Service Summary

Here is the list of the core services:

Service	Purpose
Message Transport	Send and receive messages for the component.
Node Manager	Send and receive messages for the node.
Subsystem Manager	Request subsystem ID, send Subsystem Ready, allocate node ID, and provide service registry.
ID Allocator	Assign subsystem ID to a subsystem.
Discovery	Store registered services.
Service Register	Register services to Discovery service.
Status Reporter	Register status of the component to Status Monitor service.
Status Monitor	Allow query and report status of all components of the subsystem.
Subsystem Control	Allow exclusive control of the subsystem.
Access Control	Allow exclusive control of the component.
Management	Manage the life cycle of the component.
Subsystem State	Manage the life cycle of the subsystem.
Safety	Monitor safety related events of the subsystem.
Operating Mode	Set, query, and report the operating mode of the component.
Resource Discovery	Store url of the registered resources, such as video/audio streams,
Resource Register	Register resources to Resource Discovery service.
Subscription	Allow clients to subscribe report messages.