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Uli SDK

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Primitive Driver

7.Primitive Driver

The Primitive Driver commands movements of the mobility system using 6 degrees of freedom. This service is not designated to particular types of the system.

Require: core:AccessControl
Inherit from: core:Management

7.1 Service Behavior

7.1.1 State Diagram


  Figure 6 Primitive Driver State Diagram

7.1.2 State Actions


State Actions
core:Management.READY
  • Execute requested efforts
DEFAULT
  • Report commanding efforts

7.1.3 Internal Events


Event Parameters Purpose
ieReceiveMessage Message received

7.1.4 Transitions


Transition Trigger Condition Action
A Query Wrench Efforts Process message
B Set Wrench Efforts Process message
C Management exits READY state Reset commanding efforts to safe efforts

7.2 Protocol

7.2.1 Incoming Message Set


# ID Message
1 H:0x00000001
L:0x0000020B 		Query Wrench Efforts
2 H:0x00000001
L:0x0000020C 		Set Wrench Efforts

7.2.2 Outgoing Message Set


# ID Message
1 H:0x00000001
L: 0x0000020D 		Report Wrench Efforts

7.3 Parameters

 

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

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

7.4 Data

Get:

 

  1. location=wrenchefforts, type=WrenchEffortsRec