Common use of Mode Inference Clause in Contracts

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. ‌ 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-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