_ng/canbus/canbus.proto)
+
+- `/pendant`: Streams state messages from the pedant of your Amiga, such as buttons pressed.
+  Check the protobuf definition for more details:
+  [amiga_v6_pb2.PendantState](https://github.com/farm-ng/farm-ng-amiga/blob/main/protos/farm_ng/canbus/amiga_v6.proto)
 
 - `/raw_messages`:A representation of raw CAN bus messages with timestamps, node IDs, error
 flags, remote transmission indicators, and encoded payloads.
 Check the protobuf definition for more details:
-[canbus_pb2.RawCanbusMessages](https://github.com/farm-ng/farm-ng-amiga/blob/main/protos/farm_ng/canbus/canbus.proto#L95-L107)
+[canbus_pb2.RawCanbusMessages](https://github.com/farm-ng/farm-ng-amiga/blob/main/protos/farm_ng/canbus/canbus.proto)
 
 - `/state`: State of the Amiga CAN bus.
   Encapsulates key information required to evaluate the state of the Amiga robot.
   Check the protobuf definition for more details:
   [amiga_v6_pb2.AmigaV6CanbusState](https://github.com/farm-ng/farm-ng-amiga/blob/main/protos/farm_ng/canbus/amiga_v6.proto)
 
+- `/tool_statuses`: State of the tools (if any) connected to your Amiga.
+  Check the protobuf definition for more details:
+  [tool_control_pb2.ToolStatuses](https://github.com/farm-ng/farm-ng-amiga/blob/main/protos/farm_ng/canbus/tool_control.proto)
+
+- `/twist`: The commanded linear velocity of the vehicle in the x direction in meters per second.
+ Check the protobuf definition for more details:
+ [canbus_pb2.Twist2d](https://github.com/farm-ng/farm-ng-amiga/blob/main/protos/farm_ng/canbus/canbus.proto)
+
 ## API
 
 1. `/twist`: Receives twist commands (linear and angular velocities) and instructs the
@@ -40,6 +52,10 @@ motors accordingly.
 3. `/get_battery_state`: Returns the battery state.
 A float value indicating the battery's state of charge, ranging [0.0, 1.0].
 If no motors are connected, it returns -1.0.
+4. `/control_tools`: Control the tools / actuators based on the ActuatorCommands message.
+5. `/stop_all_tools`: Stop all tools and prevent control for a predetermined duration.
+6. `/yield_all_tools`: Prevent control for a predetermined duration.
+7. `/config_request`: Use the farm-ng SDO protocol to send a config request to the dashboard.
 
 ## Safety and Operation
 

website/docs/concepts/filter_service/README.md

@@ -31,7 +31,7 @@ For the Filter service to function correctly, these services must be operational
 relevant sensor data.
 Since the Filter relies on GPS data, the Amiga must have a GPS connected to an RTK base station.
 
-# Data Streams
+## Data Streams
 
 - `/state`: A filter's state detailing pose, convergence, calibration, uncertainty, innovation, and heading.
  Check the protobuf definition for more details:
@@ -49,6 +49,10 @@ heading (in radians), convergence status, and pose uncertainty.
 - `/get_track`: Returns the current track of the robot, essentially the path that the robot has traveled.
 - `/clear_track`: Clears the current track, useful when initiating a new tracking sequence or
 recalibrating the system.
+- `/pause_track`: Pause adding waypoints to a track.
+- `/resume_track`: Resume adding waypoints to a track.
+- `/pop_track_end`: Removes the last waypoint added to the track.
+Track must be paused first (`/pause_track`).
 
 ## Convergence Requirements
 
@@ -58,7 +62,7 @@ need to be met, including:
 - The robot is connected to Wi-Fi, ensuring communication continuity.
 - The GPS service is receiving messages, with `accuracyNorth` and `accuracyEast` values smaller
 than 0.01, indicating high precision.
-- The oak0 service is active and transmitting IMU data.
+- The oak/0 sub-service is active and transmitting IMU data.
 
 Upon startup or recalibration, the robot needs to be moved slightly to allow the filter to converge
 (indicated by `has_converged` = true).

website/docs/concepts/gps_service/README.md

@@ -5,7 +5,7 @@ title: GPS
 
 # GPS Service Overview
 
-The GPS service is an integral component of the Amiga's navigation system, utilizing a
+The GPS sub-service is an integral component of the Amiga's navigation system, utilizing a
 high-precision Ublox module to determine the robot's exact position on Earth.
 This service is indispensable for tasks that require geo-location, from simple
 navigation to complex tasks like field mapping or precision agriculture.
@@ -31,7 +31,7 @@ These messages contain rich data sets that include the robot's current geospatia
 velocity, time, and other relevant GPS data.
 
 :::info INFO
-There are two types of GPS messages: **PVT** and **RELPOSNED**.
+There are three types of GPS messages: **PVT**, **RELPOSNED**, and **ECEF**.
 
