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【范围】
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This document defines a set of standard application layer
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interfaces called JAUS Core Services. JAUS Services provide
the means for software entities in an unmanned system or system of unmanned systems 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:
Transport Service: Abstracts the functionality of the underlying communication transport layer
Events Service: Establishes a publish/subscribe mechanism for automatic messaging
Access Control: Manages preemptable exclusive control for safety critical operations
Management: Defines component life-cycle management
Time: Allows clients to query and set the system time for the component
Liveness: Provides a means to maintain connection liveness between communicating components
Discovery: Governs automatic discovery of remote entities and their capabilities
List Manager: Encompasses behavior common to doubly linked lists
Each service is 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].
1.1 Purpose
The purpose of this document is to facilitate interoperation of unmanned vehicle systems, subsystems, and payloads 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 transport
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 Service 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 throughout 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 6
is reserved for general notes. Finally, Appendix A and Appendix B contain the complete JSIDL representation for each
service and their associated message set.strRefField
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