vergnet/very-dumb
1
1
Fork 0
Code Issues Pull requests Releases Wiki Activity

Mettre à jour 'conception/th_manageRobot.txt'

Browse source
This commit is contained in:
Jean-Remy Hok 2021-03-15 10:44:01 +01:00
parent 63257cb656
commit 1b216e0cf5
1 changed files with 31 additions and 24 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

55
conception/th_manageRobot.txt
View file

@ -1,24 +1,31 @@
@startuml @startuml
skinparam monochrome true skinparam monochrome true
start start
while ()
:startRobot?;
while ()
if (watchdogMode) then (WITH_WATCHDOG) :startRobot?;
:msgSend = robot.Write(new Message(MESSAGE_ROBOT_START_WITH_WD)); :err = robot.Open();
else (WITHOUT_WATCHDOG) if (err) then (robot_ok)
:msgSend = robot.Write(new Message(MESSAGE_ROBOT_START_WITHOUT_WD)); :msgSend = new Message(MESSAGE_ANSWER_ACK);
endif :messageToMon!msgSend;
if (watchdogMode) then (WITH_WATCHDOG)
if (msgSend->getId()) then (MESSAGE_ANSWER_ACK) :msgSend = robot.Write(new Message(MESSAGE_ROBOT_START_WITH_WD));
:robotStarted = true; else (WITHOUT_WATCHDOG)
endif :msgSend = robot.Write(new Message(MESSAGE_ROBOT_START_WITHOUT_WD));
endif
:messageToMon!msgSend; :messageToMon!msgSend;
if (msgSend->getId()) then (MESSAGE_ANSWER_ACK)
:stopRobot? :robotStarted = true;
:ordre = STOP_MOVE; :stopRobot?;
:robot.Write(new Message(MESSAGE_ROBOT_STOP));
endwhile :robot.Close();
stop endif
@enduml else
:msgSend = new Message(MESSAGE_ANSWER_NACK);
:messageToMon!msgSend;
endif
endwhile
stop
@enduml