Mode Manager definition

Mode Manager. The mode manager is a ROS node that accepts an SHM file (see above) as command line parameter. It parses the SHM file and creates the according services, publishers, and subscribers to manage the system, its components, and its modes. Timers: micro-ROS provides a different kind of timer abstractions to be chosen by the user accordingly to their requirements. Clocks: micro-ROS provides a way to set how nodes measure time. This time measure is done based on a time source. Different time sources are available: system clock, steady clock or micro-ROS clock. The micro-ROS clock takes the time to read from a time server that could be running on a different node. This micro-ROS clock allows to have full control over the time, pause, stop, go forward, go back, speed up. However, the use of micro-ROS clock could break real-time deadlines and determinism. This clock and time source system allow node clock synchronisation between nodes, and it is done using a defined time server and a custom time source. Logging utilities: There is a logger per each node which writes logging info thanks to the use of logger writers. This logger writer allows logging using different mechanisms. For example, a DDS
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Examples of Mode Manager in a sentence

  • When during the transition to Safe mode all necessary unit configurations for this mode are completed, then the Mode Manager selects an adequate controller for this mode – coarse pointing controller and initiates its preparation for execution.

  • The Unit Manager is a low-level component commanded by the Mode Manager and by the FDIR Manager.

  • The specification [RD11] essentially consists of four Ada packages, i.e. AocsMgr, FdirMgr, ModeMgr and UnitMgr that correspond to the AOCS Manager, the FDIR Manager, the Mode Manager and the Unit Manager described in Section 2.2. Each one of these packages has its own Main procedure.

  • In case a mode transition error is detected during transitions aiming to Standby or Safe modes, then the emergency reboot is required and the Mode Manager is requested to initiate transition to Off mode.

  • Its main components are: the AOCS Manager, the FDIR (Fault Detection, Isolation and Recovery) Manager, the Mode Manager and the Unit Manager.

  • If the condition for mode transition is satisfied, then the mode transition is autonomously performed by the supervision of the Mode Manager.

  • Similarly, when during the transition to Nominal mode all necessary unit configurations for this mode are completed, the Mode Manager selects fine pointing controller and initiates its preparation for execution, which starts after preparation phase reaches some predefined time limit, unless there is an ongoing unit reconfiguration.

  • Transitions between modes are either autonomous (i.e., decided by the Mode Manager) or commanded by the FDIR Manager after an unrecoverable failure.

  • This behavior is mainly controlled by the Mode Manager, which is also responsible for execution of mode transitions.

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