SAE AS 6040-2010 JAUS HMI Service Set《无人系统联合体系结构(JAUS)人机界面(HMI)设施装置》.pdf

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3、ublication may be reproduced, stored in a retrieval system or transmitted, in any form or by any means, electronic, mechanical, photocopying, recording, or otherwise, without the prior written permission of SAE. TO PLACE A DOCUMENT ORDER: Tel: 877-606-7323 (inside USA and Canada) Tel: +1 724-776-497

4、0 (outside USA) Fax: 724-776-0790 Email: CustomerServicesae.org SAE WEB ADDRESS: http:/www.sae.org SAE values your input. To provide feedback on this Technical Report, please visit http:/www.sae.org/technical/standards/AS6040 AEROSPACE STANDARD AS6040 Issued 2010-11 Reaffirmed 2015-04 JAUS HMI Servi

5、ce Set RATIONALE AS6040 has been reaffirmed to comply with the SAE five-year review policy. INTRODUCTION The primary goal of the JAUS HMI Service Set is to allow elements in an unmanned system to define graphical information to be displayed and controlled from an operator interface such as an Operat

6、or Control Unit (OCU), providing a capability of interoperability between the remote asset and operator interface. To this end, each service defines the messages (vocabulary) and protocol (rules) for data exchange. This logical interoperability is independent of the physical transport, and it is exp

7、ected that a Transport Standard, such as the JAUS/SDP Transport Specification AS5669, is used in conjunction with this specification. Each service in the JAUS HMI Service Set can be described using the JAUS Service Interface Definition Language (JSIDL) AS5684. JSIDL creates a formal schema that allo

8、ws for validation of each service definition described herein. Although knowledge of JSIDL is not required to understand or implement this Specification, it is highly recommended for supporting context. For convenience, the JAUS HMI Service Set contains both a text based and XML based representation

9、 for each service. TABLE OF CONTENTS 1. SCOPE 5 1.1 Purpose . 5 1.2 JAUS Core Service Set . 5 1.3 Compliance . 5 1.4 Document Organization 5 2. REFERENCES 6 2.1 Applicable Documents 6 2.1.1 SAE Publications . 6 2.2 Acronyms 6 3. COMMON CONVENTIONS 7 3.1 Graphics Viewport . 7 3.2 Interpreting a Drawi

10、ng Definition. 8 3.3 Composite Data Type . 9 4. SERVICE DEFINITIONS 10 4.1 Drawing Service 10 4.1.1 Description 10 4.1.2 Assumptions 10 4.1.3 Vocabulary 11 4.1.4 Protocol Behavior 11 4.2 Pointing Device Service 12 4.2.1 Description 13 4.2.2 Assumptions 13 4.2.3 Vocabulary 13 4.2.4 Protocol Behavior

11、13 4.3 Keyboard Service 14 4.3.1 Description 15 4.3.2 Assumptions 15 4.3.3 Vocabulary 15 4.3.4 Protocol Behavior 15 4.4 Digital Control Service 16 4.4.1 Description 17 4.4.2 Assumptions 17 4.4.3 Vocabulary 17 4.4.4 Protocol Behavior 18 4.5 Analog Control Service . 19 4.5.1 Description 19 4.5.2 Assum

12、ptions 20 4.5.3 Vocabulary 20 4.5.4 Protocol Behavior 20 5. DECLARED TYPES 21 5.1 CommandClass. 21 5.1.1 ID 0706h: SetDCM 21 5.2 QueryClass . 22 5.2.1 ID 2700h: QueryDrawingDefinition . 22 5.2.2 ID 2701h: QueryDataDefinition . 22 5.2.3 ID 2702h: QueryData 22 5.2.4 ID 2703h: QueryPointingDeviceMoveme

13、nt . 23 5.2.5 ID 2704h: QueryPointingDeviceAction . 23 5.2.6 ID 2705h: QueryKeyboardAction 23 5.2.7 ID 2706h: QueryDCM . 23 5.2.8 ID 2707h: QueryAnalogDevices 24 5.2.9 ID 2708h: QueryAnalogAction 24 5.3 InformClass . 24 5.3.1 ID 4700h: ReportDrawingDefinition 24 5.3.1.1 Graphics Command Variant Defi

14、nition . 26 5.3.1.1.1 Page (vtag_field= 0) 26 5.3.1.1.2 Background (vtag_field= 1) . 27 5.3.1.1.3 Pen (vtag_field= 2) 27 5.3.1.1.4 Pen Width (vtag_field= 3) 28 5.3.1.1.5 Brush (vtag_field= 4) . 28 5.3.1.1.6 Digital Control (vtag_field= 5) . 28 5.3.1.1.7 Digital Control Group (vtag_field= 6) 29 5.3.1

