24 lines
559 B
Text
24 lines
559 B
Text
@startuml
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skinparam monochrome true
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start
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:counter = 0;
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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 (robotStarted) then (true)
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:msgSend = robot.Write(new Message(move));
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if (msgSend->getId()) then (MESSAGE_ANSWER_ACK)
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:counter = 0;
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:robotStarted = true;
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else (MESSAGE_ANSWER_ROBOT_TIMEOUT || \nMESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND || \nMESSAGE_ANSWER_ROBOT_ERROR)
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:counter++;
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if (counter) then (3)
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:stopRobot!;
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:monitor.write(Message(MESSAGE_ANSWER_COM_ERROR));
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else ()
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endif
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endif
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endif
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endwhile
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stop
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@enduml
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