mros-robmosys-itp / mros_modes_observer Goto Github PK

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

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.