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Add comRobot thread to activity diagrams

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This commit is contained in:
Yohan Simard 2021-03-12 14:46:45 +01:00
parent 7d3372a443
commit c1ce48a19e
3 changed files with 23 additions and 11 deletions
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18
conception/th_comRobot.txt Normal file
View file

@ -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

9
conception/th_manageRobot.txt
View file

@ -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

7
conception/th_receiveFromMon.txt
View file

@ -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