chore: sync beta/v2.4.0 (#121)

* cancel announce (#107) * add fix going to depart and arrive announce (#108) (#111) * add fix going to depart and arrive announce * fix * reset flag when no schedule --------- Signed-off-by: tkhmy <[email protected]> Co-authored-by: Kah Hooi Tan <[email protected]> * fix ignore emergency parameter not working (#110) (#112) * fix ignore emergency parameter not working * add comfortable stop condition * change comfortable stop condition --------- Signed-off-by: tkhmy <[email protected]> Co-authored-by: Kah Hooi Tan <[email protected]> * add thread handlering (#109) (#113) * fix condition (#114) * remove unneccess step (#115) * feat: remove request library (#118) (#119) Signed-off-by: tkhmy <[email protected]> * add handling for force goal (#120) Signed-off-by: tkhmy <[email protected]> --------- Signed-off-by: tkhmy <[email protected]> Co-authored-by: Kah Hooi Tan <[email protected]>
tier4 · Sep 26, 2024 · 016f5b2 · 016f5b2
1 parent b1d0ebd
commit 016f5b2
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Showing 2 changed files with 11 additions and 4 deletions.
diff --git a/src/signage/src/signage/autoware_interface.py b/src/signage/src/signage/autoware_interface.py
@@ -98,7 +98,7 @@ def reset_timer(self):
         if utils.check_timeout(
             self._node.get_clock().now(), self._autoware_connection_time, DISCONNECT_THRESHOLD
         ):
-            self.information = AutowareInformation()
+            self.information.mrm_behavior = MrmState.NONE
             self._node.get_logger().error(
                 "Autoware disconnected", throttle_duration_sec=DISCONNECT_THRESHOLD
             )

diff --git a/src/signage/src/signage/route_handler.py b/src/signage/src/signage/route_handler.py
@@ -91,8 +91,15 @@ def emergency_checker_callback(self):
                 MrmState.COMFORTABLE_STOP,
                 MrmState.PULL_OVER,
             ]:
-                self._in_slowing_state == self._autoware.information.motion_state == MotionState.MOVING
-                self._in_slow_stop_state == self._autoware.information.motion_state == MotionState.STOPPED
+                self._in_slowing_state = (
+                    self._autoware.information.motion_state == MotionState.MOVING
+                )
+                self._in_slow_stop_state = (
+                    self._autoware.information.motion_state == MotionState.STOPPED
+                )
+            else:
+                self._in_slowing_state = False
+                self._in_slow_stop_state = False
 
         if in_emergency and not self._in_emergency_state:
             self._announce_interface.announce_emergency("emergency")
@@ -298,7 +305,7 @@ def route_checker_callback(self):
                     self._service_interface.trigger_external_signage(True)
                     self._trigger_external_signage = True
                     self._announce_engage = True
-            elif self._autoware.information.route_state == RouteState.ARRIVED:
+            elif self._autoware.information.route_state in [RouteState.ARRIVED, RouteState.UNSET]:
                 # Check whether the vehicle arrive to goal
                 self._is_driving = False
                 self._is_stopping = True