14.Parking Brake Driver
The Parking Brake Driver service commands parking brakes of the mobility system.
Require: core:AccessControl
Inherit from: core:Management
14.1 Service Behavior
14.1.1 State Diagram
Figure 13 Parking Brake Driver State Diagram
14.1.2 State Actions
State | Actions |
---|---|
core:Management.READY |
|
DEFAULT |
|
14.1.3 Internal Events
Event | Parameters | Purpose |
---|---|---|
ieReceiveMessage | Message received |
14.1.4 Transitions
Transition | Trigger | Condition | Action |
---|---|---|---|
A | Query Parking Brake State | Process message | |
B | Set Parking Brake State | Process message | |
C | Management exits READY state | Reset commanding Parking State to safe states. |
14.2 Protocol
14.2.1 Incoming Message Set
# | ID | Message |
---|---|---|
1 |
H:0x00000001 L: 0x00000228 |
Set Parking Brake State |
2 |
H:0x00000001 L: 0x00000229 |
Query Parking Brake State |
14.2.2 Outgoing Message Set
# | ID | Message |
---|---|---|
1 |
H:0x00000001 L: 0x0000022A |
Report Parking Brake State |
14.3 Parameters
-
- CYCLEINTERVAL double, time interval in seconds of each cycle, default=0.1.
- DATATIMEOUT double, timeout in seconds for not receiving parking brake state updates, default=0.5.
14.4 Data
Get:
- location=parkingbrakestate, type=ParkingBrakeStateRec