 **PVT** (Position, Velocity, and Time) messages provide the all-in-one solution: position, velocity,
 and time.
@@ -41,9 +41,15 @@ It contains details like longitude, latitude, altitude, speed, and UTC time.
 North, East, Down (N-E-D) frame. It's mainly used for applications requiring relative positioning
 between two receivers, often as a part of Real Time Kinematics (RTK) solutions.
 It shows the difference in position between a "moving" receiver and a "fixed" reference receiver.
+
+**ECEF** (Earth-Centered, Earth-Fixed) messages provide coordinates that represent positions
+relative to the earth's center, but fixed to the earth as it rotates.
+ECEF coordinates are expressed in meters in a 3D Cartesian coordinate system.
+These messages are particularly useful for applications
+that require a global reference frame, such as satellite operations and global mapping projects.
 :::
 
-# Data Streams
+## Data Streams
 
 - `/pvt`: PVT message.
  Check the protobuf definition for more details:
@@ -53,6 +59,10 @@ It shows the difference in position between a "moving" receiver and a "fixed" re
 Check the protobuf definition for more details:
 [gps_pb2.RelativePositionFrame](https://github.com/farm-ng/farm-ng-amiga/blob/main/protos/farm_ng/gps/gps.proto#L73-L97)
 
+- `/ecef`:ECEF message.
+Check the protobuf definition for more details:
+[gps_pb2.EcefCoordinates](https://github.com/farm-ng/farm-ng-amiga/blob/main/protos/farm_ng/gps/gps.proto#L109-L117)
+
 ## Requirements
 
 For the GPS service to function optimally, certain conditions must be met:

website/docs/concepts/oak_service/README.md

@@ -17,7 +17,7 @@ However, its data, especially the IMU information, plays a significant role in t
 navigation capabilities, as it's fused with GPS and wheel odometry data in the Filter service
 (using an Unscented Kalman Filter).
 
-# Multiple Instances
+## Multiple Instances
 
 Depending on the number of OAK devices connected to the Amiga, there might be multiple instances
 of the OAK service running concurrently.
@@ -38,7 +38,7 @@ These messages can include various data types such as:
 - Accelerometer data
 - Gyroscope data
 
-# Data Streams
+## Data Streams
 
 - `/calibration`: Intrinsic parameters of the cameras.
  Check the protobuf definition for more details:

website/docs/concepts/recorder_service/README.md

@@ -11,7 +11,7 @@ analysis, debugging, and model training.
 
 ## Purpose
 
-The primary objective of the Recorder Service is to provide a robust mechanism for recording
+The primary objective of the Recorder sub-service is to provide a robust mechanism for recording
 data streams from different services. This is invaluable for tasks such as training computer
 vision/AI models, where capturing field imagery is essential.
 For instance, when developing a precision sprayer application for weeds, one would
@@ -22,10 +22,12 @@ first traverse the field, recording data to train a model to detect weeds.
 The Recorder Service is a subscriber to the following services:
 
 - Canbus
+- Filter
+- GPS
 - Oak (Multiple Oak topics may be available, depending on the number of Oak cameras connected,
-e.g., oak0, oak1, ...)
-- GPS Service
-- Filter Service
+e.g., oak/0, oak/1, ...)
+- System Monitor
+- Track Follower
 
 ## Available Topics for Recording
 
@@ -41,44 +43,27 @@ Some of which may inherit from the protobuf messages found at:<br/>
 [**`farm-ng-core/protos/`**](https://github.com/farm-ng/farm-ng-core/tree/main/protos/farm_ng/core)
 :::
 
-### Canbus Topics
-
-- `canbus/health`: Provides health metrics for the Canbus service, such as publishing frequency.
-- `canbus/raw_messages`: Streams all messages received from the CAN bus by the canbus service.
-You can parse and unpack these messages to see details of the motors (e.g., rpm, temperature),
-of your Amiga (e.g., battery voltage, velocity, whether auto-mode is engaged),
-and other pertinent information.
-- `canbus/twist`: Outputs the linear and angular velocities of the robot, offering insights
-into its movement dynamics.
-
-### Oak Topics
-
-- `oak/health`: Delivers health metrics for the Oak service, including publishing frequency.
-- `oak/calibration`: Streams the current calibration settings of the Oak device,
-ensuring the camera's accuracy.
-- `oak/disparity`: Outputs the disparity image calculated from the left/right stereo images,
-used for depth perception and 3D mapping.
-- `oak/imu`: Streams 3-D accelerometer & gyroscope values from the Oak camera's internal IMU,
-giving insights into the robot's orientation and movement.
-- `oak/left`: Outputs the feed from the stereo left camera of the Oak device.
-- `oak/right`: Outputs the feed from the stereo right camera of the Oak device.
-- `oak/rgb`: Streams the stereo RGB image from the Oak device, providing full-color
-visuals of the robot's environment.
-
-### GPS Topics
-
-- `gps/health`: Offers health metrics for the GPS service, such as publishing frequency.
-- `gps/pvt`: Streams GPS Position, Velocity, and Time (PVT) messages, giving a comprehensive
-view of the robot's location and movement.
-- `gps/relposned`: Provides GPS relative position in North, East, Down (N-E-D) coordinates,
-offering a detailed spatial orientation of the robot.
-
-### Filter Topics
-
-- `filter/health`: Delivers health metrics for the Filter service, including publishing frequency.
-- `filter/state`: Streams the filter state, which combines the robot's pose, orientation,
-filter state uncertainties, and filter convergence status.
-This topic is essential for understanding the robot's current state and its accuracy.
+- [Canbus Topics](/docs/concepts/canbus_service/#data-streams)
+
+- [Filter Topics](/docs/concepts/filter_service/#data-streams)
+
+- [GPS Topics](/docs/concepts/gps_service/#data-streams)
+
+- [Oak Topics](/docs/concepts/oak_service/#data-streams)
+
+- System Monitor Topics
+
+  - `system_monitor/health`: Delivers health metrics for the system_monitor service,
+including publishing frequency.
+  - `system_monitor/auto_mode`: Streams auto mode state (either true or false).
+  - `system_monitor/batteries_state`: Streams the percent of battery left.
+  - `system_monitor/cpu_usage`: Streams the percent of CPU currently being consumed on the brain.
+  - `system_monitor/filter_state`: Streams the filter service state.
+  - `system_monitor/wifi_state`: Streams auto mode state (either true or false).
+  - `system_monitor/virtual_memory_usage`: Streams athe percent of virtual memory being consumed
+by the brain.
+
+- [Track Follower Topics](/docs/concepts/track_follower_service/#data-streams)
 
