3.Subsystem Control Client
Subsystem Control Client Service periodically sends Request Subsystem Control to gain control of the subsystem.
Require: none
Inherit from: none
3.1 Service Behavior
3.1.1 State Diagram
Figure 7 Subsystem Control Client Diagram
3.1.2 State Actions
State | ID |
---|---|
READY |
|
3.1.3 Internal Events
Event | Parameters | Purpose |
---|---|---|
ieReceiveMessage | Indicate a message is received |
3.1.4 Transitions
Transition | Trigger | Condition | Action |
---|---|---|---|
3.2 Protocol
3.2.1 Incoming Message Set
# | ID | Message |
---|---|---|
1 |
H:0x00000001 L: 0x00000123 |
Confirm Subsystem Control |
2 |
H:0x00000001 L: 0x00000122 |
Confirm Release |
3.2.2 Outgoing Message Set
# | ID | Message |
---|---|---|
1 |
H:0x00000001 L: 0x0000011F |
Request Subsystem Control |
2 |
H:0x00000001 L: 0x00000125 |
Request Release |
3.3 Parameters
Name | ID | Unit | Default |
---|---|---|---|
Cycle Interval | double | second | 0.1 |
Request Interval | double | seconds | 0.5 |
Authority Code | uint8 | 150 |