add sound on/off

src/signage/config/announce_settings.yaml

@@ -0,0 +1,11 @@
+signage:
+  ros__parameters:
+    emergency: true
+    restart_engage: true
+    door_close: true
+    door_open: true
+    engage: true
+    thank_you: true
+    in_emergency: true
+    going_to_depart: true
+    going_to_arrive: true

src/signage/launch/signage.launch.xml

@@ -1,7 +1,9 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="signage_param" default="$(find-pkg-share signage)/config/signage_param.yaml" />
+  <arg name="announce_settings_param" default="$(find-pkg-share signage)/config/announce_settings.yaml" />
   <node pkg="signage" exec="signage"  output="screen">
     <param from="$(var signage_param)"/>
+    <param from="$(var announce_settings_param)"/>
   </node>
 </launch>

src/signage/setup.py

@@ -42,6 +42,7 @@ def package_files(directory):
         ("share/" + package_name, ["package.xml"]),
         ("share/" + package_name + "/launch", ["launch/signage.launch.xml"]),
         ("share/" + package_name + "/config", ["config/signage_param.yaml"]),
+        ("share/" + package_name + "/config", ["config/announce_settings.yaml"]),
     ],
     install_requires=["setuptools"],
     zip_safe=True,

src/signage/src/signage/announce_controller.py

@@ -5,6 +5,7 @@
 from PyQt5.QtMultimedia import QSound
 from rclpy.duration import Duration
 from ament_index_python.packages import get_package_share_directory
+from dataclasses import asdict
 
 # The higher the value, the higher the priority
 PRIORITY_DICT = {
@@ -27,6 +28,7 @@ def __init__(self, node, autoware_interface, parameter_interface):
 
         self._node = node
         self._parameter = parameter_interface.parameter
+        self._announce_settings = parameter_interface.announce_settings
         self._current_announce = ""
         self._pending_announce_list = []
         self._sound = QSound("")
@@ -62,10 +64,22 @@ def play_sound(self, message):
         self._sound = QSound(self._package_path + message + ".wav")
         self._sound.play()
 
+    # skip announce by setting
+    def check_announce_or_not(self, message):
+        try:
+            self._node.get_logger().info(message)
+            return asdict(self._announce_settings).get(message, False)
+        except Exception as e:
+            self._node.get_logger().error("check announce or not: " + str(e))
+            return False
+
     def send_announce(self, message):
         priority = PRIORITY_DICT.get(message, 0)
         previous_priority = PRIORITY_DICT.get(self._current_announce, 0)
 
+        if not self.check_announce_or_not(message):
+            return
+
         if priority == 3:
             self._sound.stop()
             self.play_sound(message)

src/signage/src/signage/parameter_interface.py

@@ -18,10 +18,23 @@ class SignageParameter:
     monitor_width: int = 1920
     monitor_height: int = 540
 
+@dataclass
+class AnnounceParameter:
+    emergency: bool = True
+    restart_engage: bool = True
+    door_close: bool = True
+    door_open: bool = True
+    engage: bool = True
+    arrived: bool = True
+    thank_you: bool = True
+    in_emergency: bool = True
+    going_to_depart: bool = True
+    going_to_arrive: bool = True
 
 class ParameterInterface:
     def __init__(self, node):
         self.parameter = SignageParameter()
+        self.announce_settings = AnnounceParameter()
 
         node.declare_parameter("signage_stand_alone", False)
         node.declare_parameter("ignore_manual_driving", False)
@@ -34,6 +47,17 @@ def __init__(self, node):
         node.declare_parameter("monitor_width", 1920)
         node.declare_parameter("monitor_height", 540)
 
+        node.declare_parameter("emergency", True)
+        node.declare_parameter("restart_engage", True)
+        node.declare_parameter("door_close", True)
+        node.declare_parameter("door_open", True)
+        node.declare_parameter("engage", True)
+        node.declare_parameter("thank_you", True)
+        node.declare_parameter("in_emergency", True)
+        node.declare_parameter("going_to_depart", True)
+        node.declare_parameter("going_to_arrive", True)
+
+
         self.parameter.signage_stand_alone = (
             node.get_parameter("signage_stand_alone").get_parameter_value().bool_value
         )
@@ -64,3 +88,32 @@ def __init__(self, node):
         self.parameter.monitor_height = (
             node.get_parameter("monitor_height").get_parameter_value().integer_value
         )
+
+        self.announce_settings.emergency = (
+            node.get_parameter("emergency").get_parameter_value().bool_value
+        )
+        self.announce_settings.restart_engage = (
+            node.get_parameter("restart_engage").get_parameter_value().bool_value
+        )
+        self.announce_settings.door_close = (
+            node.get_parameter("door_close").get_parameter_value().bool_value
+        )
+        self.announce_settings.door_open = (
+            node.get_parameter("door_open").get_parameter_value().bool_value
+        )
+        self.announce_settings.engage = (
+            node.get_parameter("engage").get_parameter_value().bool_value
+        )
+        self.announce_settings.thank_you = (
+            node.get_parameter("thank_you").get_parameter_value().bool_value
+        )
+        self.announce_settings.in_emergency = (
+            node.get_parameter("in_emergency").get_parameter_value().bool_value
+        )
+        self.announce_settings.going_to_depart = (
+            node.get_parameter("going_to_depart").get_parameter_value().bool_value
+        )
+        self.announce_settings.going_to_arrive = (
+            node.get_parameter("going_to_arrive").get_parameter_value().bool_value
+        )
+

src/signage/src/signage/route_handler.py

@@ -141,7 +141,7 @@ def announce_engage_when_starting(self):
                     self._engage_trigger_time,
                     self._parameter.accept_start,
                 ):
-                    self._announce_interface.send_announce("engage")
+                    self._announce_interface.send_announce("restart_engage")
                     self._engage_trigger_time = self._node.get_clock().now()
 
                 if self._autoware.information.motion_state == MotionState.STARTING:
@@ -347,6 +347,7 @@ def calculate_time_callback(self):
                     self._announce_interface.announce_going_to_depart_and_arrive("going_to_depart")
             elif self._is_driving:
                 # handle text and announce while bus is running
+                self._node.get_logger().info(str(self._autoware.information.goal_distance))
                 if self._autoware.information.goal_distance < 100:
                     # display text and announce if the goal is within 100m
                     self._display_phrase = utils.handle_phrase("arriving")