@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