{
    "property":{
        "name_en":"Base",
        "name_zh":"底盘",
        "index":0        
    },
    "items":[
        {
            "slamware_path":"general",
            "base_path":"",
            "name_en":"General",
            "name_zh":"通用",
            "display_type":"combined",
            "data_type":"object",
            "subitems": [
                {
                    "slamware_path":"",
                    "base_path":"power_off_timeout",
                    "name_en":"Power Off Timeout",
                    "name_zh":"关机等待超时（秒）",
                    "display_type":"textbox",
                    "data_type":"integer",
                    "default_value": 60
                },  
                {
                    "slamware_path":"",
                    "base_path":"can_baudrate_set",
                    "name_en":"CAN Baudrate",
                    "name_zh":"CAN通信波特率",
                    "display_type":"combobox",
                    "data_type":"enum",
                    "default_value": 0,
                    "enums":[
                        {
                            "value":0,
                            "name_en":"500kbps",
                            "name_zh":"500kbps"
                        },
                        {
                            "value":1,
                            "name_en":"1000kbps",
                            "name_zh":"1000kbps"
                        }
                    ]
                },     
                {
                    "slamware_path":"",
                    "base_path":"power_on_beep_disable",
                    "name_en":"Disable Beep When Power On",
                    "name_zh":"禁用开机蜂鸣器提示",
                    "display_type":"checkbox",
                    "data_type":"bool",
                    "default_value":false
                },
                {
                    "slamware_path":"",
                    "base_path":"pmu_enable",
                    "name_en":"Enable PMU",
                    "name_zh":"启用PMU",
                    "display_type":"checkbox",
                    "data_type":"bool",
                    "default_value":true
                }
            ]
        },
        {
            "slamware_path": "size",
            "base_path": "",
            "name_en": "Size",
            "name_zh": "尺寸",
            "display_type": "combined",
            "data_type": "object",
            "subitems": [
                {
                    "slamware_path": "base.robot_size",
                    "base_path": "",
                    "name_en": "Robot Diameter(m)",
                    "name_zh": "机器人直径(米)",
                    "display_type": "textbox",
                    "data_type": "float",
                    "default_value": "0.6"
                },
                {
                    "slamware_path": "base.wheel_span",
                    "base_path": "motors.wheel_base",
                    "name_en": "Wheel Span(m)",
                    "name_zh": "机器人轮距(米)",
                    "display_type": "textbox",
                    "data_type": "float",
                    "default_value": "0.5",
                    "base_scale_factor": 1000.0
                },
                {
                    "slamware_path": "",
                    "base_path": "motors.wheel_diameter",
                    "name_en": "Wheel Diameter(mm)",
                    "name_zh": "机器人轮子直径(毫米)",
                    "display_type": "textbox",
                    "data_type": "float",
                    "default_value": "170"
                }
            ]
        },
        {
            "slamware_path":"",
            "base_path":"",
            "name_en":"Slamware Core Pose",
            "name_zh":"Slamware Core 位姿",
            "display_type":"combined",
            "data_type":"object",
            "subitems":[
                {
                    "slamware_path":"base.slamware_core_pose.head_up",
                    "base_path":"",
                    "name_en":"Slamware Core Head Up",
                    "name_zh":"Slamware Core 朝上",
                    "display_type":"checkbox",
                    "data_type":"bool",
                    "default_value": true
                },
                {
                    "slamware_path":"base.slamware_core_pose.yaw",
                    "base_path":"",
                    "name_en":"Slamware Core Yaw(rad)",
                    "name_zh":"Slamware Core Yaw(弧度)",
                    "display_type": "textbox",
                    "data_type":"float",
                    "default_value": 0
                }
            ]
        },
        {
            "slamware_path":"",
            "base_path":"",
            "name_en":"Motors",
            "name_zh":"电机",
            "display_type":"combined",
            "data_type":"object",
            "subitems":[
                {
                    "slamware_path":"",
                    "base_path":"motors.driver_type",
                    "name_en":"Motor Type",
                    "name_zh":"电机类型",
                    "display_type":"combobox",
                    "data_type":"enum",
                    "default_value":0,
                    "enums":[
                        {
                            "value":0,
                            "name_en":"No Motor Control",
                            "name_zh":"无电机控制"
                        },
                        {
                            "value":1,
                            "name_en":"AMPS",
                            "name_zh":"安普斯"
                        },
                        {
                            "value":2,
                            "name_en":"Kinco",
                            "name_zh":"步科"
                        },
                        {
                            "value":3,
                            "name_en":"GGM",
                            "name_zh":"GGM"
                        },
                        {
                            "value":5,
                            "name_en":"Only Get Deadreckon",
                            "name_zh":"仅读取里程计"
                        },
