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Uli SDK

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Odometry

16.Odometry

The Odometry service allows to set trip odometry and query odometry of the mobility system.

Require: core:AccessControl
Inherit from: none

16.1 Service Behavior

16.1.1 State Diagram


  Figure 15 Odometry State Diagram

16.1.2 State Actions


State Actions
READY
  • Request Reset Odometry
  • Query Odometry
  • Confirm Reset Odometry.
  • Report Odometry

16.1.3 Internal Events


Event Parameters Purpose
ieReceiveMessage Message received

16.1.4 Transitions


Transition Trigger Condition Action
A ieReceiveMessage Process received messages

16.2 Protocol

16.2.1 Incoming Message Set


# ID Message
1 H:0x00000001
L: 0x00000232 		Request Reset Odometry
2 H:0x00000001
L: 0x00000234 		Query Odometry

16.2.2 Outgoing Message Set


# ID Message
1 H:0x00000001
L: 0x00000233 		Confirm Reset Odometry
2 H:0x00000001
L: 0x00000235 		Report Odometry

16.3 Parameters

  1. CYCLEINTERVAL double, time interval in seconds of each cycle, default=0.1.

  2. DATATIMEOUT double, timeout in seconds for not receiving odometry updates, default=0.5.

16.4 Data

Set:

  1. location=odometry, type=OdometryRec