add activity diagrams

conception/th_manageRobot.txt

@@ -0,0 +1,33 @@
+@startuml
+skinparam monochrome true
+start
+while ()
+	:startRobot?;
+	:err = robot.Open();
+	if (err) then (robot_ok)
+		:msgSend = new Message(MESSAGE_ANSWER_ACK);
+	else
+		:msgSend = new Message(MESSAGE_ANSWER_NACK);
+	endif
+	
+	: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
+	
+	if (msgSend->getId()) then (MESSAGE_ANSWER_ACK)
+		:robotStarted = true;
+	endif
+	
+	:messageToMon!msgSend;
+	
+	:stopRobot?
+	:ordre = STOP_MOVE;
+	:robot.Close();
+	
+endwhile
+stop
+@enduml

conception/th_move.txt

@@ -0,0 +1,24 @@
+@startuml
+skinparam monochrome true
+start
+:counter = 0;
+:start_period(100 ms);
+while ()
+	:wait_next_period();
+	if (robotStarted) then (true)
+		:msgSend = robot.Write(new Message(move));
+		if (msgSend->getId()) then (MESSAGE_ANSWER_ACK)
+			:counter = 0;
+			:robotStarted = true;
+		else (MESSAGE_ANSWER_ROBOT_TIMEOUT || \nMESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND || \nMESSAGE_ANSWER_ROBOT_ERROR)
+			:counter++;
+			if (counter) then (3)
+				:stopRobot!;
+				:monitor.write(Message(MESSAGE_ANSWER_COM_ERROR));
+			else ()
+			endif
+		endif
+	endif
+endwhile
+stop
+@enduml

conception/th_receiveFromMon.txt

@@ -0,0 +1,52 @@
+@startuml
+skinparam monochrome true
+start
+:serverOk?;
+while ()
+	:msgRcv = monitor.Read();
+	if (msgRcv.CompareID(MESSAGE_MONITOR_LOST)) then (true)
+		:printf("Connection avec le moniteur perdue");
+		:stopCamera!;
+		:stopRobot!;
+		:stopServer!;
+	endif
+    if (msgRcv.CompareID(MESSAGE_ROBOT_COM_OPEN)) then (true)
+      :openComRobot!;
+	endif
+	if (msgRcv.CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) then (true)
+		:startRobotWithoutWd!;
+	endif
+	if (msgRcv.CompareID(MESSAGE_ROBOT_START_WITH_WD)) then (true)
+		:startRobotWithWd!;
+	endif
+	if (msgRcv.CompareID(MESSAGE_ROBOT_GO_FORWARD
+		|| msgRcv.CompareID(MESSAGE_ROBOT_GO_BACKWARD 
+		|| msgRcv.CompareID(MESSAGE_ROBOT_GO_LEFT
+		|| msgRcv.CompareID(MESSAGE_ROBOT_GO_RIGHT
+		|| msgRcv.CompareID(MESSAGE_ROBOT_STOP)) then (true)
+		:move = msg.GetId();
+	endif
+	if (msgRcv.CompareID(MESSAGE_CAM_OPEN)) then (true)
+		:startCamera!;
+	endif
+	if (msgRcv.CompareID(MESSAGE_CAM_CLOSE)) then (true)
+		:stopCamera!;
+	endif
+	if (msgRcv.CompareID(MESSAGE_CAM_ASK_ARENA)) then (true)
+		:searchArena!;
+	endif
+	if (msgRcv.CompareID(MESSAGE_CAM_ARENA_CONFIRM)) then (true)
+		:validateArena!;
+	endif
+	if (msgRcv.CompareID(MESSAGE_CAM_ARENA_INFIRM)) then (true)
+		:cancelArena!;
+	endif
+	if (msgRcv.CompareID(MESSAGE_CAM_POSITION_COMPUTE_START)) then (true)
+		:startPosition!;
+	endif
+	if (msgRcv.CompareID(MESSAGE_CAM_POSITION_COMPUTE_STOP)) then (true)
+		:stopPosition!;
+	endif
+endwhile
+stop
+@enduml

conception/th_sendBatteryLevel.txt

@@ -0,0 +1,15 @@
+@startuml
+
+skinparam monochrome true
+
+start
+:start_period(500 ms);
+while ()
+  :wait_next_period();
+  if(robotStarted)then(true)
+      :msgSend=robot.Write(robot.getBattery());
+      :messageToMon!msgSend;
+  endif
+endwhile
+stop
+@enduml

conception/th_sendToMon.txt

@@ -0,0 +1,10 @@
+@startuml
+skinparam monochrome true
+start
+:serverOK?;
+while ()
+  :messageToMon?msg;
+  :monitor.Write(msg);
+endwhile
+stop
+@enduml

conception/th_server.txt

@@ -0,0 +1,13 @@
+@startuml
+skinparam monochrome true
+start
+:status = monitor.Open();
+if (status) then (failed)
+    :print("Unable to start server");
+stop
+else (succeed)
+    :monitor.AcceptClient();
+    :serverOk!;
+    stop
+endif
+@enduml