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Problem changing the system modes when there are rules #94
Description
Hi all
I am trying to use system modes for a system composed of these nodes: {nav2, manipulator, camera, guard}. guard is a special node that detects if the system has been compromised. In this case, all the nodes should be in mode COMPROMISED and camera in the inactive state. The specification is:
# system modes safety benchmark
---
safety:
ros__parameters:
type: system
parts:
manipulator
nav2
camera
guard
modes:
__DEFAULT__:
manipulator: active.__DEFAULT__
nav2: active.__DEFAULT__
camera: active.__DEFAULT__
guard: active.__DEFAULT__
COMPROMISED:
manipulator: active.COMPROMISED
nav2: active.COMPROMISED
camera: inactive.COMPROMISED
guard: active.COMPROMISED
rules:
guard_detect_compomise_in_default:
if_target: active.__DEFAULT__
if_part: [guard, active.COMPROMISED]
new_target: active.COMPROMISED
guard_detect_default_in_compromise:
if_target: active.COMPROMISED
if_part: [guard, active.__DEFAULT__]
new_target: active.__DEFAULT__
manipulator:
ros__parameters:
type: node
modes:
__DEFAULT__:
ros__parameters:
max_torque: 0.5
COMPROMISED:
ros__parameters:
max_torque: 0.1
nav2:
ros__parameters:
type: node
modes:
__DEFAULT__:
ros__parameters:
forbidden_areas: false
COMPROMISED:
ros__parameters:
forbidden_areas: true
guard:
ros__parameters:
type: node
modes:
__DEFAULT__:
ros__parameters:
compromised_system: false
COMPROMISED:
ros__parameters:
compromised_system: true
camera:
ros__parameters:
type: node
modes:
__DEFAULT__:
ros__parameters:
use_sim_time: false
COMPROMISED:
ros__parameters:
use_sim_time: false
If I change the mode of guard, all the system reacts as I want. BUT if I want to command all the system to go from COMPROMISED to __DEFAULT__ I can't do it because guard is COMPROMISED, and that doesn't let the system reconfigure to __DEFAULT__.
Is there any way to combine the bottom-up rules with the possibility of changing the system mode (an up-bottom reconfiguration)?
Thanks!!
Activity
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