-
Notifications
You must be signed in to change notification settings - Fork 639
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
1 parent
eb09504
commit 6ae6462
Showing
1 changed file
with
74 additions
and
80 deletions.
There are no files selected for viewing
154 changes: 74 additions & 80 deletions
154
system/emergency_handler/schema/emergency_handler.schema.json
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,83 +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 | ||
| "$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"] | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/emergency_handler" | ||
| } | ||
| }, | ||
| "required": [ | ||
| "ros__parameters" | ||
| ], | ||
| "additionalProperties": false | ||
| }, | ||
| "required": [ | ||
| "update_rate", | ||
| "timeout_hazard_status", | ||
| "timeout_takeover_request", | ||
| "use_takeover_request", | ||
| "use_parking_after_stopped", | ||
| "use_comfortable_stop", | ||
| "turning_hazard_on" | ||
| ], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/emergency_handler" | ||
| } | ||
| }, | ||
| "required": [ | ||
| "/**" | ||
| ], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"], | ||
| "additionalProperties": false | ||
| } | ||
| }, | ||
| "required": ["/**"], | ||
| "additionalProperties": false | ||
| } |