1 Definition
A Message issued by the Motion Actuation Subsystem after receiving an AMS-MAS Message.
2 Functional Requirements
The MAS issues a series of MAS-AMS Messages at intermediate Poses to inform the AMS about the progress of execution of the AMS-MAS Message containing:
- Current Time
- CAV Spatial Attitude
- Road State in case of serious misalignment between the expected and the actual Spatial Attitude at the current Time.
3 Syntax
https://schemas.mpai.community/CAV2/V1.0/data/MASAMSMessage.json
4 Semantics
| Label | Size | Description |
| Header | N1 Bytes | MAS-AMS Message Header |
| – Standard | 8 Bytes | The characters “CAV-MAM-V” |
| – Version | N2 Bytes | Major version – 1 or 2 Bytes |
| – Dot-separator | 1 Byte | The character “.” |
| – Subversion | N3 Bytes | Minor version – 1 or 2 Bytes |
| MAMIdentifier | N4 Bytes | Identifier of the MAS-AMS Message. |
| MAMData | N5 Bytes | Set of Data in MAS-AMS Message. |
| – MASAMSMessageSpaceTime | N6 Bytes | CAV’s Space and Time information. |
| – RoadState | N7 Bytes | Road State at Time and Spatia lAttitude. |
| DescrMetadata | N8 Bytes | Descriptive Metadata |
5 Data Formats and Attributes
No Formats required.
