From c1ce48a19e98e711d0712ccd24ce5e27f0f6e575 Mon Sep 17 00:00:00 2001
From: Yohan Simard <ysimard@etud.insa-toulouse.fr>
Date: Fri, 12 Mar 2021 14:46:45 +0100
Subject: [PATCH] Add comRobot thread to activity diagrams

---
 conception/th_comRobot.txt       | 18 ++++++++++++++++++
 conception/th_manageRobot.txt    |  9 ---------
 conception/th_receiveFromMon.txt |  7 +++++--
 3 files changed, 23 insertions(+), 11 deletions(-)
 create mode 100644 conception/th_comRobot.txt

diff --git a/conception/th_comRobot.txt b/conception/th_comRobot.txt
new file mode 100644
index 0000000..7b98292
--- /dev/null
+++ b/conception/th_comRobot.txt
@@ -0,0 +1,18 @@
+@startuml
+skinparam monochrome true
+start
+while ()
+	:openComRobot?;
+	:err = robot.Open();
+	if (err) then (robot_ok)
+		:msgSend = new Message(MESSAGE_ANSWER_ACK);
+	else
+		:msgSend = new Message(MESSAGE_ANSWER_NACK);
+	endif
+	:messageToMon!msgSend;
+	
+	:closeComRobot?;
+	:robot.Close();
+endwhile
+stop
+@enduml
diff --git a/conception/th_manageRobot.txt b/conception/th_manageRobot.txt
index 40bde76..0340b20 100644
--- a/conception/th_manageRobot.txt
+++ b/conception/th_manageRobot.txt
@@ -3,14 +3,6 @@ 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));
@@ -26,7 +18,6 @@ while ()
 	
 	:stopRobot?
 	:ordre = STOP_MOVE;
-	:robot.Close();
 	
 endwhile
 stop
diff --git a/conception/th_receiveFromMon.txt b/conception/th_receiveFromMon.txt
index c7bb9bf..0d1caf3 100644
--- a/conception/th_receiveFromMon.txt
+++ b/conception/th_receiveFromMon.txt
@@ -8,16 +8,19 @@ while ()
 		:printf("Connection avec le moniteur perdue");
 		:stopCamera!;
 		:stopRobot!;
+		:stopComRobot!;
 		:stopServer!;
 	endif
     if (msgRcv.CompareID(MESSAGE_ROBOT_COM_OPEN)) then (true)
       :openComRobot!;
 	endif
 	if (msgRcv.CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) then (true)
-		:startRobotWithoutWd!;
+		:watchdogMode = WITHOUT_WATCHDOG;
+		:startRobot!;
 	endif
 	if (msgRcv.CompareID(MESSAGE_ROBOT_START_WITH_WD)) then (true)
-		:startRobotWithWd!;
+		:watchdogMode = WITH_WATCHDOG;
+		:startRobot!;
 	endif
 	if (msgRcv.CompareID(MESSAGE_ROBOT_GO_FORWARD
 		|| msgRcv.CompareID(MESSAGE_ROBOT_GO_BACKWARD