micro-ROS
diff --git a/‎_docs/concepts/client_library/system_modes/goal.png‎
-56.4 KB b/‎_docs/concepts/client_library/system_modes/goal.png‎
-56.4 KB
diff --git a/‎_docs/concepts/client_library/system_modes/index.md‎
Lines changed: 21 additions & 9 deletions b/‎_docs/concepts/client_library/system_modes/index.md‎
Lines changed: 21 additions & 9 deletions
diff --git a/‎_docs/concepts/client_library/system_modes/mode-management.png‎
62.8 KB b/‎_docs/concepts/client_library/system_modes/mode-management.png‎
62.8 KB
@@ -12,7 +12,8 @@ Table of contents
 - [Main Features](#main-features)
   - [Extended Lifecycle](#extended-lifecycle)
   - [System Hierarchy and Modes](#system-hierarchy-and-modes)
-  - [Mode manager](#mode-manager)
+  - [Mode Inference](#mode-inference)
+  - [Mode Manager](#mode-manager)
 - [Roadmap](#roadmap)
 - [Acknowledgments](#acknowledgments)
 
@@ -37,16 +38,17 @@ Our observation is that interweaving of task handling, contingency handling, and
 
 Therefore, our **goal** within this work is to provide suitable abstractions and framework functions for (1.) system runtime configuration and (2.) system error and contingency diagnosis, to reduce the effort for the application developer of designing and implementing the task, contingency and error handling.
 
-This goal is illustrated in the following high-level architecture:
+This goal is illustrated in the following example architecture, which is described and managed based on a model file:
 
-![High-level Architecture](goal.png)
+![High-level Architecture](mode-management.png)
 
-The envisioned key elements to achieve this goal are:
+The key elements of the approach are:
 
-1.  Extensible concept to specify the runtime states of components, i.e ROS 2 nodes.
-2.  Modeling approach for specifying system modes based on these component states.
-3.  Diagnosis module for deriving relevant information from the operating systems, the hardware and the functional components.
-4.  Mode manager module for system runtime configuration.
+1.  _Extended Lifecycle_: Extensible concept to specify the runtime states of components, i.e ROS 2 lifecycle nodes.
+2.  _System Hierarchy and Modes_: Modeling approach for specifying system modes based on these component states.
+3.  _Mode Manager_: A module to manage and change the system runtime configuration.
+4.  _Mode Inference_: A module for deriving the entire system state and mode from observable system information, i.e. states, modes, and parameters of its components.
+5.  _Diagnostics_: Diagnosis module for deriving relevant information from the operating systems, the hardware and the functional components.
 
 ## Requirements
 
@@ -81,7 +83,17 @@ A simple example is provided at:
 [github.com:system_modes_examples/README.md#example-mode-file](https://github.com/micro-ROS/system_modes/blob/master/system_modes_examples/README.md#example-mode-file)
 
 
-### Mode manager
+### Mode Inference
+
+The mode inference infers the entire system states (and modes) based on the lifecycle states, modes, and parameter configuration of its components, i.e. the ROS 2 lifecyle nodes. It parses the model and subscribes to lifecycle/mode change requests, lifecycle/mode changes, and parameter events.
+
+The documentation and code can be found at:  
+[github.com:system_modes/README.md#mode-inference](https://github.com/micro-ROS/system_modes/blob/master/system_modes/README.md#mode-inference)  
+The mode inference can be best observed in the mode monitor, a console-based debugging tool, see:  
+[github.com:system_modes/README.md#mode-monitor](https://github.com/micro-ROS/system_modes/blob/master/system_modes/README.md#mode-monitor)
+
+
+### Mode Manager
 
 The mode manager allows for runtime system adaptation based on such a system hierarchy and modes model. It parses the model and provides all services and topics to request state and mode changes and to monitor these changes.