25 lines
511 B
Text
25 lines
511 B
Text
@startuml
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skinparam monochrome true
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start
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while ()
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:searchArena?;
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:shouldSendImage = false;
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:Img img = camera.Grab();
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:arena = img.SearchArena();
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if (arena) then (nullptr)
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:msg = new Message(MESSAGE_ANSWER_NACK);
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:messageToMonitor!msg;
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else ()
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:img = img.DrawArena(arena);
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:msg = new MessageImg(MESSAGE_CAM_IMAGE, img);
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:messageToMon!msg;
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:validateArena?arenaOk;
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if (arenaOk) then (false)
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:arena = nullptr;
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else (true)
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endif;
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endif;
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:shouldSendImg = true;
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end while;
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stop
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@enduml
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