15、.1.8 Label (vtag_field= 7) . 30 5.3.1.1.9 Value (vtag_field= 8) . 31 5.3.1.1.10 Rotate (vtag_field= 9) 31 5.3.1.1.11 Anti-Rotate (vtag_field= 10) 32 5.3.1.1.12 Translate (vtag_field= 11) . 32 5.3.1.1.13 Anti-Translate (vtag_field= 12) 32 5.3.1.1.14 Rectangle (vtag_field= 13) 32 5.3.1.1.15 Filled Rec

16、tangle (vtag_field= 14) 33 5.3.1.1.16 Circle (vtag_field= 15) . 33 5.3.1.1.17 Filled Circle (vtag_field= 16) . 33 5.3.1.1.18 Ellipse (vtag_field= 17) 34 5.3.1.1.19 Filled Ellipse (vtag_field= 18) 34 SAE INTERNATIONAL AS6040 2 OF 705.3.1.1.20 Line (vtag_field= 19) . 34 5.3.1.1.21 Polyline (vtag_field

17、= 20) 35 5.3.1.1.22 Polygon (vtag_field= 21) . 35 5.3.1.1.23 Filled Polygon (vtag_field= 22) . 35 5.3.1.1.24 Arc (vtag_field= 23) . 36 5.3.1.1.25 Filled Arc (vtag_field= 24) . 36 5.3.1.1.26 Push (vtag_field= 25) 36 5.3.1.1.27 Pop (vtag_field= 26) 36 5.3.1.1.28 If (vtag_field= 27) 36 5.3.1.1.29 Else

18、If (vtag_field= 28) 36 5.3.1.1.30 Else (vtag_field= 29) . 37 5.3.1.1.31 End If (vtag_field= 30) . 37 5.3.1.1.32 Select (vtag_field= 31) 37 5.3.1.1.33 Case (vtag_field= 32) 37 5.3.1.1.34 Default (vtag_field= 33) . 37 5.3.1.1.35 End Select (vtag_field= 34) . 37 5.3.1.1.36 Image (vtag_field= 35) 37 5.3

19、.2 ID 4701h: ReportDataDefinition 38 5.3.3 ID 4702h: ReportData . 39 5.3.4 ID 4703h: ReportPointingDeviceMovement 42 5.3.5 ID 4704h: ReportPointingDeviceAction 43 5.3.6 ID 4705h: ReportKeyboardAction . 44 5.3.7 ID 4706h: ReportDCM 44 5.3.8 ID 4707h: ReportAnalogDevices 45 5.3.9 ID 4708h: ReportAnalo

20、gAction . 45 6. NOTES 46 APPENDIX A XML FOR SERVICE DEFINITIONS . 47 APPENDIX B XML FOR DECLARED TYPE SETS . 54 LIST OF FIGURES FIGURE 1 RECOMMENDED SCREEN LAYOUT . 8 FIGURE 2 DRAWING SERVICE 10 FIGURE 3 DRAWING SERVICE PROTOCOL BEHAVIOR . 11 FIGURE 4 POINTING DEVICE SERVICE . 12 FIGURE 5 POINTING D

21、EVICE SERVICE PROTOCOL BEHAVIOR 13 FIGURE 6 KEYBOARD SERVICE . 14 FIGURE 7 KEYBOARD SERVICE PROTOCOL BEHAVIOR 15 FIGURE 8 DIGITAL CONTROL SERVICE . 16 FIGURE 9 DIGITAL CONTROL SERVICE PROTOCOL BEHAVIOR . 18 FIGURE 10 ANALOG CONTROL SERVICE 19 FIGURE 11 MOVEMENT ORIENTATION 19 FIGURE 12 ANALOG CONTRO

22、L SERVICE PROTOCOL BEHAVIOR 20 LIST OF TABLES TABLE 1 DRAWING SERVICE VOCABULARY 11 TABLE 2 DRAWING SERVICE STATE TRANSITION TABLE 12 TABLE 3 DRAWING SERVICE TRANSITION ACTIONS 12 TABLE 4 POINTING DEVICE SERVICE VOCABULARY 13 TABLE 5 POINTING DEVICE SERVICE STATE TRANSITION TABLE . 14 TABLE 6 POINTI

