1   Definition

The response issued by a Wheel informing about the execution of a Wheel Command.

2   Functional Requirements

The Response of a Wheel to a Wheel Command including:

  1. Issue time.
  2. Wheel State represented by an ID: Normal, WheelLocked.
  3. Final angle of the Wheel.

3   Syntax

https://schemas.mpai.community/CAV2/V1.0/data/WheelResponse.json

4   Semantics

Label Size Description
Header N1 Bytes Steering Response Header
– Standard 9 Bytes The characters “CAV-WLR-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
WheelID N4 Bytes Identifier of a Wheel.
WheelResponseID N5 Bytes Identifier of Wheel Response.
WheelResponse N6 Bytes Wheel Response.
– WheelResponseTime N7 Bytes Time Wheel Response is issued.
– WheelState N8 Bytes State of Wheel.
– WheelAngle N9 Bytes Angle reached by Wheel
DescrMetadata N10 Bytes Descriptive Metadata