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Home / Iop_v3ServiceSet / Retrotraverse


Version: 1.1
ID: urn:jaus:jss:iop:Retrotraverse
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 Retrotraverse service provides the capability of return to a designated point along the path taken or to a specified waypoint normal (perdendicular) to the original path. Through the use of the Travel Method flag, different behaviors can be configured. The following diagrams show several possible combinations. ********* INSERT DIAGRAMS HERE ********

Internal Event Set

Message Set
Message ID Name
DC51h CancelRetrotraverse
EC50h QueryRetrotraverseStatus
FC50h ReportRetrotraverseStatus
DC50h StartRetrotraverse

State Machine Diagram

Retrotraverse State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
A RetrotraverseDefaultLoop QueryRetrotraverseStatus sendReportRetrotraverseStatus
B RetrotraverseReadyLoop StartRetrotraverse startRetrotraverse
CancelRetrotraverse cancelRetrotraverse

Action Name Type Description
cancelRetrotraverse Cancel any current retrotraverse requests. If no requests are active or pending, this action is ignored.
sendReportRetrotraverseStatus Send Action Send a ReportRetrotraverseStatus response message
Output Message: ReportRetrotraverseStatus
startRetrotraverse Begin a retrotraverse operation using the specified distance, speed, and parameters

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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