@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