refactor(emergency_handler): rework parameters (#5242)

* refactor(emergency_handler): rework parameters Signed-off-by: Yuqi Huai <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Yuqi Huai <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
autowarefoundation · Nov 23, 2023 · 4bc4332 · 4bc4332
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diff --git a/system/emergency_handler/README.md b/system/emergency_handler/README.md
@@ -35,20 +35,7 @@ Emergency Handler is a node to select proper MRM from from system failure state
 
 ## Parameters
 
-### Node Parameters
-
-| Name        | Type | Default Value | Explanation            |
-| ----------- | ---- | ------------- | ---------------------- |
-| update_rate | int  | `10`          | Timer callback period. |
-
-### Core Parameters
-
-| Name                        | Type   | Default Value | Explanation                                                                                                                       |
-| --------------------------- | ------ | ------------- | --------------------------------------------------------------------------------------------------------------------------------- |
-| timeout_hazard_status       | double | `0.5`         | If the input `hazard_status` topic cannot be received for more than `timeout_hazard_status`, vehicle will make an emergency stop. |
-| use_parking_after_stopped   | bool   | `false`       | If this parameter is true, it will publish PARKING shift command.                                                                 |
-| turning_hazard_on.emergency | bool   | `true`        | If this parameter is true, hazard lamps will be turned on during emergency state.                                                 |
-| use_comfortable_stop        | bool   | `false`       | If this parameter is true, operate comfortable stop when latent faults occur.                                                     |
+{{ json_to_markdown("system/emergency_handler/schema/emergency_handler.schema.json") }}
 
 ## Assumptions / Known limits
 

diff --git a/system/emergency_handler/schema/emergency_handler.schema.json b/system/emergency_handler/schema/emergency_handler.schema.json
@@ -0,0 +1,77 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for emergency handler",
+  "type": "object",
+  "definitions": {
+    "emergency_handler": {
+      "type": "object",
+      "properties": {
+        "update_rate": {
+          "type": "integer",
+          "description": "Timer callback period.",
+          "default": 10
+        },
+        "timeout_hazard_status": {
+          "type": "number",
+          "description": "If the input `hazard_status` topic cannot be received for more than `timeout_hazard_status`, vehicle will make an emergency stop.",
+          "default": 0.5
+        },
+        "timeout_takeover_request": {
+          "type": "number",
+          "description": "Transition to MRR_OPERATING if the time from the last takeover request exceeds `timeout_takeover_request`.",
+          "default": 10.0
+        },
+        "use_takeover_request": {
+          "type": "boolean",
+          "description": "If this parameter is true, the handler will record the time and make take over request to the driver when emergency state occurs.",
+          "default": "false"
+        },
+        "use_parking_after_stopped": {
+          "type": "boolean",
+          "description": "If this parameter is true, it will publish PARKING shift command.",
+          "default": "false"
+        },
+        "use_comfortable_stop": {
+          "type": "boolean",
+          "description": "If this parameter is true, operate comfortable stop when latent faults occur.",
+          "default": "false"
+        },
+        "turning_hazard_on": {
+          "type": "object",
+          "properties": {
+            "emergency": {
+              "type": "boolean",
+              "description": "If this parameter is true, hazard lamps will be turned on during emergency state.",
+              "default": "true"
+            }
+          },
+          "required": ["emergency"]
+        }
+      },
+      "required": [
+        "update_rate",
+        "timeout_hazard_status",
+        "timeout_takeover_request",
+        "use_takeover_request",
+        "use_parking_after_stopped",
+        "use_comfortable_stop",
+        "turning_hazard_on"
+      ],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/emergency_handler"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}
diff --git a/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp b/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp
@@ -21,13 +21,13 @@
 EmergencyHandler::EmergencyHandler() : Node("emergency_handler")
 {
   // Parameter
-  param_.update_rate = declare_parameter<int>("update_rate", 10);
-  param_.timeout_hazard_status = declare_parameter<double>("timeout_hazard_status", 0.5);
-  param_.timeout_takeover_request = declare_parameter<double>("timeout_takeover_request", 10.0);
-  param_.use_takeover_request = declare_parameter<bool>("use_takeover_request", false);
-  param_.use_parking_after_stopped = declare_parameter<bool>("use_parking_after_stopped", false);
-  param_.use_comfortable_stop = declare_parameter<bool>("use_comfortable_stop", false);
-  param_.turning_hazard_on.emergency = declare_parameter<bool>("turning_hazard_on.emergency", true);
+  param_.update_rate = declare_parameter<int>("update_rate");
+  param_.timeout_hazard_status = declare_parameter<double>("timeout_hazard_status");
+  param_.timeout_takeover_request = declare_parameter<double>("timeout_takeover_request");
+  param_.use_takeover_request = declare_parameter<bool>("use_takeover_request");
+  param_.use_parking_after_stopped = declare_parameter<bool>("use_parking_after_stopped");
+  param_.use_comfortable_stop = declare_parameter<bool>("use_comfortable_stop");
+  param_.turning_hazard_on.emergency = declare_parameter<bool>("turning_hazard_on.emergency");
 
   using std::placeholders::_1;