31 lines
No EOL
774 B
Text
31 lines
No EOL
774 B
Text
@startuml
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skinparam monochrome true
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start
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while ()
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:startRobot?;
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:err = robot.Open();
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if (err) then (robot_ok)
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:msgSend = new Message(MESSAGE_ANSWER_ACK);
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:messageToMon!msgSend;
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if (watchdogMode) then (WITH_WATCHDOG)
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:msgSend = robot.Write(new Message(MESSAGE_ROBOT_START_WITH_WD));
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else (WITHOUT_WATCHDOG)
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:msgSend = robot.Write(new Message(MESSAGE_ROBOT_START_WITHOUT_WD));
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endif
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:messageToMon!msgSend;
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if (msgSend->getId()) then (MESSAGE_ANSWER_ACK)
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:robotStarted = true;
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:stopRobot?;
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:robot.Write(new Message(MESSAGE_ROBOT_STOP));
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:robot.Close();
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:robotStarted = false;
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endif
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else
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:msgSend = new Message(MESSAGE_ANSWER_NACK);
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:messageToMon!msgSend;
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endif
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endwhile
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stop
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@enduml |