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system/emergency_handler/schema/emergency_handler.schema.json
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| 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 | ||
| } |