---
title: "SSD-04 | UC-04: Detect Obstacle (Left & Right)"
---
sequenceDiagram
    actor OS as Obstacle Sensor
    participant SYS as :RVC Controller SW

    OS->>SYS: reportObstacle(position: LEFT)
    activate SYS
    SYS->>SYS: recordObstacleDetection(LEFT)
    SYS-->>OS: ack()
    deactivate SYS

    OS->>SYS: reportObstacle(position: RIGHT)
    activate SYS
    SYS->>SYS: recordObstacleDetection(RIGHT)
    SYS-->>OS: ack()
    deactivate SYS
