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Mettre à jour 'conception/th_manageRobot.txt'

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Jean-Remy Hok 2021-03-15 10:44:36 +01:00
parent 1b216e0cf5
commit 7fcc183012
1 changed files with 29 additions and 30 deletions
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57
conception/th_manageRobot.txt
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@ -1,31 +1,30 @@
@startuml
skinparam monochrome true
start
@startuml
skinparam monochrome true
start
while ()
:startRobot?;
:err = robot.Open();
if (err) then (robot_ok)
:msgSend = new Message(MESSAGE_ANSWER_ACK);
:messageToMon!msgSend;
if (watchdogMode) then (WITH_WATCHDOG)
:msgSend = robot.Write(new Message(MESSAGE_ROBOT_START_WITH_WD));
else (WITHOUT_WATCHDOG)
:msgSend = robot.Write(new Message(MESSAGE_ROBOT_START_WITHOUT_WD));
endif
:messageToMon!msgSend;
if (msgSend->getId()) then (MESSAGE_ANSWER_ACK)
:robotStarted = true;
:stopRobot?;
:robot.Write(new Message(MESSAGE_ROBOT_STOP));
:robot.Close();
endif
else
:msgSend = new Message(MESSAGE_ANSWER_NACK);
:messageToMon!msgSend;
endif
while ()
:startRobot?;
:err = robot.Open();
if (err) then (robot_ok)
:msgSend = new Message(MESSAGE_ANSWER_ACK);
:messageToMon!msgSend;
if (watchdogMode) then (WITH_WATCHDOG)
:msgSend = robot.Write(new Message(MESSAGE_ROBOT_START_WITH_WD));
else (WITHOUT_WATCHDOG)
:msgSend = robot.Write(new Message(MESSAGE_ROBOT_START_WITHOUT_WD));
endif
:messageToMon!msgSend;
if (msgSend->getId()) then (MESSAGE_ANSWER_ACK)
:robotStarted = true;
:stopRobot?;
:robot.Write(new Message(MESSAGE_ROBOT_STOP));
:robot.Close();
endif
else
:msgSend = new Message(MESSAGE_ANSWER_NACK);
:messageToMon!msgSend;
endif
endwhile
stop
@enduml
endwhile
stop
@enduml