mros-robmosys-itp / mros_modes_observer Goto Github PK

Currently, the mode observer observes all /{node}/transition_event topics to observe state transition, e.g., going to active, inactive or error-processing. This way it is observing all state transitions, however, it is missing all mode changes.

The observer should additionally observe /{node}/mode_event topics to observe mode changes, e.g., a node going from normal mode to degraded mode. Messages sent on this topic are of type ModeEvent and very close to the TransitionEvent messages.

According to the documentation, the observer is only listening to transition from TRANSITION_STATE_ERRORPROCESSING to PRIMARY_STATE_UNCONFIGURED to set a node status to false. Instead resp. in addition to that we suggest to observe the following transitions and set the status accordingly:

1. Status: true, if

   • goal_state is PRIMARY_STATE_UNCONFIGURED - we consider the node available for metacontrol once it is in its unconfigured state, i.e. it can now be configured and activated

2. Status: false, if

   • goal_state is TRANSITION_STATE_ERRORPROCESSING - once the node enters errorprocessing, it is no longer considered available for metacontrol, unless it enters unconfigured (see 1.)
   • goal_state is PRIMARY_STATE_FINALIZED - once the node enters finalized, because it is offline after this transition