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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);

94
conception/th_receiveFromMon.txt
View file

@ -3,53 +3,55 @@ skinparam monochrome true
start start
:serverOk?; :serverOk?;
while () while ()
:msgRcv = monitor.Read(); :msgRcv = monitor.Read();
if (msgRcv.CompareID(MESSAGE_MONITOR_LOST)) then (true) if (msgRcv.CompareID(MESSAGE_MONITOR_LOST)) then (true)
: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)
:openComRobot!; :openComRobot!;
endif endif
if (msgRcv.CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) then (true) if (msgRcv.CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) then (true)
:watchdogMode = WITHOUT_WATCHDOG; :watchdogMode = WITHOUT_WATCHDOG;
:startRobot!; :startRobot!;
endif endif
if (msgRcv.CompareID(MESSAGE_ROBOT_START_WITH_WD)) then (true) if (msgRcv.CompareID(MESSAGE_ROBOT_START_WITH_WD)) then (true)
:watchdogMode = WITH_WATCHDOG; :watchdogMode = WITH_WATCHDOG;
:startRobot!; :startRobot!;
endif endif
if (msgRcv.CompareID(MESSAGE_ROBOT_GO_FORWARD if (msgRcv.CompareID(MESSAGE_ROBOT_RESET)) then (true)
|| msgRcv.CompareID(MESSAGE_ROBOT_GO_BACKWARD :stopRobot!;
|| msgRcv.CompareID(MESSAGE_ROBOT_GO_LEFT endif
|| msgRcv.CompareID(MESSAGE_ROBOT_GO_RIGHT if (msgRcv.CompareID(MESSAGE_ROBOT_GO_FORWARD
|| msgRcv.CompareID(MESSAGE_ROBOT_STOP)) then (true) || msgRcv.CompareID(MESSAGE_ROBOT_GO_BACKWARD
:move = msg.GetId(); || msgRcv.CompareID(MESSAGE_ROBOT_GO_LEFT
endif || msgRcv.CompareID(MESSAGE_ROBOT_GO_RIGHT
if (msgRcv.CompareID(MESSAGE_CAM_OPEN)) then (true) || msgRcv.CompareID(MESSAGE_ROBOT_STOP)) then (true)
:startCamera!; :move = msg.GetId();
endif endif
if (msgRcv.CompareID(MESSAGE_CAM_CLOSE)) then (true) if (msgRcv.CompareID(MESSAGE_CAM_OPEN)) then (true)
:stopCamera!; :startCamera!;
endif endif
if (msgRcv.CompareID(MESSAGE_CAM_ASK_ARENA)) then (true) if (msgRcv.CompareID(MESSAGE_CAM_CLOSE)) then (true)
:searchArena!; :stopCamera!;
endif endif
if (msgRcv.CompareID(MESSAGE_CAM_ARENA_CONFIRM)) then (true) if (msgRcv.CompareID(MESSAGE_CAM_ASK_ARENA)) then (true)
:validateArena!; :searchArena!;
endif endif
if (msgRcv.CompareID(MESSAGE_CAM_ARENA_INFIRM)) then (true) if (msgRcv.CompareID(MESSAGE_CAM_ARENA_CONFIRM)) then (true)
:cancelArena!; :validateArena!;
endif endif
if (msgRcv.CompareID(MESSAGE_CAM_POSITION_COMPUTE_START)) then (true) if (msgRcv.CompareID(MESSAGE_CAM_ARENA_INFIRM)) then (true)
:startPosition!; :cancelArena!;
endif endif
if (msgRcv.CompareID(MESSAGE_CAM_POSITION_COMPUTE_STOP)) then (true) if (msgRcv.CompareID(MESSAGE_CAM_POSITION_COMPUTE_START)) then (true)
:stopPosition!; :startPosition!;
endif endif
if (msgRcv.CompareID(MESSAGE_CAM_POSITION_COMPUTE_STOP)) then (true)
:stopPosition!;
endif
endwhile endwhile
stop stop
@enduml @enduml