 ---
 
@@ -88,58 +73,62 @@ depending on their specific needs and analysis requirements.
 ## Recording Profile
 
 To initiate recording, a "Recording profile" must be provided as an argument.
-This profile is a JSON file detailing the subscriptions or topics to be recorded. Here's an example:
+This profile is a
+[**EventServiceConfig**](https://github.com/farm-ng/farm-ng-core/blob/main/protos/farm_ng/core/event_service.proto#L80-L107)
+ protobuf, detailing the subscriptions or topics to be recorded.
 
 ```json
 {
-    "config": {
-        "name": "record_default",
-        "subscriptions": [
-            {
-            "uri": {
-                "path": "*",
-                "query": "service_name=canbus"
-            },
-            "every_n": 1
-            },
-            {
-            "uri": {
-                "path": "*",
-                "query": "service_name=gps"
-            },
-            "every_n": 1
-            },
-            {
-            "uri": {
-                "path": "/imu",
-                "query": "service_name=oak0"
-            },
-            "every_n": 1
-            },
-            {
-            "uri": {
-                "path": "*",
-                "query": "service_name=filter"
-            },
-            "every_n": 1
-            }
-        ]
-    }
+    "name": "my_profile",
+    "subscriptions": [
+        {
+        "uri": {
+            "path": "*",
+            "query": "service_name=canbus"
+        },
+        "every_n": 1
+        },
+        {
+        "uri": {
+            "path": "*",
+            "query": "service_name=gps"
+        },
+        "every_n": 1
+        },
+        {
+        "uri": {
+            "path": "/imu",
+            "query": "service_name=oak/0"
+        },
+        "every_n": 1
+        },
+        {
+        "uri": {
+            "path": "*",
+            "query": "service_name=filter"
+        },
+        "every_n": 1
+        }
+    ]
 }
 ```
 
 :::info INFO
 The **`*`** symbol in the `path` field indicates that all available topics of that specific
 subscription (service) should be recorded.
+
+The `every_n` field indicates the ratio of recording frequency.
+For example, if the publishing rate of `oak/0/imu` is 50 ms, an every_n of "2" will yield
+in data being recording every 100 ms (2 * 50 ms).
 :::
 
 ## API
 
 Users can interact with the Recorder Service using the following commands:
 
-- `/start`: Initiates data recording.
+- `recorder/start`: Initiates data recording.
 A valid "Recording profile" must be provided as an argument.
-- `/stop`: Halts the data recording process.
+- `recorder/stop`: Halts the data recording process.
 
 ## Data Storage
 
@@ -154,15 +143,19 @@ at the recording's start, the robot's name, and the file number in the sequence:
 For example:
 
 ```php
-2023_01_12_16_17_52_134845_element-vegetable.0000.bin
+2024_06_01_12_00_00_134845_element-vegetable.0000.bin
 ```
 
 ## How to Use
 
-Data can be recorded through the Recorder App, or using the `EventsClient` class.
+Data can be recorded through the AppBar, the Camera App, or using the `EventsClient` class
+as in the **Events Recorder example**.
+
+- To record data through the UI on the Brain display, see the
+[Launcher Guide - Status Bar](/docs/apps/launcher/#status-bar).
 
-To record data through the UI on the Brain display, see the
-[Recorder App Guide](/docs/apps/recorder_app/).
+- To record data through the Camera App on the Brain display, see the
+[Camera App Guider](/docs/apps/camera_app/).
 
-To record data using the Recorder Service API from your own application, see the
+- To record data using the Recorder Service API from your own application, see the
 [Events Recorder example](/docs/examples/events_recorder/).