{
  "emergency_stop": {},
  "set_direction": {
    "parameters": [
      {
        "name": "direction"
      }
    ]
  },
  "change_direction": {},
  "set_speed": {
    "parameters": [
      {
        "name": "speed"
      },
      {
        "name": "unit"
      }
    ]
  },
  "set_target_speed": {
    "parameters": [
      {
        "name": "target_speed"
      },
      {
        "name": "unit"
      }
    ]
  },
  "acquire": {
    "parameters": [
      {
        "name": "train"
      },
      {
        "name": "steal",
        "optional": true
      }
    ],
    "return_values": 1
  },
  "release": {
    "parameters": [
      {
        "name": "stop",
        "optional": true
      }
    ],
    "return_values": 0
  }
}