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Mettre à jour 'conception/th_manageRobot.txt'

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Jean-Remy Hok 2021-03-15 10:44:01 +01:00
parent 63257cb656
commit 1b216e0cf5
1 changed files with 31 additions and 24 deletions
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35
conception/th_manageRobot.txt
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@ -1,24 +1,31 @@
@startuml @startuml
skinparam monochrome true skinparam monochrome true
start start
while ()
:startRobot?;
while ()
:startRobot?;
:err = robot.Open();
if (err) then (robot_ok)
:msgSend = new Message(MESSAGE_ANSWER_ACK);
:messageToMon!msgSend;
if (watchdogMode) then (WITH_WATCHDOG) if (watchdogMode) then (WITH_WATCHDOG)
:msgSend = robot.Write(new Message(MESSAGE_ROBOT_START_WITH_WD)); :msgSend = robot.Write(new Message(MESSAGE_ROBOT_START_WITH_WD));
else (WITHOUT_WATCHDOG) else (WITHOUT_WATCHDOG)
:msgSend = robot.Write(new Message(MESSAGE_ROBOT_START_WITHOUT_WD)); :msgSend = robot.Write(new Message(MESSAGE_ROBOT_START_WITHOUT_WD));
endif endif
:messageToMon!msgSend;
if (msgSend->getId()) then (MESSAGE_ANSWER_ACK) if (msgSend->getId()) then (MESSAGE_ANSWER_ACK)
:robotStarted = true; :robotStarted = true;
:stopRobot?;
:robot.Write(new Message(MESSAGE_ROBOT_STOP));
:robot.Close();
endif
else
:msgSend = new Message(MESSAGE_ANSWER_NACK);
:messageToMon!msgSend;
endif endif
:messageToMon!msgSend; endwhile
stop
:stopRobot? @enduml
:ordre = STOP_MOVE;
endwhile
stop
@enduml