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Implements error handling feature #28

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Implements error handling feature #28

wants to merge 32 commits into from

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@norro norro commented Jul 22, 2020

Implements first simple version of the error handling feature, #13

See https://github.com/micro-ROS/system_modes/blob/feature/rules/system_modes_examples/README.md#system-recovery for an example.

norro and others added 30 commits February 18, 2020 09:10
@norro
troubles with ament_cmake_ros on ROS buildfarm
dfcc8c6 
Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>
@norro
Refactor/state and mode pair to struct (#16)
32889fc 
Refactored state/mode pairs into struct

Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>
@norro
Introduce state/mode deviation
3f3a2f6 
* Mode inference now capable of detecting deviation between intended and
targeted system state/mode (needs minor fixes)
* Mode manager checking for system deviation after each change
(transition, mode change, parameter change)

#13

Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>
@norro
Cleanup
212e00a 
Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>
@cottsay @norro
Use ament_target_dependencies to link boost_program_options (#17)
b04924c 
find_package(Boost) may pass file paths for Boost libraries which are
not in the default search locations at link time.

Since FindBoost.cmake sets Boost_<C>_FOUND and Boost_<C>_LIBRARIES for
each requested component, we can let ament_target_dependencies discover
the component as if it were a standalone package.
@norro @ralph-lange
Added 'how to apply' section to doc (#18)
75d50cc 
* Added 'how to apply' section to doc

* Documents how to design system hierarchy
* Documents how to design (and how not to design) system modes

Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>
Co-Authored-By: Ralph Lange <ralph-lange@users.noreply.github.com>
@norro
Adds basic tests for mode inference
f7001ec 
Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>
@norro
Adds basic tests for mode inference
e4a0ab3 
Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>
@norro
Merge branch 'feature/testing' of https://github.com/micro-ros/system…
126ab88 
…_modes into feature/testing
@norro
Testing inference
c269b78 
Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>
@norro
Testing inference
a48dc7c 
Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>
@norro
More inference testing
7f8e3f2 
Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>
@norro
Merge pull request #19 from micro-ROS/feature/testing
afef976 
Documentation and testing
@norro
Merge branch 'master' into dev
e698001
@norro
Testing, linting, version bump (0.2.1) (#23)
99bb3e7 
Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>
@norro
Merge branch 'dev' into feature/rules
115a5a3
@norro
Comparison operator for StateAndMode
d3075f8 
Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>
@norro
Minor changes
24761f0 
Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>
@norro
Inference now properly reporting system deviation
3fe186a
@norro
Inference now properly reporting system deviation
eb5e448 
Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>
@norro
Starts prototyping rules
fd1c3ac 
* Prototypical rules in example modes file
* Adds mode handling class

Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>
@norro
Moved helpers to mode_impl
8a16ef4 
Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>
@norro
Moves rules parsing to ModeHandling
4c4fbf0 
* Mode handling uses yaml parser to parse mode rules from SMH file

#13

Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>
@norro
Tests for StateAndMode struct
8fd5959 
Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>
@norro
Mode manager finds applicable rules
2f66713 
* Mode handling successfully parses rules from SMH file
* In case of deviations, mode manager finds the correct rules

#13

Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>
@norro
First exemplary set of mode rules working
3445f16 
#13

Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>
@norro
Documentation of the rules example
c1a62bc 
#13

Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>
@norro
rules documentation
4905cfc 
Signed-off-by: Arne Nordmann (CR/AEA2) <arne.nordmann@de.bosch.com>
@norro
Adds screenshot of mode manager applying rule
61504da 
Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>
@norro
Minor fix in model path handling
559c1b0 
Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>
@norro norro linked an issue Jul 22, 2020 that may be closed by this pull request
Rules to deal with state (transition) failures #13
Closed
@norro
Merge branch 'master' into feature/rules
9f60c40 
Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>
@norro
Version push to 0.3.0
ffe02c6
@norro norro closed this Jul 22, 2020
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Rules to deal with state (transition) failures
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@norro @cottsay