Mode Inference Clause Samples

Mode Inference. ‌ e. the ROS 2 lifecyle nodes. It parses the SMH model and subscribes to lifecycle/mode change requests, lifecycle/mode changes, and parameter events. Based on the lifecycle change events it knows the actual lifecycle state of all nodes. Based on param- eter change events it knows the actual parameter values of all nodes, which allows inference of the modes of all nodes based on the SMH model. Based on the SMH model and the inferred states and modes of all nodes, states and modes of all (sub-)systems can be inferred bottom-up along the system hierarchy. This can be compared to the latest requested states and modes to detect a deviation. The documentation and code can be found at: ▇▇▇▇▇▇.▇▇▇:system_modes/README.md#mode-inference The mode inference can be best observed in the mode monitor, a console-based debugging tool, see: ▇▇▇▇▇▇.▇▇▇:system_modes/README.md#mode-monitor

Mode Inference. Since the introduced (sub-)systems are not concrete software entities, their state and mode has to be inferred from the states and modes of their parts. This inference mech- anism is part of the system modes library and is used by the mode manager and mode monitor that are also included in this package. We can show that system states and modes can be determinis- tically inferred under the following conditions: 1. Nodes can be asked for their state, mode, and parameters This is true, since the lifecycle nodes provide the according lifecycle state service (GetState) and the mode manager provides the according mode service (GetMode). 1. Target states and modes are known Before attempting a state or mode change for a system or node, the mode manager publishes infor- mation about the request. The according topics might need to be latched in order to allow nodes to do the inference after joining a running system.