re-add POLICY

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Hi all,

I'd like mdadm to automatically attempt to re-sync raid members after they
where temporarily removed from the system. 

I would have thought "POLICY domain=default action=re-add" should allow this,
and found a prior post that also seemed to want/test that behaviour.
But as I understand the answer given there
http://permalink.gmane.org/gmane.linux.raid/47516
mdadm is expected to exit with an error (not re-add) upon plugging the
device back in?

with:
mdadm: can only add /dev/loop2 to /dev/md0 as a spare, and force-spare is
not set.
mdadm: failed to add /dev/loop2 to existing array /dev/md0: Invalid argument.

For one, I don't understand what the error messages is trying to tell me, about
an invalid argument that was never supplied to --incremental?

But more importantly, how can priorly diconnected devices (marked failed
with non-future event count) get re-synced automatically when they are 
plugged in again?
(avoiding manual mdadm /dev/mdX --add /dev/sdYZ hassle)

Cheers,
Chris

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