SAE AS 5710A-2010 JAUS Core Service Set《JAUS核心服务集》.pdf

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4、SA) Fax: 724-776-0790 Email: CustomerServicesae.org SAE WEB ADDRESS: http:/www.sae.orgSAE values your input. To provide feedback on this Technical Report, please visit http:/www.sae.org/technical/standards/AS5710AAEROSPACESTANDARDAS5710 REV. A Issued 2008-12 Revised 2010-08 Superseding AS5710 (R) JA

5、US Core Service Set RATIONALEThis document supersedes the original publication of SAE AS 5710. As with the original, this document includes interface definitions for services common in distributed unmanned systems. This revision adds the List Manager service, and extends functionality of both the Ev

6、ents and Access Control services. In addition, several ambiguities in the original are addressed as well as errors in the XML encoding. INTRODUCTIONThis document, the JAUS Core Service Set (AS5710), defines a message-passing interface for capabilities and services commonly found in unmanned systems.

7、 These services represent the foundation on which more complex and domain-specific JAUS Service Sets can be developed. The primary goal of the JAUS Core Service Set is logical interoperability between communicating elements in an unmanned system. To this end, each service defines the messages (vocab

8、ulary) and protocol (rules) for data exchange. This logical interoperability is independent of the physical transport, and it is expected that a Transport Standard, such as the JAUS Transport Specification AS5669, is used in conjunction with this specification. Each service in the JAUS Core Service

9、Set can be described using the JAUS Service Interface Definition Language JSIDL. JSIDL creates a formal schema based on Relax NG Compact rng that allows for validation of each service definition described herein. Although knowledge of JSIDL is not required to understand or implement this Specificati

10、on, it is highly recommended for supporting context. For convenience, the JAUS Core Service Set contains both a text based and XML based representation for each service. The AS5710A Standard does not replace the latest JAUS Reference Architecture Version 3.3 RA33P1, RA33P2, RA33P3, but is a direct e

11、volution of that work. This Standard has been carefully designed to allow for the simplest possible migration of RA 3.3 implementations to a services-based framework. Even though the notion of services has come to define formal interfaces between components, the message sets in those services trace

12、back to identical messages in the Reference Architecture. This document uses a number of conventions to simplify the text. All names are given in Camel Case. Names start with upper case, while reference names start with a lower case. Provided by IHSNot for ResaleNo reproduction or networking permitt

13、ed without license from IHS-,-,-SAE AS5710A Page 2 of 126TABLE OF CONTENTS 1. SCOPE 61.1 Purpose . 61.2 Compliance . 61.3 Document Organization 62. REFERENCES 72.1 Applicable Documents 72.1.1 SAE Publications . 72.1.2 JAUS Technical References . 72.1.3 Other Publications . 72.2 Definitions . 72.2.1

14、Component 72.2.2 Service Definition 72.2.3 Service Identifier . 82.2.4 JAUS Identifier 82.2.5 Transport Layer . 82.2.6 Serialization. 82.2.7 Message Code 82.2.8 Presence Vector 82.2.9 Little Endian 82.3 Constant values 82.4 List of Acronyms 83. COMMON CONVENTIONS 93.1 Scaled Integers . 93.2 Presence

15、 Vectors 93.3 Variable Length Arrays and Lists 103.4 Examples of List Manipulation 103.4.1 Case 1: Inserting into an Existing List . 113.4.2 Case 2: Insert Failures 113.4.2 Case 3: Deleting from an Existing List 11 4. UNDERSTANDING PROTOCOL DESCRIPTIONS . 114.1 States 124.2 Transitions. 125. SERVICE

16、 DEFINITIONS 155.1 Transport . 165.1.1 Description 165.1.2 Assumptions 175.1.3 Vocabulary 175.1.4 Encoding . 185.1.5 Protocol Behavior 205.2 Events . 215.2.1 Description 225.2.2 Assumptions 225.2.3 Vocabulary 225.2.4 Encoding . 235.2.5 Protocol Behavior 295.3 AccessControl . 315.3.1 Description 315.

17、3.2 Assumptions 325.3.3 Vocabulary 325.3.4 Encoding . 32Provided by IHSNot for ResaleNo reproduction or networking permitted without license from IHS-,-,-SAE AS5710A Page 3 of 1265.3.5 Protocol Behavior 375.4 Management . 395.4.1 Description 405.4.2 Assumptions 405.4.3 Vocabulary 405.4.4 Encoding .

