Spanda

Degraded Operating Modes

Declare operating modes and transition with enter:

mode normal {
    max_speed = 1.5 m/s;
}

mode degraded {
    max_speed = 0.3 m/s;
}

mode emergency {
    stop_all_actuators();
}

Hardware fault handlers can switch modes:

on hardware LidarFailure {
    use camera_depth;
    enter degraded_mode;
}

Runtime tracks the active mode (normal by default).

See reliability.

This site is open source. Improve this page.