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 / Iop_v3ServiceSet / PassthroughMessage


Version: 1.1
ID: urn:jaus:jss:exp:aeodrs:PassthroughMessage
Inherits From:
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 Passthrough Message service provides the desired intermediary JAUS component the capability to examine and modify JAUS messages without interfering with the message flow between the source and intended recipient. For example, in an established communication link between an OCU and manipulator payload, only the source may issue commands to control the manipulator, but there is no guarantee to avoid collision. This particular service allows an intermediary JAUS component such as a self-collision avoidance component to modify the manipulator payload intended JAUS messages in order to provide the collision avoidance capability that resides in the self-collision avoidance component. Note that when this service forwards a message to the final destination specified by the targetJausID, the source of the message shall be the Passthrough component. That is, when the driver or other final recipient receives the message, it will appear to have originated from the Passthrough service. As a result, the Passthrough implementation must maintain access control and the correct management state before forwarding any motion commands.

Internal Event Set

Message Set
Message ID Name
D702h QueryPassthroughMessageProperties
D703h ReportPassthroughMessageProperties
D701h SetPassthroughMessage

State Machine Diagram

PassthroughMessage State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A PassthroughMessageDefaultLoop SetPassthroughMessage
QueryPassthroughMessageProperties sendReportPassthroughMessageProperties

Action Name Type Description
filterAndPassthrough Perform any filerting actions and passthrough to the destination component.
sendReportPassthroughMessageProperties Send Action Send a ReportPassthroughMessageProperties message
Output Message: ReportPassthroughMessageProperties

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 iop_v3.ojss