This file is part of the OpenJAUS HTML JAUS Reference.
Please support AS-4 JAUS and SAE by purchasing the corresponding Standard Document(s) from SAE International here.

Home / Mobility_v1_0ServiceSet / GlobalPathSegmentDriver


Version: 1.0
ID: urn:jaus:jss:mobility:GlobalPathSegmentDriver
Inherits From:
extended byurn:jaus:jss:mobility:ListManager v1.0
extended byurn:jaus:jss:core:Management v1.1
extended byurn:jaus:jss:core:AccessControl v1.1
extended byurn:jaus:jss:core:Events v1.1
extended byurn:jaus:jss:core:Transport v1.0

The function of the Global Path Segment Driver is to perform closed loop control of position and velocity along a path where the path is defined in a generic manner. The Global Path Segment Driver differs from the Waypoint Drivers in that the exact path between waypoints is strictly defined. A path segment will be defined by specifying the three-dimensional coordinates of three points, P0, P1, and P2 together with one scalar weighting value w1 as documented in the JAUS Mobility Service Set Specification.

Internal Event Set

Message Set
Message ID Name
240Fh QueryGlobalPathSegment
440Fh ReportGlobalPathSegment
040Fh SetGlobalPathSegment

State Machine Diagram

GlobalPathSegmentDriver State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
B GpsdControlledLoop SetElement isControllingClient && ( isValidGpsdElementRequest && isGpsdElementSupported ) sendConfirmElementRequest , setGpsdElement
SetElement isControllingClient && !isValidGpsdElementRequest sendRejectElementRequest
SetElement isControllingClient && !isGpsdElementSupported sendRejectElementRequest
A GpsdDefaultLoop QueryTravelSpeed sendReportTravelSpeed
QueryGlobalPathSegment gpsdSegmentExists sendReportGlobalPathSegment
QueryActiveElement sendReportActiveElement
C GpsdReadyLoop ExecuteList isControllingClient && gpsdElementExists executeGlobalPathSegmentList
ExecuteList isControllingClient && !gpsdElementSpecified modifyGpsdTravelSpeed

Action Name Type Description
resetGpsdTravelSpeed Exit Action
sendConfirmElementRequest Send Action Output Message: ConfirmElementRequest
sendRejectElementRequest Send Action Output Message: RejectElementRequest
sendReportActiveElement Send Action Output Message: ReportActiveElement
sendReportGlobalPathSegment Send Action Output Message: ReportGlobalPathSegment
sendReportTravelSpeed Send Action Output Message: ReportTravelSpeed

Copyright © SAE International. Reprinted with Permission.
Portions Copyright © OpenJAUS LLC.
The information above is generated from the JAUS Services modelled in the OpenJAUS SDK using OpenJAUS Service Studio. It is provided as a resource to assist JAUS developers and is not a substitute for the JAUS Standards Documents which may be obtained from the SAE International.

Generated on 07/17/2019 from as6009-mobility.ojss