Packml Mode Support

[shaun-edwards]

The PackML standard envisions multiple state machines (modes) that are managed by a mode manager. Each mode/state machine represents a subset of the full packml state machine for specific uses (ex: automatic, manual, maintenance, etc...)

The current implementation of the gui/statemachine does not support mode switching. However, it can be easily added, since all that is require is a mode manager that switched between state machines. Only one state machine can be executing at once. All others must be stopped/idle.

[shaun-edwards]

@minlingc suggested the following standard modes:

Mode Selection:　 This allows a piece of equipment to operate completely differently depending on "mode" selected. This is defined in the ISA-88 Standard

· Mode selection list (mode 1-5) each equipment module can operate different functions ("modes") 　-Ie:
o Mode 1 - workcell (locks out other modes)
o Mode 2 - manual mode (testing, verification etc)
o Mode 3 - Calibration - sensor or robot needs location calibration