                        {
                            "value":240,
                            "name_en":"User Defineed CBus",
                            "name_zh":"用户自定义CBus"
                        }
                    ]
                },
                {
                    "slamware_path":"base.driving_model",
                    "base_path":"",
                    "name_en":"Driving Model",
                    "name_zh":"驱动模型",
                    "display_type":"combobox",
                    "data_type":"enum",
                    "default_value": "differential",
                    "enums":[
                        {
                            "value":"differential",
                            "name_en":"Differential",
                            "name_zh":"差分驱动"
                        },
                        {
                            "value":"holonomic",
                            "name_en":"Holonomic",
                            "name_zh":"全向驱动"
                        }
                    ]
                },
                {
                    "slamware_path":"",
                    "base_path":"motors.v_pid_p",
                    "name_en":"Motor PID（P）",
                    "name_zh":"驱动器PID（P）",
                    "display_type":"textbox",
                    "data_type":"integer",
                    "default_value": 0
                },
                {
                    "slamware_path":"",
                    "base_path":"motors.v_pid_i",
                    "name_en":"Motor PID（I）",
                    "name_zh":"驱动器PID（I）",
                    "display_type":"textbox",
                    "data_type":"integer",
                    "default_value": 0
                },
                {
                    "slamware_path":"",
                    "base_path":"motors.driver1_id",
                    "name_en":"Motor1 (ID)",
                    "name_zh":"驱动器1（ID）",
                    "display_type":"textbox",
                    "data_type":"integer",
                    "default_value": 0
                },
                {
                    "slamware_path":"",
                    "base_path":"motors.driver2_id",
                    "name_en":"Motor2 (ID)",
                    "name_zh":"驱动器2（ID）",
                    "display_type":"textbox",
                    "data_type":"integer",
                    "default_value": 0
                }
            ]
        },
        {
            "slamware_path":"",
            "base_path":"",
            "name_en":"Battery",
            "name_zh":"电池",
            "display_type":"combined",
            "data_type":"object",
            "subitems":[
                {
                    "slamware_path":"",
                    "base_path":"battery.type",
                    "name_en":"Battery Type",
                    "name_zh":"电池类型",
                    "display_type":"combobox",
                    "data_type":"enum",
                    "default_value":0,
                    "enums":[
                        {
                            "value":0,
                            "name_en":"Unknown",
                            "name_zh":"未知"
                        },
                        {
                            "value":1,
                            "name_en":"HHS 15AH",
                            "name_zh":"鸿昊升 15AH"
                        },
                        {
                            "value":2,
                            "name_en":"HHS 32AH",
                            "name_zh":"鸿昊升 32AH"
                        },
                        {
                            "value":3,
                            "name_en":"HHS 64AH",
                            "name_zh":"鸿昊升 64AH"
                        }
                    ]
                },
                {
                    "slamware_path":"",
                    "base_path":"battery.low_warning",
                    "name_en":"Low Power Warning (Percent)",
                    "name_zh":"低电量警告（百分比）",
                    "display_type":"textbox",
                    "data_type":"integer",
                    "default_value": 15
                },
                {
                    "slamware_path":"",
                    "base_path":"battery.low_error",
                    "name_en":"Low Power Error (Percent)",
                    "name_zh":"低电量错误（百分比）",
                    "display_type":"textbox",
                    "data_type":"integer",
                    "default_value": 5
                }
            ]
        },
        {
            "slamware_path":"",
            "base_path":"",
            "name_en":"Periphery",
            "name_zh":"Cube扩展板",
            "display_type":"combined",
            "data_type":"object",
            "subitems":[
                {
                    "slamware_path":"",
                    "base_path":"periphery.is_enable",
                    "name_en":"Enable Periphery支",
                    "name_zh":"支持Cube扩展板",
                    "display_type":"checkbox",
                    "data_type":"bool",
                    "default_value": false
                },           
                {
                    "slamware_path":"",
                    "base_path":"periphery.led.type",
                    "name_en":"LED",
                    "name_zh":"LED",
                    "display_type":"combobox",
                    "data_type":"enum",
                    "default_value": 0,
                    "enums":[
                        {
                            "value":0,
                            "name_en":"No LED",
                            "name_zh":"无LED灯带"
                        },
                        {
                            "value":1,
                            "name_en":"Color LED",
                            "name_zh":"彩色LED"
                        },
                        {
                            "value":2,
                            "name_en":"Homochromy LED",
                            "name_zh":"单色LED"
                        }
                    ]
                }
            ]
        }
    ]
}