From 1fc68cb1b83710144fa1ce7a29ceecd14536ae75 Mon Sep 17 00:00:00 2001
From: Jean-Remy Hok <hok@noreply.etud.insa-toulouse.fr>
Date: Mon, 15 Mar 2021 10:56:40 +0100
Subject: [PATCH 1/3] Fusion avec manageRobot

---
 conception/th_comRobot.txt | 18 ------------------
 1 file changed, 18 deletions(-)
 delete mode 100644 conception/th_comRobot.txt

diff --git a/conception/th_comRobot.txt b/conception/th_comRobot.txt
deleted file mode 100644
index 7b98292..0000000
--- a/conception/th_comRobot.txt
+++ /dev/null
@@ -1,18 +0,0 @@
-@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

From cb2975cef5d624b75921d93a000002425d6781d9 Mon Sep 17 00:00:00 2001
From: Jean-Remy Hok <hok@noreply.etud.insa-toulouse.fr>
Date: Mon, 15 Mar 2021 11:36:06 +0100
Subject: [PATCH 2/3] =?UTF-8?q?Mettre=20=C3=A0=20jour=20'conception/th=5Fm?=
 =?UTF-8?q?anageRobot.txt'?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 conception/th_manageRobot.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/conception/th_manageRobot.txt b/conception/th_manageRobot.txt
index 61a55af..dda263c 100644
--- a/conception/th_manageRobot.txt
+++ b/conception/th_manageRobot.txt
@@ -19,6 +19,7 @@ while ()
       :stopRobot?;
       :robot.Write(new Message(MESSAGE_ROBOT_STOP));
       :robot.Close();
+      :robotStarted = false;
     endif
   else
     :msgSend = new Message(MESSAGE_ANSWER_NACK);

From e5053429c3e909100bbaeca0862905a8c1d79df6 Mon Sep 17 00:00:00 2001
From: Jean-Remy Hok <hok@noreply.etud.insa-toulouse.fr>
Date: Mon, 15 Mar 2021 11:41:45 +0100
Subject: [PATCH 3/3] =?UTF-8?q?Mettre=20=C3=A0=20jour=20'conception/th=5Fr?=
 =?UTF-8?q?eceiveFromMon.txt'?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 conception/th_receiveFromMon.txt | 94 ++++++++++++++++----------------
 1 file changed, 48 insertions(+), 46 deletions(-)

diff --git a/conception/th_receiveFromMon.txt b/conception/th_receiveFromMon.txt
index 0d1caf3..4515680 100644
--- a/conception/th_receiveFromMon.txt
+++ b/conception/th_receiveFromMon.txt
@@ -3,53 +3,55 @@ 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!;
-		:stopComRobot!;
-		:stopServer!;
-	endif
+  :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)
-		:watchdogMode = WITHOUT_WATCHDOG;
-		:startRobot!;
-	endif
-	if (msgRcv.CompareID(MESSAGE_ROBOT_START_WITH_WD)) then (true)
-		:watchdogMode = WITH_WATCHDOG;
-		:startRobot!;
-	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
+  endif
+  if (msgRcv.CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) then (true)
+    :watchdogMode = WITHOUT_WATCHDOG;
+    :startRobot!;
+  endif
+  if (msgRcv.CompareID(MESSAGE_ROBOT_START_WITH_WD)) then (true)
+    :watchdogMode = WITH_WATCHDOG;
+    :startRobot!;
+  endif
+  if (msgRcv.CompareID(MESSAGE_ROBOT_RESET)) then (true)
+    :stopRobot!;
+  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
+@enduml
\ No newline at end of file