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Uli SDK

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Parking Brake Driver

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
  • Execute requested parking brake commands
DEFAULT
  • Report current parking brake state

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

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

    2. DATATIMEOUT double, timeout in seconds for not receiving parking brake state updates, default=0.5.

14.4 Data

Get:

  1. location=parkingbrakestate, type=ParkingBrakeStateRec