5.Velocity State Sensor
The Velocity State Sensor service reports the velocities of the mobility system.
Require: none
Inherit from: none
5.1 Service Behavior
5.1.1 State Diagram
Figure 4 Velocity State Sensor State Diagram
5.1.2 State Actions
State | Actions |
---|---|
READY |
|
5.1.3 Internal Events
Event | Parameters | Purpose |
---|---|---|
ieReceiveMessage | Message received |
5.1.4 Transitions
Transition | Trigger | Condition | Action |
---|---|---|---|
A | ieReceiveMessage | Process received messages |
5.2 Protocol
5.2.1 Incoming Message Set
# | ID | Message |
---|---|---|
1 |
H:0x00000001 L:0x00000207 |
Query Velocity State |
5.2.2 Outgoing Message Set
# | ID | Message |
---|---|---|
1 |
H:0x00000001 L: 0x00000208 |
Report Velocity State |
5.3 Parameters
- CYCLEINTERVAL double, time interval in seconds of each cycle, default=0.1.
- DATATIMEOUT double, timeout in seconds for not receiving velocity state updates, default=0.5.
5.4 Data
Set:
- location= velocitystate, type= VelocityStateRec