Documentation

Signed-off-by: Nordmann Arne (CR/ADT3) <arne.nordmann@de.bosch.com>

Author: norro

system_modes/include/system_modes/mode.hpp

@@ -71,6 +71,13 @@ class ModeBase
   ModeImpl mode_impl_;
 };
 
+/**
+ * Represents a default system mode.
+ *
+ * For default modes of nodes it holds the according parametrization, for
+ * default modes of systems, it holds the according states and modes of its
+ * system parts.
+ */
 class DefaultMode : public ModeBase
 {
 public:
@@ -87,6 +94,13 @@ class DefaultMode : public ModeBase
     const StateAndMode stateAndMode);
 };
 
+/**
+ * Represents a (non-default) system mode.
+ *
+ * For default modes of nodes it holds the according parametrization, for
+ * default modes of systems, it holds the according states and modes of its
+ * system parts.
+ */
 class Mode : public ModeBase
 {
 public:

system_modes/include/system_modes/mode_handling.hpp

@@ -47,6 +47,11 @@ struct ModeRule
 
 using RulesMap = std::map<std::string, ModeRule>;
 
+/**
+ * Reads and parses the error handling rules from the sytem modes and hierarchy file (SMH file).
+ * Provides getters to receive all rules that are applicable for a certain system state, usually
+ * a system deviation.
+ */
 class ModeHandling
 {
 public:

system_modes/include/system_modes/mode_inference.hpp

@@ -36,6 +36,12 @@ typedef std::map<std::string, StateAndMode> StatesMap;
 typedef std::map<std::string, std::map<std::string, rclcpp::Parameter>> ParametersMap;
 typedef std::map<std::string, std::pair<StateAndMode, StateAndMode>> Deviation;
 
+/**
+ * Reads and parses the sytem modes and hierarchy file (SMH file) and provides
+ * getters to access the resulting model. Provides setters to inform inference about
+ * the live system state (update current state and mode targets as well as current
+ * parametization).
+ */
 class ModeInference
 {
 public:
@@ -71,6 +77,11 @@ class ModeInference
    * mode transitions.
    */
   virtual Deviation infer_transitions();
+
+  /**
+   * Infers deviations of the _target_ system state (state and mode of systems and nodes)
+   * and their respective _actual_ state.
+   */
   virtual Deviation get_deviation();
 
   virtual StateAndMode get_target(const std::string & part) const;

system_modes/include/system_modes/mode_monitor.hpp

@@ -34,6 +34,11 @@
 namespace system_modes
 {
 
+/**
+ * Based on mode inference and live updates from the system, this class monitors the live
+ * system state and renders a simple command-line view of the known resp. inferred state
+ * of all systems and system parts within the SMH file.
+ */
 class ModeMonitor : public rclcpp::Node
 {
 public: