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Home / Environment_v1_0ServiceSet / VisualSensor


Version: 1.0
ID: urn:jaus:jss:environmentSensing:VisualSensor
Inherits From:
extended byurn:jaus:jss:core:AccessControl v1.1
extended byurn:jaus:jss:core:Events v1.1
extended byurn:jaus:jss:core:Transport v1.0

This service provides access to the basic capabilities and configuration of a visual sensor, allowing the controlling component to set the visual sensor to a particular operational profile. The Query Sensor Geometric Properties message can be used to determine the geometric relationship between the sensor and the vehicle coordinate system. Three possible coordinate responses are possible; (a) the service does not know the sensorís position, (b) the sensor coordinate system is fixed with respect to the vehicle and (c) the sensor is attached to some manipulator. These cases are supported by the Report Sensor Geometric Properties message and are described therein.

Internal Event Set

Message Set
Message ID Name
0801h ConfirmSensorConfiguration
2806h QueryVisualSensorCapabilities
2807h QueryVisualSensorConfiguration
2805h QueryVisualSensorGeometricProperties
4806h ReportVisualSensorCapabilities
4807h ReportVisualSensorConfiguration
4805h ReportVisualSensorGeometricProperties
0803h SetVisualSensorConfiguration

State Machine Diagram

VisualSensor State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
B VisualSensorControlledLoop SetVisualSensorConfiguration isControllingClient sendConfirmSensorConfiguration , updateVisualSensorConfiguration
A VisualSensorDefaultLoop QueryVisualSensorCapabilities sendReportVisualSensorCapabilities
QueryVisualSensorConfiguration sendReportVisualSensorConfiguration
QueryVisualSensorGeometricProperties sendReportVisualSensorGeometricProperties

Action Name Type Description
sendConfirmSensorConfiguration Send Action Send sendConfirmVisualSensorConfiguration message
Output Message: ConfirmSensorConfiguration
sendReportVisualSensorCapabilities Send Action Send a ReportVisualSensorCapabilities message
Output Message: ReportVisualSensorCapabilities
sendReportVisualSensorConfiguration Send Action Send a ReportVisualSensorConfiguration message
Output Message: ReportVisualSensorConfiguration
sendReportVisualSensorGeometricProperties Send Action Send a ReportVisualSensorGeometricProperties message
Output Message: ReportVisualSensorGeometricProperties
updateVisualSensorConfiguration Update the sensor user controllable configuration parameters according to the ones specified.

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 as6060-environment.ojss