23、NG DEVICE SERVICE CONDITIONS TABLE . 14 TABLE 7 POINTING DEVICE SERVICE TRANSITION ACTIONS . 14 TABLE 8 KEYBOARD SERVICE VOCABULARY 15 TABLE 9 KEYBOARD SERVICE STATE TRANSITION TABLE . 16 TABLE 10 KEYBOARD SERVICE CONDITIONS TABLE . 16 TABLE 11 KEYBOARD SERVICE TRANSITION ACTIONS . 16 SAE INTERNATIO

24、NAL AS6040 3 OF 70TABLE 12 DIGITAL CONTROL SERVICE VOCABULARY . 17 TABLE 13 DIGITAL CONTROL SERVICE TRANSITION TABLE . 18 TABLE 14 DIGITAL CONTROL SERVICE TRANSITION ACTIONS 18 TABLE 15 ANALOG CONTROL SERVICE VOCABULARY 20 TABLE 16 ANALOG CONTROL SERVICE STATE TRANSITION TABLE . 20 TABLE 17 ANALOG C

25、ONTROL SERVICE TRANSITION ACTIONS . 21 TABLE 18 SET DCM MESSAGE ENCODING . 21 TABLE 19 DIGITAL CONTROL STATES 21 TABLE 20 QUERY DRAWING DEFINITION MESSAGE ENCODING 22 TABLE 21 QUERY DATA DEFINITION MESSAGE ENCODING 22 TABLE 22 QUERY DATA MESSAGE ENCODING . 22 TABLE 23 QUERY POINTING DEVICE MOVEMENT

26、MESSAGE ENCODING . 23 TABLE 24 QUERY POINTING DEVICE ACTION MESSAGE ENCODING 23 TABLE 25 QUERY KEYBOARD ACTION MESSAGE ENCODING 23 TABLE 26 QUERY DCM MESSAGE ENCODING . 23 TABLE 27 QUERY ANALOG DEVICES MESSAGE ENCODING . 24 TABLE 28 QUERY ANALOG ACTION MESSAGE ENCODING . 24 TABLE 29 REPORT DRAWING D

27、EFINITION MESSAGE ENCODING 25 TABLE 30 PAGE MESSAGE ENCODING . 26 TABLE 31 BACKGROUND MESSAGE ENCODING . 27 TABLE 32 PEN MESSAGE ENCODING . 27 TABLE 33 PEN WIDTH MESSAGE ENCODING. 28 TABLE 34 BRUSH MESSAGE ENCODING 28 TABLE 35 DIGITAL CONTROL MESSAGE ENCODING 29 TABLE 36 DIGITAL CONTROL GROUP MESSAG

28、E ENCODING 29 TABLE 37 LABEL MESSAGE ENCODING 30 TABLE 38 VALUE MESSAGE ENCODING . 31 TABLE 39 ROTATE MESSAGE ENCODING 31 TABLE 40 ANTI-ROTATE MESSAGE ENCODING . 32 TABLE 41 TRANSLATE MESSAGE ENCODING 32 TABLE 42 ANTI-TRANSLATE MESSAGE ENCODING 32 TABLE 43 RECTANGLE MESSAGE ENCODING . 32 TABLE 44 FI

29、LLED RECTANGLE MESSAGE ENCODING . 33 TABLE 45 CIRCLE MESSAGE ENCODING 33 TABLE 46 FILLED CIRCLE MESSAGE ENCODING 33 TABLE 47 ELLIPSE MESSAGE ENCODING 34 TABLE 48 FILLED ELLIPSE MESSAGE ENCODING . 34 TABLE 49 LINE MESSAGE ENCODING . 34 TABLE 50 POLYLINE MESSAGE ENCODING . 35 TABLE 51 POLYGON MESSAGE

30、ENCODING . 35 TABLE 52 FILLED POLYGON MESSAGE ENCODING 35 TABLE 53 ARC MESSAGE ENCODING . 36 TABLE 54 FILLED ARC MESSAGE ENCODING 36 TABLE 55 IMAGE MESSAGE ENCODING . 37 TABLE 56 REPORT DATA DEFINITION MESSAGE ENCODING 38 TABLE 57 DATA STRUCTURE DEFINITION MESSAGE CODES 39 TABLE 58 REPORT DATA MESSA

31、GE ENCODING . 40 TABLE 59 REPORT POINTING DEVICE MOVEMENT MESSAGE ENCODING . 42 TABLE 60 REPORT POINTING DEVICE ACTION MESSAGE ENCODING 43 TABLE 61 REPORT KEYBOARD ACTION MESSAGE ENCODING 44 TABLE 62 REPORT DCM MESSAGE ENCODING 44 TABLE 63 REPORT ANALOG DEVICES MESSAGE ENCODING . 45 TABLE 64 REPORT

