docs(emergency_handler): fix dead link in readme (tier4#644)

angry-crab · boyali · commit 606d6a48fd93 · 2022-10-03T17:02:45.000+09:00
* docs(emergency_handler): fix dead link in readme

Signed-off-by: Xinyu Wang &lt;xinyu.wang@tier4.jp&gt;

* save image to local

Signed-off-by: Xinyu Wang &lt;xinyu.wang@tier4.jp&gt;
diff --git a/system/emergency_handler/README.md b/system/emergency_handler/README.md
@@ -8,7 +8,7 @@ Emergency Handler is a node to select proper MRM from from system failure state
 
 ### State Transitions
 
-![fail-safe-state](https://tier4.github.io/autoware.proj/tree/main/design/apis/image/fail-safe-state.drawio.svg)
+![fail-safe-state](image/fail-safe-state.drawio.svg)
 
 ## Inputs / Outputs
 
diff --git a/system/emergency_handler/image/fail-safe-state.drawio.svg b/system/emergency_handler/image/fail-safe-state.drawio.svg
@@ -0,0 +1,238 @@
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+                        <div style="box-sizing: border-box; font-size: 0; text-align: center; ">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: #000000; line-height: 1.2; pointer-events: all; white-space: normal; word-wrap: normal; ">
+                                <span>
+                                    Normal
+                                </span>
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="120" y="124" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
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+        <g fill="#000000" font-family="Helvetica" font-weight="bold" pointer-events="none" text-anchor="middle" font-size="12px">
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+            </text>
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+                                OverrideRequesting
+                            </div>
+                        </div>
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+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 180px; margin-left: 441px;">
+                        <div style="box-sizing: border-box; font-size: 0; text-align: center; ">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: #000000; line-height: 1.2; pointer-events: none; white-space: normal; word-wrap: normal; ">
+                                MrmOperating
+                            </div>
+                        </div>
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+                <text x="500" y="184" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    MrmOperating
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+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
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+                        <div style="box-sizing: border-box; font-size: 0; text-align: center; ">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: #000000; line-height: 1.2; pointer-events: none; white-space: normal; word-wrap: normal; ">
+                                MrmFailed
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="740" y="104" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    MrmFailed
+                </text>
+            </switch>
+        </g>
+        <path d="M 560 180 L 600 180 L 600 100 L 673.63 100" fill="none" stroke="#000000" stroke-miterlimit="10" pointer-events="none"/>
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+        <rect x="680" y="160" width="120" height="40" rx="6" ry="6" fill="#ffffff" stroke="#000000" pointer-events="none"/>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 118px; height: 1px; padding-top: 180px; margin-left: 681px;">
+                        <div style="box-sizing: border-box; font-size: 0; text-align: center; ">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: #000000; line-height: 1.2; pointer-events: none; white-space: normal; word-wrap: normal; ">
+                                MrmSucceeded
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="740" y="184" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    MrmSucceeded
+                </text>
+            </switch>
+        </g>
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+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 68px; height: 1px; padding-top: 140px; margin-left: 431px;">
+                        <div style="box-sizing: border-box; font-size: 0; text-align: center; ">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: #000000; line-height: 1.2; pointer-events: none; white-space: normal; word-wrap: normal; ">
+                                no reaction
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="465" y="144" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    no reaction
+                </text>
+            </switch>
+        </g>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 78px; height: 1px; padding-top: 90px; margin-left: 601px;">
+                        <div style="box-sizing: border-box; font-size: 0; text-align: center; ">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: #000000; line-height: 1.2; pointer-events: none; white-space: normal; word-wrap: normal; ">
+                                failure
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="640" y="94" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    failure
+                </text>
+            </switch>
+        </g>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 78px; height: 1px; padding-top: 90px; margin-left: 361px;">
+                        <div style="box-sizing: border-box; font-size: 0; text-align: center; ">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: #000000; line-height: 1.2; pointer-events: none; white-space: normal; word-wrap: normal; ">
+                                warning
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="400" y="94" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    warning
+                </text>
+            </switch>
+        </g>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 78px; height: 1px; padding-top: 70px; margin-left: 161px;">
+                        <div style="box-sizing: border-box; font-size: 0; text-align: center; ">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: #000000; line-height: 1.2; pointer-events: none; white-space: normal; word-wrap: normal; ">
+                                emergency
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="200" y="74" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    emergency
+                </text>
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+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
+                    <div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 78px; height: 1px; padding-top: 170px; margin-left: 161px;">
+                        <div style="box-sizing: border-box; font-size: 0; text-align: center; ">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: #000000; line-height: 1.2; pointer-events: none; white-space: normal; word-wrap: normal; ">
+                                recovery
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="200" y="174" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    recovery
+                </text>
+            </switch>
+        </g>
+        <g transform="translate(-0.5 -0.5)">
+            <switch>
+                <foreignObject style="overflow: visible; text-align: left;" pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility">
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+                        <div style="box-sizing: border-box; font-size: 0; text-align: center; ">
+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: #000000; line-height: 1.2; pointer-events: none; white-space: normal; word-wrap: normal; ">
+                                success
+                            </div>
+                        </div>
+                    </div>
+                </foreignObject>
+                <text x="640" y="174" fill="#000000" font-family="Helvetica" font-size="12px" text-anchor="middle">
+                    success
+                </text>
+            </switch>
+        </g>
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+                            <div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: #000000; line-height: 1.2; pointer-events: none; white-space: normal; word-wrap: normal; ">
+                                fatal
+                            </div>
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+            <text text-anchor="middle" font-size="10px" x="50%" y="100%">
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+    </switch>
+</svg>
