[Rock-dev] Discussion about fault response tables

[Matthias Goldhoorn]

On 02.05.2013 10:46, Sylvain Joyeux wrote:
> Hello everyone (and more specifically the advanced Roby/Syskit developers)
>
> Even though Roby/Syskit have a (pretty) rich fault representation / 
> detection mechanism already, one bit that was missing is a way to 
> detect and react to faults.
>
> I'm trying to change that. I've put a proposal here:
>
> http://rock.opendfki.de/wiki/WikiStart/OngoingWork/RockRoby/FaultResponseTables
>
> Discussions / comments would be very welcome
Don't see why we can't this simply handle by the state machine?
So far i understand roby it reactes to some events. The Statemachine 
interface defines some "wider" reactions.
So why we need an additional fault-response system. In your example you 
can simply implement an statemachine that handles this reboot actions 
and which forwards all other events. On the using level instead using 
the Task use the defined statemachine.

I see the intention to really define some "faults" but as developer and 
"fault" is only an signal/event that should be handled simliar than 
everything else, an additional level could make it (Again) more 
unintuitive because thinks can be (again) handelet in different ways...

I propose instead adding this new interface that you add the "command" 
(like retry) to the state_machine interface.

Matthias
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>
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-- 
  Dipl.-Inf. Matthias Goldhoorn
  Space and Underwater Robotic

  Universität Bremen
  FB 3 - Mathematik und Informatik
  AG Robotik
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