Lamp manager for delivery reservation

Overview

By changing lighting pattern of the lamp, this node notifies the following status through /dio_ros_driver.

1. Notify surrounding workers of on-demand delivery reservation status.
2. Notify operator of shutdown status.

Lighting patterns are listed below.

Reservation status	lighting pattern
Not reserved	Off
In progress	Blinks(1Hz)
Reserved	Light up

Shutdown status	lighting pattern
Standby for shutdown	Blinks(2Hz)
Successful shutdown initiation	After repeating the following twice, Light off; Blinks twice at 0.2 second intervals, and the second light off for 1.5 seconds.

Input and Output

• input
  • from autoware_state_machine
    • /autoware_state_machine/lock_state [autoware_state_machine_msgs/msg/StateLock]:
      Reservation status for on-demand delivery.
  • from shutdown_manager
    • /shutdown_manager/state [shutdown_manager_msgs/msg/StateShutdown]:
      Shutdown status.
• output
  • to dio_ros_driver
    • /dio/dout3 [dio_ros_driver/msg/DIOPort]:
      Digital-out assignment to a 3rd pin in [0-7] general-purpose outputs. This topic is remapped from /delivery_reservation_lamp_out.

Node Graph

Parameter description

This node has no parameters.