Used for interfacing with the "Human-Machine Traffic Management Area" of the SRD, the mutex glyph set. SRD's human-machine traffic management function document:
Detailed explanation of SRD traffic control area 【Internal document】
For SRD, the core exists as an electric control cabinet.

The corresponding configuration in the SRD is:

      - boxId: core
        host: 127.0.0.1 # core的ip地址
        port: 502 # 
        unitId: 0
        lightRedAddr:
          addrNo: 100 # 红灯的地址
          funcNo: "05" # core中模拟的slave只支持05
        lightGreenAddr:
          addrNo: 102 # 绿灯的地址
          funcNo: "05" # core中模拟的slave只支持05
        lightYellowAddr:
          addrNo: 101 # 黄灯地址
          funcNo: "05" # core中模拟的slave只支持05
        switchAddr:
          addrNo: 103 # 开关地址
          funcNo: "05" # core中模拟的slave只支持05

Operational Logic

1. Switch: SRD reads, Core writes; when a robot controlled by Core is occupied, the switch is set to 1, otherwise it's set to 0. When occupied by SRD or not occupied by anyone, the switch is set to 0.
2. Red Light: Core reads, SRD writes; when SRD writes 1, Core will attempt to allocate the mutex group to SRD. If allocation is successful, the red light address is set to 1; if allocation fails, the red light address remains at 0. After successful allocation, the mutex group occupancy status can be queried through the HTTP interface, with the id being SRD.
3. Green Light: Core reads, SRD writes; when SRD writes 1, Core will attempt to release the mutex group using the id SRD. If the release is successful, the green light address is set to 1; the release can be successful when the mutex group is occupied by SRD or not occupied by anyone. If the release fails, the green light address remains at 0. When the green light address is 1, the mutex group is definitely unoccupied. Core will not automatically clear the red light when the green light is on, but SRD will clear it.
4. Yellow Light is maintained by SRD.