From 95caac66d6d8614a2e9e0fff0d311f4aed7bd0fd Mon Sep 17 00:00:00 2001 From: Arne Nordmann Date: Fri, 7 Aug 2020 10:39:46 +0200 Subject: [PATCH] Clarifications in documentation Signed-off-by: Arne Nordmann --- system_modes/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system_modes/README.md b/system_modes/README.md index 6aca770..4282539 100644 --- a/system_modes/README.md +++ b/system_modes/README.md @@ -123,7 +123,7 @@ $ `ros2 launch system_modes mode_monitor.launch.py modelfile:=[path/to/modelfile ### Error Handling and Rules -If the _actual_ state/mode of the system or any of its parts diverges from the _target_ state/mode, we define rules that try to bring the system back to its _target_ state/mode. Rules work in a bottom-up manner, i.e. starting from correcting nodes before sub-systems before systems. Rules are basically defined in the following way: +If the _actual_ state/mode of the system or any of its parts diverges from the _target_ state/mode, we define rules that try to bring the system back to a valid _target_ state/mode, e.g., a degraded mode. Rules work in a bottom-up manner, i.e. starting from correcting nodes before sub-systems before systems. Rules are basically defined in the following way: ```pseudo if: @@ -133,7 +133,7 @@ then: ``` if _actual_ state/mode and _target_ state/mode diverge, but there is no rule for this exact situation, the bottom-up rules will just try to return the system/part to its _target_ state/mode. -TODO: dangerous: what's happening, if the system is already on its way. E.g., a system or part was just commanded to transition to _ACTIVE.foo_, but is currently _activating_ (so doing everything right). In this case we have to avoid that the bottom-up rules will trigger. +*Potentiall dangereous, to be discussed:* what's happening, if the system is already on its way. E.g., a system or part was just commanded to transition to _ACTIVE.foo_, but is currently _activating_ (so doing everything right). In this case we have to avoid that the bottom-up rules will trigger. ## How to Apply