24 lines
No EOL
646 B
Text
24 lines
No EOL
646 B
Text
@startuml
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skinparam monochrome true
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start
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:start_period(100 ms);
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while ()
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:wait_next_period();
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if(shouldSendImage)then(true)
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:Img image=camera.Grab();
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if (shouldComputePosition)then(true)
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:Position position=image.SearchRobot();
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:image.DrawRobot(position);
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:MessagePosition msgToSend=new MessagePosition(MESSAGE_CAM_POSITION,position);
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:messageToMon!msgToSend;
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endif
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if (arena)then(nullptr)
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else
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:image.DrawArena(arena);
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endif
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:MessageImg msgToSend=new MessageImg(MESSAGE_CAM_IMAGE,&image);
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:messageToMon!msgToSend;
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endif
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endwhile
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stop
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@enduml |