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Home / Mobility_v1_0ServiceSet / LocalPathSegmentDriver


Version: 1.0
ID: urn:jaus:jss:mobility:LocalPathSegmentDriver
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 Local 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 Local Path Segment Driver differs from the Waypoint Drivers in that the exact path between 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
2410h QueryLocalPathSegment
4410h ReportLocalPathSegment
0410h SetLocalPathSegment

State Machine Diagram

LocalPathSegmentDriver State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
B LpsdControlledLoop SetElement isControllingClient && ( isValidLpsdElementRequest && isLpsdElementSupported ) sendConfirmElementRequest , setLpsdElement
SetElement isControllingClient && !isValidLpsdElementRequest sendRejectElementRequest
SetElement isControllingClient && !isLpsdElementSupported sendRejectElementRequest
A LpsdDefaultLoop QueryTravelSpeed sendReportTravelSpeed
QueryLocalPathSegment lpsdSegmentExists sendReportLocalPathSegment
QueryActiveElement sendReportActiveElement
C LpsdReadyLoop ExecuteList isControllingClient && lpsdElementExists executeLocalPathSegmentList
ExecuteList isControllingClient && !lpsdElementSpecified modifyLpsdTravelSpeed

Action Name Type Description
resetLpsdTravelSpeed Exit Action
sendConfirmElementRequest Send Action Output Message: ConfirmElementRequest
sendRejectElementRequest Send Action Output Message: RejectElementRequest
sendReportActiveElement Send Action Output Message: ReportActiveElement
sendReportLocalPathSegment Send Action Output Message: ReportLocalPathSegment
sendReportTravelSpeed Send Action Output Message: ReportTravelSpeed

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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 as6009-mobility.ojss