By changing lighting pattern of the lamp, this node notifies the following status through /dio_ros_driver.
- Notify surrounding workers of on-demand delivery reservation status.
- 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
- 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.
- from autoware_state_machine
- 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.
- to dio_ros_driver
This node has no parameters.