[Rock-dev] Discussion about fault response tables

[Sylvain Joyeux]

The fault responses apply to *all* actions that are active in the 
system. To handle that with the state machine, you would need to do e.g.


   transition(state1, :fault1, response1)
   transition(state2, :fault1, response1)
   transition(state3, :fault1, response1)
   transition(state4, :fault1, response1)
   transition(state5, :fault1, response1)
   transition(state6, :fault1, response1)

for EVERY SINGLE FAULT response you want to have. Does not scale very 
well. And that is assuming that you report all errors as events *at the 
level of the action*, which will make the process of creating the tasks 
a lot harder.

This is actually why the error representation in Roby is orthogonal to 
the event system: faults and fault responses are global things while 
reaction to nominal situations are mostly local.

In other words, the events are for nominal things, the exceptions for 
errors. This starts to appear at this level as well: the state machine 
are for nominal things, the fault responses for errors.

-- 
Sylvain Joyeux (Dr.Ing.)
Space & Security Robotics

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