op-supervisor: readme

[protolambda]

Description

A readme for the op-supervisor. Starting with a technical overview of the interactions and composition of the op-supervisor.

Fix #12967

[axelKingsley]

Looking good so far

[protolambda]

Extended the draft, ready for review now

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 42.77%. Comparing base (4ee839a) to head (9a8dd61).
Report is 87 commits behind head on develop.

Additional details and impacted files

@@             Coverage Diff             @@
##           develop   #12819      +/-   ##
===========================================
- Coverage    44.51%   42.77%   -1.74%     
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  Files          801      745      -56     
  Lines        72026    67361    -4665     
===========================================
- Hits         32059    28813    -3246     
+ Misses       37359    36120    -1239     
+ Partials      2608     2428     -180     

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see 65 files with indirect coverage changes

[ghost]

I think this is comprehensive and can't think of anything else rn that we should add. I think the "About Safety" section could be a little more clear about the progression through the states. Maybe by using a list for the new flow, like the existing states are listed. But the diagram helps there so it may not be necessary.

Other than that it's clear to me and seems to be sufficient for explaining and using op-supervisor.

[protolambda]

Going to merge this: better than not having a config. We'll do another iteration of the wording and control flow once the recent data-flow PRs are all merged into develop.