@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