32、ANALOG MESSAGE ENCODING 46 SAE INTERNATIONAL AS6040 4 OF 701. SCOPE This document defines a set of standard application layer interfaces called JAUS HMI Services. JAUS Services provide the means for software entities in an unmanned system or system of unmanned systems to communicate and coordinate t

33、heir activities. The HMI Services represent the platform-independent Human Machine Interface (HMI) capabilities commonly found across all domains and types of unmanned systems. Five services are defined in this document: Drawing Pointing Device Keyboard Digital Control Analog Control Each service is

34、 described by a JAUS Service 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) AS5684. 1.1 Purpose The purpose of this document is to provide unmanned systems, subsystems, and

35、 payloads a standard message set for the definition of HMI drawing functions and associated control mechanisms. While this standard does not mandate a particular application, a common use allow an unmanned system to provide a consistent user interface across a variety of Operator Control Units (OCUs

36、). 1.2 JAUS Core Service Set The JAUS Service Definitions defined herein make use of the inheritance functionality provided by JSIDL to incorporate capabilities as specified by the JAUS Core Service Set AS5710. These documents must be used together to define a complete service. It is important to no

37、te that details related to Message Serialization and Understanding Protocol Descriptions can be found in the JAUS Core Service Set document, and are not repeated here. 1.3 Compliance The JAUS HMI Service Set must support compliance assessment. To do so, this specification must be sufficiently precis

38、e to enable the “compliant”/”not compliant” distinction to be made independently of the underlying transport mechanism. It is important to note that implementations are considered compliant to individual Service Definitions within this Specification; it is not necessary that a single entity realize

39、each service to be considered compliant. 1.4 Document Organization The layout of this document is as follows. Section 2 lists external references used throughout the specification. Section 3 specifies common conventions and definitions. Section 4 specifies the JAUS Service Definition for each of the

40、 HMI Services, with particular emphasis on the description, assumptions, message set, and protocol behavior. Section 5 describes the message encoding for each message set. Section 6 contains any applicable notes. Finally, APPENDIX A and APPENDIX B contain the complete JSIDL representation for each s

41、ervice and their associated message set. SAE INTERNATIONAL AS6040 5 OF 702. REFERENCES 2.1 Applicable Documents The following publications form a part of this document to the extent specified herein. The latest issue of SAE publications shall apply. The applicable issue of other publications shall b

42、e the issue in effect on the date of the purchase order. In the event of conflict between the text of this document and references cited herein, the text of this document takes precedence. Nothing in this document, however, supersedes applicable laws and regulations unless a specific exemption has b

43、een obtained. 2.1.1 SAE Publications Available from SAE, 400 Commonwealth Drive, Warrendale, PA 15096-0001, Telephone: 877-606-7323 (inside USA and Canada) or 724-776-4970 (outside USA), Web address: http:/www.sae.org AS5710 JAUS Core Service Set, Revision A AS5669 JAUS/SDP Transport Specification,

44、Revision A AS5684 JAUS Service Interface Definition Language, Revision A 2.2 Acronyms AS: Aerospace Standard ASCII: American Standard Code for Information Interchange DCM: Digital Control Message HMI: Human Machine Interface ID: Identifier JAUS: Joint Architecture for Unmanned Systems JSD: JAUS Serv

45、ice Definition JSIDL: JAUS Service Interface Definition Language OCU: Operator Control Unit URN: Uniform Resource Name XML: Extensible Markup Language SAE INTERNATIONAL AS6040 6 OF 703. COMMON CONVENTIONS 3.1 Graphics Viewport For the following defined Drawing and Pointing Device Service definitions

46、, the operator interface will be required to create a Graphics Viewport to interpret and display the Drawing Definition messages from the remote asset, in addition to allow cursor movements and control actions to be returned to the remote asset. The Graphics Viewport is an area of the operator inter

47、face used to display Drawing Definitions that have been requested from a remote asset. The remote asset implementing the Drawing Service specifies the dimensions of the Graphics Viewport using the page graphics command (section 5.3.1.1.1) that the operator interface scales to the available physical

48、area. Remote assets shall assume that the aspect ratio of the Graphics Viewport is square when designing the graphical drawing. In case of the actual Graphics Viewport being rectangular, it is the responsibility of the operator interface to manipulate the drawing process to compensate. The minimum X

49、 and Y coordinates are in the lower left corner of the screen, and by default start with an origin of (0, 0). Positive X is horizontal right and positive Y is vertically up. All coordinates for drawing and pointing device messages are specified in a device-independent coordinate system called User Space, which is mapped to the region defined by the remote asset to specify the dimensions of the Graphics Viewport. Using t