18、415.4.5 Protocol Behavior 445.5 Time 465.5.1 Description 465.5.2 Assumptions 465.5.3 Vocabulary 465.5.4 Encoding . 475.5.5 Protocol Behavior 485.6 Liveness 495.6.1 Description 495.6.2 Assumptions 495.6.3 Vocabulary 505.6.4 Encoding . 505.6.5 Protocol Behavior 505.7 Discovery 515.7.1 Description 515.

19、7.2 Assumptions 525.7.3 Vocabulary 525.7.4 Encoding . 525.7.5 Protocol Behavior 605.8 List Manager Service 625.8.1 Description 625.8.2 Assumptions 635.8.3 Vocabulary 635.8.4 Encoding . 635.8.5 Protocol Behavior 686. NOTES 706.1 Change bar (I) and (R) symbols . 70APPENDIX A XML FOR SERVICE DEFINITION

20、S . 71APPENDIX B XML FOR DECLARED TYPE SETS . 102FIGURE 1 EXAMPLE SCENARIO FOR LIST MANIPULATION 10FIGURE 2 EXAMPLE SCENARIO FOR INSERTING A NEW ELEMENT . 10FIGURE 3 EXAMPLE SCENARIO FOR CIRCULAR LIST SEGMENTS . 11FIGURE 4 FAILURE CASE LEAVING AN EXISTING ELEMENT ORPHANED 11FIGURE 5 EXAMPLE SCENARIO

21、 FOR DELETING AN EXISTING ELEMENT . 11FIGURE 6 PROTOCOL STATE MACHINE 12FIGURE 7 NESTED STATES WITH SIMPLE AND INTERNAL TRANSITIONS . 14FIGURE 8 PUSH AND POP TRANSITIONS 14FIGURE 9 CONCURRENT FINITE STATE MACHINES . 15FIGURE 10 THE SYSTEM TOPOLOGY 16FIGURE 11 TRANSPORT SERVICE ACTING AS AN INTERFACE

22、 TO THE TRANSPORT LAYER 17FIGURE 12 TRANSPORT SERVICE PROTOCOL BEHAVIOR 21FIGURE 13 EVENTS SERVICE . 22FIGURE 14 EVENTS SERVICE PROTOCOL BEHAVIOR 29FIGURE 15 ACCESS CONTROL SERVICE 31FIGURE 16 ACCESS CONTROL SERVICE PROTOCOL BEHAVIOR . 37FIGURE 17 MANAGEMENT SERVICE . 40FIGURE 18 MANAGEMENT SERVICE

23、PROTOCOL BEHAVIOR 44FIGURE 19 TIME SERVICE . 46FIGURE 20 TIME SERVICE PROTOCOL BEHAVIOR 48Provided by IHSNot for ResaleNo reproduction or networking permitted without license from IHS-,-,-SAE AS5710A Page 4 of 126FIGURE 21 TIME SERVICE TRANSITION TABLE . 48FIGURE 22 LIVENESS SERVICE 49FIGURE 23 LIVE

24、NESS SERVICE PROTOCOL BEHAVIOR . 50FIGURE 24 DISCOVERY SERVICE 51FIGURE 25 DISCOVERY SERVICE PROTOCOL BEHAVIOR . 60FIGURE 26 SEQUENCE DIAGRAM OF SERVICE DISCOVERY . 61FIGURE 27 LIST MANAGER SERVICE 62FIGURE 28 LIST MANAGER SERVICE PROTOCOL BEHAVIOR . 68TABLE 1 TRANSITION TABLE 13TABLE 2 CONDITION TA

25、BLE 13TABLE 3 ACTION TABLE 13TABLE 4 TYPES OF TRANSITIONS FOR WHICH ENTRY/EXIT ACTIONS ARE EXECUTED 15TABLE 5 TRANSPORT SERVICE INTERNAL EVENTS SET . 18TABLE 6 RECEIVE EVENT ENCODING . 18TABLE 7 SEND EVENT ENCODING . 19TABLE 8 BROADCAST LOCAL EVENT ENCODING . 20TABLE 9 BROADCAST GLOBAL EVENT ENCODIN

26、G . 20TABLE 10 SEND ERROR EVENT ENCODING 20TABLE 11 TRANSPORT SERVICE STATE TRANSITION TABLE . 21TABLE 12 TRANSPORT SERVICE CONDITIONS . 21TABLE 13 TRANSPORT SERVICE TRANSITION ACTIONS . 21TABLE 14 EVENTS SERVICE VOCABULARY . 22TABLE 15 EVENTS SERVICE INTERNAL EVENTS SET 23TABLE 16 CREATE EVENT MESS

