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* Documentation: Dissertation Baetz p.156, 157.
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*
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* This class reduces the complexity of controller components which would
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* otherwise be needed for the handling of redundant devices.
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* otherwise be needed for the handling of redundant devices. However, it can also be used to
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* manage the mode keeping and recovery of non-redundant devices
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*
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* The template class monitors mode and health state of its children
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* and checks availability of devices on every detected change.
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*
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* Important:
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*
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* The implementation must call registerChild(object_id_t child)
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* for all commanded children during initialization.
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* The implementation must call #registerChild for all commanded children during initialization.
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* The implementation must call the initialization function of the base class.
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* (This will call the function in SubsystemBase)
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*
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*/
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class AssemblyBase : public SubsystemBase {
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public:
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