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Home / Iop_v3ServiceSet / LeaderManagement


Version: 1.1
ID: urn:jaus:jss:iop:LeaderManagement
Inherits From:
extended byurn:jaus:jss:core:Events v1.1
extended byurn:jaus:jss:core:Transport v1.0

The Leader Management Service is intended to be hosted by the lead subsystem in a leader/follower operation. The Service allows followers to register with the leader and requires periodic requests from the followers to maintain registration. Furthermore, follower may request that the lead vehicle slow down or speed up to improve the leader/follower performance by using the speed override message.

Internal Event Set
ID Name
8D17h RegistrationTimeout

Message Set
Message ID Name
FFD3h QueryFollowers
FFD2h RegisterFollower
FFD5h RegisterFollowerResponse
FFD4h ReportFollowers
FFD1h RequestSpeedOverride

State Machine Diagram

LeaderManagement State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A LeaderManagementDefaultLoop QueryFollowers sendReportFollowers
RegisterFollower AddFollowerToRegistrationList , sendRegisterFollowerResponseConnected
RequestSpeedOverride isRegistered setOverride
RegistrationTimeout RemoveFollowerToRegistrationList , sendRegisterFollowerResponseNotConnected

Action Name Type Description
AddFollowerToRegistrationList Add the component that sent the request to the follower list
RemoveFollowerToRegistrationList Remove the component from the follower list
sendReportFollowers Send Action Send a Report Followers message to querying client
Output Message: ReportFollowers
setOverride Update the leader's override value based on the new request. The current override is the minimum requested value of all requested followers.

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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 iop_v3.ojss