27、AGE ENCODING . 23TABLE 17 UPDATE EVENT MESSAGE ENCODING . 24TABLE 18 CANCEL EVENT MESSAGE ENCODING . 24TABLE 19 CREATE EVENT MESSAGE ENCODING . 25TABLE 20 QUERY EVENTS MESSAGE ENCODING 25TABLE 21 QUERY EVENT TIMEOUT MESSAGE ENCODING 26TABLE 22 CONFIRM EVENT REQUEST MESSAGE ENCODING 26TABLE 23 REJECT

28、 EVENT REQUEST MESSAGE ENCODING . 27TABLE 24 REPORT EVENTS MESSAGE ENCODING 27TABLE 25 EVENT MESSAGE ENCODING . 28TABLE 26 REPORT EVENT TIMOUT MESSAGE ENCODING 28TABLE 27 COMMAND EVENT MESSAGE ENCODING . 28TABLE 28 EVENTS SERVICE STATE TRANSITION TABLE . 30TABLE 29 EVENTS SERVICE CONDITIONS . 30TABL

29、E 30 EVENTS SERVICE TRANSITION ACTIONS . 31TABLE 31 ACCESS CONTROL SERVICE VOCABULARY 32TABLE 32 ACCESS CONTROL SERVICE INTERNAL EVENTS SET . 32TABLE 33 REQUEST CONTROL MESSAGE ENCODING . 33TABLE 34 RELEASE CONTROL MESSAGE ENCODING . 33TABLE 35 QUERY CONTROL MESSAGE ENCODING . 33TABLE 36 QUERY AUTHO

30、RITY MESSAGE ENCODING 33TABLE 37 SET AUTHORITY MESSAGE ENCODING 34TABLE 38 QUERY TIMEOUT MESSAGE ENCODING . 34TABLE 39 REPORT CONTROL MESSAGE ENCODING . 34TABLE 40 REJECT CONTROL MESSAGE ENCODING 35TABLE 41 CONFIRM CONTROL MESSAGE ENCODING . 35TABLE 42 REPORT AUTHORITY MESSAGE ENCODING 35TABLE 43 RE

31、PORT TIMEOUT MESSAGE ENCODING 36TABLE 44 ACCESS CONTROL SERVICE STATE TRANSITIONS 38TABLE 45 ACCESS CONTROL SERVICE CONDITIONS 39TABLE 46 ACCESS CONTROL SERVICE TRANSITION ACTIONS 39TABLE 47 MANAGEMENT SERVICE VOCABULARY 40TABLE 48 MANAGEMENT SERVICE INTERNAL EVENTS SET . 41TABLE 49 SHUTDOWN MESSAGE

32、 ENCODING . 41TABLE 50 STANDBY MESSAGE ENCODING 41Provided by IHSNot for ResaleNo reproduction or networking permitted without license from IHS-,-,-SAE AS5710A Page 5 of 126TABLE 51 RESUME MESSAGE ENCODING . 41TABLE 52 RESET MESSAGE ENCODING . 42TABLE 53 SET EMERGENCY MESSAGE ENCODING . 42TABLE 54 C

33、LEAR EMERGENCY MESSAGE ENCODING 42TABLE 55 QUERY STATUS MESSAGE ENCODING . 43TABLE 56 REPORT STATUS MESSAGE ENCODING 43TABLE 57 MANAGEMENT SERVICE TRANSITION TABLE 45TABLE 58 MANAGEMENT SERVICE CONDITIONS 45TABLE 59 MANAGEMENT SERVICE TRANSITION ACTIONS . 45TABLE 60 TIME SERVICE VOCABULARY . 46TABLE

34、 61 SET TIME MESSAGE ENCODING 47TABLE 62 QUERY TIME MESSAGE ENCODING 47TABLE 63 REPORT TIME MESSAGE ENCODING 48TABLE 64 TIME SERVICE CONDITIONS TABLE . 49TABLE 65 TIME SERVICE TRANSITION ACTIONS . 49TABLE 66 LIVENESS SERVICE VOCABULARY 50TABLE 67 QUERY HEARTBEAT PULSE MESSAGE ENCODING 50TABLE 68 REP

35、ORT HEARTBEAT PULSE MESSAGE ENCODING 50TABLE 69 LIVENESS SERVICE STATE TRANSITIONS 51TABLE 70 LIVENESS SERVICE TRANSITION ACTIONS 51TABLE 71 DISCOVERY SERVICE VOCABULARY 52TABLE 72 REGISTER SERVICES MESSAGE ENCODING . 52TABLE 73 QUERY IDENTIFICATION MESSAGE ENCODING 53TABLE 74 QUERY CONFIGURATION ME

