kraken/docs/UML/外设_fubo_seq.svg

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@startuml
title 富伯工作时序图

hide unlinked

participant PeripheralHandManager << (C,#ADD1B2) >>
participant FuboPneumaticFingerClient << (C,#ADD1B2) >>
participant 设备

PeripheralHandManager -> FuboPneumaticFingerClient: 初始化client
activate FuboPneumaticFingerClient

group 初始化连接
PeripheralHandManager -> FuboPneumaticFingerClient: init()
FuboPneumaticFingerClient -> 设备: 按串口和既定的其他参数连接串口
alt 串口 is_open
    FuboPneumaticFingerClient -> FuboPneumaticFingerClient: is_connected = True
else 发送失败
    FuboPneumaticFingerClient -> FuboPneumaticFingerClient: is_connected = False
end

end

group 获取连接状态
PeripheralHandManager -> FuboPneumaticFingerClient: status()
FuboPneumaticFingerClient - -> PeripheralHandManager : is_connected
end

group 发送控制指令
PeripheralHandManager -> FuboPneumaticFingerClient: start()
FuboPneumaticFingerClient -> 设备: flex
...7s 后 ...
FuboPneumaticFingerClient -> 设备: extend
FuboPneumaticFingerClient - -> PeripheralHandManager : 1
note right #FFAAAA: 反馈不稳定，所以没使用设备反馈
end

group 关闭连接
PeripheralHandManager -> FuboPneumaticFingerClient: close()
FuboPneumaticFingerClient -> 设备: 断开串口连接
FuboPneumaticFingerClient -> FuboPneumaticFingerClient: is_connected = False
FuboPneumaticFingerClient - -> PeripheralHandManager : is_connected
end
@enduml

PlantUML version 1.2022.7(Tue Aug 23 01:01:30 CST 2022)
(GPL source distribution)
Java Runtime: Java(TM) SE Runtime Environment
JVM: Java HotSpot(TM) 64-Bit Server VM
Default Encoding: GBK
Language: zh
Country: CN
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