conception/th_manageRobot.txt

@@ -1,33 +0,0 @@
-@startuml
-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));
-	else (WITHOUT_WATCHDOG)
-		:msgSend = robot.Write(new Message(MESSAGE_ROBOT_START_WITHOUT_WD));
-	endif
-	
-	if (msgSend->getId()) then (MESSAGE_ANSWER_ACK)
-		:robotStarted = true;
-	endif
-	
-	:messageToMon!msgSend;
-	
-	:stopRobot?
-	:ordre = STOP_MOVE;
-	:robot.Close();
-	
-endwhile
-stop
-@enduml

conception/th_move.txt

@@ -1,24 +0,0 @@
-@startuml
-skinparam monochrome true
-start
-:counter = 0;
-:start_period(100 ms);
-while ()
-	:wait_next_period();
-	if (robotStarted) then (true)
-		:msgSend = robot.Write(new Message(move));
-		if (msgSend->getId()) then (MESSAGE_ANSWER_ACK)
-			:counter = 0;
-			:robotStarted = true;
-		else (MESSAGE_ANSWER_ROBOT_TIMEOUT || \nMESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND || \nMESSAGE_ANSWER_ROBOT_ERROR)
-			:counter++;
-			if (counter) then (3)
-				:stopRobot!;
-				:monitor.write(Message(MESSAGE_ANSWER_COM_ERROR));
-			else ()
-			endif
-		endif
-	endif
-endwhile
-stop
-@enduml

conception/th_receiveFromMon.txt

@@ -1,52 +0,0 @@
-@startuml
-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!;
-		:stopServer!;
-	endif
-    if (msgRcv.CompareID(MESSAGE_ROBOT_COM_OPEN)) then (true)
-      :openComRobot!;
-	endif
-	if (msgRcv.CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) then (true)
-		:startRobotWithoutWd!;
-	endif
-	if (msgRcv.CompareID(MESSAGE_ROBOT_START_WITH_WD)) then (true)
-		:startRobotWithWd!;
-	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

conception/th_sendBatteryLevel.txt

@@ -1,15 +0,0 @@
-@startuml
-
-skinparam monochrome true
-
-start
-:start_period(500 ms);
-while ()
-  :wait_next_period();
-  if(robotStarted)then(true)
-      :msgSend=robot.Write(robot.getBattery());
-      :messageToMon!msgSend;
-  endif
-endwhile
-stop
-@enduml

conception/th_sendToMon.txt

@@ -1,10 +0,0 @@
-@startuml
-skinparam monochrome true
-start
-:serverOK?;
-while ()
-  :messageToMon?msg;
-  :monitor.Write(msg);
-endwhile
-stop
-@enduml

conception/th_server.txt

@@ -1,13 +0,0 @@
-@startuml
-skinparam monochrome true
-start
-:status = monitor.Open();
-if (status) then (failed)
-    :print("Unable to start server");
-stop
-else (succeed)
-    :monitor.AcceptClient();
-    :serverOk!;
-    stop
-endif
-@enduml