vergnet/very-dumb
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Merge remote-tracking branch 'origin/cmake' into cmake

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This commit is contained in:
Arnaud Vergnet 2021-03-15 11:55:02 +01:00
commit ebe5dc44de
3 changed files with 49 additions and 64 deletions
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18
conception/th_comRobot.txt
View file

@ -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

1
conception/th_manageRobot.txt
View file

@ -19,6 +19,7 @@ while ()
:stopRobot?; :stopRobot?;
:robot.Write(new Message(MESSAGE_ROBOT_STOP)); :robot.Write(new Message(MESSAGE_ROBOT_STOP));
:robot.Close(); :robot.Close();
:robotStarted = false;
endif endif
else else
:msgSend = new Message(MESSAGE_ANSWER_NACK); :msgSend = new Message(MESSAGE_ANSWER_NACK);

4
conception/th_receiveFromMon.txt
View file

@ -8,7 +8,6 @@ while ()
:printf("Connection avec le moniteur perdue"); :printf("Connection avec le moniteur perdue");
:stopCamera!; :stopCamera!;
:stopRobot!; :stopRobot!;
:stopComRobot!;
:stopServer!; :stopServer!;
endif endif
if (msgRcv.CompareID(MESSAGE_ROBOT_COM_OPEN)) then (true) if (msgRcv.CompareID(MESSAGE_ROBOT_COM_OPEN)) then (true)
@ -22,6 +21,9 @@ while ()
:watchdogMode = WITH_WATCHDOG; :watchdogMode = WITH_WATCHDOG;
:startRobot!; :startRobot!;
endif endif
if (msgRcv.CompareID(MESSAGE_ROBOT_RESET)) then (true)
:stopRobot!;
endif
if (msgRcv.CompareID(MESSAGE_ROBOT_GO_FORWARD if (msgRcv.CompareID(MESSAGE_ROBOT_GO_FORWARD
|| msgRcv.CompareID(MESSAGE_ROBOT_GO_BACKWARD || msgRcv.CompareID(MESSAGE_ROBOT_GO_BACKWARD
|| msgRcv.CompareID(MESSAGE_ROBOT_GO_LEFT || msgRcv.CompareID(MESSAGE_ROBOT_GO_LEFT