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Home / Iop_v3ServiceSet / PresetPose


Version: 1.1
ID: urn:jaus:jss:iop:PresetPose
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 Preset Pose service allows for a device or devices to be controlled by specifying transitions to specific poses. The poses and transitions must be well defined as they provide the rules by which the Preset Pose service functions.

Internal Event Set
ID Name
8D1Fh TransitionCompleted
8D20h TransitionFailed

Message Set
Message ID Name
F002h QueryCurrentPose
F001h QueryPresetPoseCapabilities
F005h QueryPresetPoseSpecifications
F0F2h ReportCurrentPose
F0F1h ReportPresetPoseCapabilities
F0F5h ReportPresetPoseSpecifications
F0F4h ReportTransitionCompleted
F003h SetCurrentPose

State Machine Diagram

PresetPose State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A PresetPoseDefaultLoop QueryPresetPoseCapabilities sendReportPresetPoseCapabilities
QueryPresetPoseSpecifications sendReportPresetPoseSpecifications
QueryCurrentPose sendReportCurrentPose
B PresetPoseReadyLoop SetCurrentPose isControllingClient && ( !isPoseUnrecognized && isTransitionValid ) setCurrentPose
SetCurrentPose isControllingClient && !isTransitionValid sendReportTransitionCompletedInvalidTransition
SetCurrentPose isControllingClient && isPoseUnrecognized sendReportTransitionCompletedUnrecognizedPose
TransitionCompleted sendReportTransitionCompletedTransitionCompleted
TransitionFailed sendReportTransitionCompletedTransitionFailed

Action Name Type Description
sendReportCurrentPose Send Action Send a ReportCurrentPose message to querying client
Output Message: ReportCurrentPose
sendReportPresetPoseCapabilities Send Action Send a ReportPresetPoseCapabilities message to querying client
Output Message: ReportPresetPoseCapabilities
sendReportPresetPoseSpecifications Send Action Send a ReportPresetPoseSpecifications message to querying client
Output Message: ReportPresetPoseSpecifications
setCurrentPose Set the current pose to that commanded.

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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