I think I don't fully understand your question. You can have this :
@startuml
participant Foo1
participant Foo2
Foo1 -> Foo2 : msg 1
activate Foo1
Foo1 -> Foo2 : msg 2
activate Foo2
Foo1 -> Foo2 : msg 3
deactivate Foo1
Foo1 -> Foo2 : msg 4
deactivate Foo2
@enduml
You can also choose to deactivate Foo1 before Foo2. But I guess this is not what you are talking about.