chcorbato
commented
3 years ago We need to identify what needs for new states we have. This can be clarified with the State Machine for an Objective status, that is define for each status:
- What events could happen in the reasoner when the objective is in that status, i.e. adaptation triggered, update something in the ontology...
- what transitions to other status should happen depending on which event happened
Can you complete/correct it?
Maybe we can have more status for the objective: IN_PROGRESS, IN_ERROR_NFR, IN_ERROR_COMPONENT, UNREACHABLE.
IN_ERROR_NFR may be set when the current FG doesn't meet objectives NFRs so a new FG should be selected IN_ERROR_COMPONENT would be set when the current FG uses an unavailable component so a new FG should be selected When there isn't a FD reachable, we could set the objective at UNREACHABLE, then we can delete this objective and switch to another one (i.e. switch from navigating to go to recharge). In this case, maybe we can miss NFR because is an emergency action and navigate to the deck with fewer restrictions so FD with IN_ERROR_NFR property on the log can be selected.
What do you think? @marioney @chcorbato @rsanz
_Originally posted by @estherag in https://github.com/tud-cor/mc_mros_reasoner/issues/111#issuecomment-729008674_