@startuml
skinparam monochrome true
start

while ()
  :openComRobot?;
  :err = robot.Open();
  if (err) then (robot_ok)
    :msgSend = new Message(MESSAGE_ANSWER_ACK);
    :messageToMon!msgSend;
    :startRobot?;
    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
    :messageToMon!msgSend;
    if (msgSend->getId()) then (MESSAGE_ANSWER_ACK)
      :robotStarted = true;
      :stopRobot?;
      :robot.Write(new Message(MESSAGE_ROBOT_STOP));
      :robot.Close();
      :robotStarted = false;
    endif
  else
    :msgSend = new Message(MESSAGE_ANSWER_NACK);
    :messageToMon!msgSend;
  endif

endwhile
stop
@enduml