36、SSAGE ENCODING 53TABLE 75 QUERY SUBSYSTEM LIST MESSAGE ENCODING 53TABLE 76 QUERY SERVICES MESSAGE ENCODING . 54TABLE 77 QUERY SERVICE LIST MESSAGE ENCODING 55TABLE 78 REPORT IDENTIFICATION MESSAGE ENCODING 56TABLE 79 REPORT CONFIGURATION MESSAGE ENCODING 57TABLE 80 REPORT SUBSYSTEM LIST MESSAGE ENCO

37、DING 57TABLE 81 REPORT SERVICES MESSAGE ENCODING 58TABLE 82 REPORT SERVICE LIST MESSAGE ENCODING 59TABLE 83 DISCOVERY SERVICE STATE TRANSITIONS 60TABLE 84 DISCOVERY SERVICE TRANSITION ACTIONS 60TABLE 85 LIST MANAGER SERVICE VOCABULARY . 63TABLE 86 SET ELEMENT MESSAGE ENCODING 64TABLE 87 DELETE ELEME

38、NT MESSAGE ENCODING . 65TABLE 88 QUERY ELEMENT MESSAGE ENCODING 65TABLE 89 QUERY ELEMENT LIST MESSAGE ENCODING . 66TABLE 90 QUERY ELEMENT COUNT MESSAGE ENCODING 66TABLE 91 CONFIRM ELEMENT REQUEST MESSAGE ENCODING . 66TABLE 92 REJECT ELEMENT REQUEST MESSAGE ENCODING 67TABLE 93 REPORT ELEMENT MESSAGE

39、ENCODING 67TABLE 94 REPORT ELEMENT LIST MESSAGE ENCODING . 67TABLE 95 REPORT ELEMENT COUNT MESSAGE ENCODING 68TABLE 96 LIST MANAGER SERVICE TRANSITION TABLE . 69TABLE 97 LIST MANAGER SERVICE STATE CONDITIONS TABLE 69TABLE 98 LIST MANAGER SERVICE TRANSITION ACTIONS 70Provided by IHSNot for ResaleNo r

40、eproduction or networking permitted without license from IHS-,-,-SAE AS5710A Page 6 of 1261. SCOPE This document defines a set of standard application layer1interfaces called JAUS Core Services. JAUS Services providethe means for software entities in an unmanned system or system of unmanned systems

41、to communicate and coordinate their activities. The Core Services represent the infrastructure commonly found across all domains and types of unmanned systems. At present, eight services are defined in this document: x Transport Service: Abstracts the functionality of the underlying communication tr

42、ansport layer x Events Service: Establishes a publish/subscribe mechanism for automatic messaging x Access Control: Manages preemptable exclusive control for safety critical operations x Management: Defines component life-cycle management x Time: Allows clients to query and set the system time for t

43、he component x Liveness: Provides a means to maintain connection liveness between communicating components x Discovery: Governs automatic discovery of remote entities and their capabilities x List Manager: Encompasses behavior common to doubly linked lists Each service is described by a JAUS Service

44、 Definition (JSD) which specifies the message set and protocol required for compliance. Each JSD is fully compliant with the JAUS Service Interface Definition Language JSIDL.1.1 Purpose The purpose of this document is to facilitate interoperation of unmanned vehicle systems, subsystems, and payloads

45、 by standardization of the message set and associated protocol. 1.2 Compliance The JAUS Core Service Set must support compliance assessment. To do so, this specification must be sufficiently precise to enable the “compliant”/”not compliant” distinction to be made independently of the underlying tran

46、sport mechanism. An implementation is compliant if it strictly adheres to the vocabulary and protocol of the JAUS Service Definition. Sequence diagrams, use cases, and text descriptions are informational only. It is important to note that implementations are considered compliant to individual Servic

47、e Definitions within this Specification; it is not necessary that a single entity realize each Service to be considered compliant. 1.3 Document Organization The layout of this document is as follows. Section 2 lists external references, definitions of common terms and a list of acronyms used through

48、out the specification. Section 3 specifies aspects of message encoding that are common across all services. Many of these encoding rules are more thoroughly discussed in JSIDL. Section 4 provides context for interpreting the protocol portion of a Service Definition. Section 5 specifies the JAUS Service Definition for each of the core services, with particular emphasis on the description, assumptions, message set, and protocol behavior. Section 6is reserved for general notes. Finally, Appendix A and Appendix B contain the complete JSIDL representation for each service and t