Merge remote-tracking branch 'origin/cmake' into cmake
This commit is contained in:
commit
9f2bbe5bdf
4 changed files with 24 additions and 12 deletions
18
conception/th_comRobot.txt
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18
conception/th_comRobot.txt
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@ -0,0 +1,18 @@
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@startuml
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skinparam monochrome true
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start
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while ()
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:openComRobot?;
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:err = robot.Open();
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if (err) then (robot_ok)
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:msgSend = new Message(MESSAGE_ANSWER_ACK);
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else
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:msgSend = new Message(MESSAGE_ANSWER_NACK);
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endif
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:messageToMon!msgSend;
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:closeComRobot?;
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:robot.Close();
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endwhile
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stop
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@enduml
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@ -3,14 +3,6 @@ skinparam monochrome true
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start
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while ()
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:startRobot?;
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:err = robot.Open();
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if (err) then (robot_ok)
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:msgSend = new Message(MESSAGE_ANSWER_ACK);
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else
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:msgSend = new Message(MESSAGE_ANSWER_NACK);
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endif
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:messageToMon!msgSend;
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if (watchdogMode) then (WITH_WATCHDOG)
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:msgSend = robot.Write(new Message(MESSAGE_ROBOT_START_WITH_WD));
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@ -26,7 +18,6 @@ while ()
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:stopRobot?
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:ordre = STOP_MOVE;
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:robot.Close();
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endwhile
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stop
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@ -9,11 +9,11 @@ while ()
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:msgSend = robot.Write(new Message(move));
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if (msgSend->getId()) then (MESSAGE_ANSWER_ACK)
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:counter = 0;
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:robotStarted = true;
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else (MESSAGE_ANSWER_ROBOT_TIMEOUT || \nMESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND || \nMESSAGE_ANSWER_ROBOT_ERROR)
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:counter++;
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if (counter) then (3)
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:stopRobot!;
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:closeComRobot!;
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:monitor.write(Message(MESSAGE_ANSWER_COM_ERROR));
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else ()
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endif
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@ -8,16 +8,19 @@ while ()
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:printf("Connection avec le moniteur perdue");
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:stopCamera!;
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:stopRobot!;
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:stopComRobot!;
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:stopServer!;
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endif
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if (msgRcv.CompareID(MESSAGE_ROBOT_COM_OPEN)) then (true)
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:openComRobot!;
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endif
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if (msgRcv.CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) then (true)
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:startRobotWithoutWd!;
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:watchdogMode = WITHOUT_WATCHDOG;
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:startRobot!;
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endif
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if (msgRcv.CompareID(MESSAGE_ROBOT_START_WITH_WD)) then (true)
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:startRobotWithWd!;
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:watchdogMode = WITH_WATCHDOG;
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:startRobot!;
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endif
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if (msgRcv.CompareID(MESSAGE_ROBOT_GO_FORWARD
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|| msgRcv.CompareID(MESSAGE_ROBOT_GO_BACKWARD
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