rezenders / jason_metacontrol Goto Github PK

Check if it is necessary to adjust anything in the rosgraph_manipulator_node

Right now the message read from the diagnostic, the QA, is being added and interpreted as a predicate which does not support Capital letter in the beginning. Fix this. Maybe define the QA as a string, or a predicate with a string term representing the name. like: safety("Safety")

Right now it is only considering the case which there is only one [Key, Value] pair in the diagnostic message, it can have multiple [Key, Value] pairs in 1 msg

-objective -> stop_fd

Metacontrol does not have a way to select the best reconfiguration. Now it selects the reconfiguration based if the QA values satifies the threshold defined by each function design. And it checks the function designs in the order they were defined until one that satisfies the thresholds is found.

It may be interesting to have the possibility to specify particular methods to select the best reconfiguration. Like in the UNDERSEA and ENTRUST for the UUVs. In jason this could be an application specific reconfiguration plan associated with each Objective or Function.

I think there is no need to have an objective, function and function designs. This can be solved by having an objective and function designs that solve it.

Is there a situation where it is possible to have 1 objective with more than 1 function? wouldn't it be just more function designs?

Example: function_design_requires(fd1, obj2)

1. Thus when fd1 is being grounded (selected) it should first add obj2 like +objective(obj2)
2. Probably before continuing with fd1 it should be guaranted that obj2 is solved (i.e: has a function grounding)
3. When fd1 is not grounded anymore it should remove obj2 -objective(obj2)

Example: stop_configuration(f3_v1_r1)

Check if rosgraph_manipulator_node has an interface for this