@startuml
skinparam monochrome true
start
:start_period(100 ms);
while ()
  :wait_next_period();
  if(shouldSendImage)then(true)
      :Img image=camera.Grab();
      if (shouldComputePosition)then(true)
          :Position position=image.SearchRobot();
          :image.DrawRobot(position);
          :MessagePosition msgToSend=new MessagePosition(MESSAGE_CAM_POSITION,position);
          :messageToMon!msgToSend;
      endif
      if (arena)then(null)
      else
          :image.DrawArena(arena);
      endif
      :MessageImg msgToSend=new MessageImg(MESSAGE_CAM_IMAGE,&image);
      :messageToMon!msgToSend;
  endif
endwhile
stop
@enduml