update service for trigger external signage (#97)

* update service for trigger external signage

Signed-off-by: tkhmy <[email protected]>

* fix new external node (#98)

* fix launch and depend

---------

Signed-off-by: tkhmy <[email protected]>
Co-authored-by: yabuta <[email protected]>

src/external_signage/launch/external_signage.launch.xml

@@ -0,0 +1,4 @@
+<?xml version="1.0"?>
+<launch>
+  <node pkg="external_signage" exec="external_signage"  output="screen" />
+</launch>

src/external_signage/package.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>external_signage</name>
+  <version>0.1.0</version>
+  <description>The signage package</description>
+
+  <maintainer email="[email protected]">yabuta</maintainer>
+
+  <license>Apache License 2.0</license>
+  <exec_depend>ament_index_python</exec_depend>
+  <exec_depend>signage_version</exec_depend>
+
+  <depend>autoware_auto_system_msgs</depend>
+  <depend>diagnostic_updater</depend>
+  <depend>python-pulsectl-pip</depend>
+  <depend>rclpy</depend>
+  <depend>std_srvs</depend>
+  <depend>tier4_api_msgs</depend>
+  <depend>tier4_debug_msgs</depend>
+  <depend>tier4_external_api_msgs</depend>
+  <depend>tier4_hmi_msgs</depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

src/external_signage/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/external_signage
+[install]
+install-scripts=$base/lib/external_signage

src/external_signage/setup.py

@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+
+import os
+
+from setuptools import setup
+
+
+def package_files(directory):
+    paths = []
+    for (path, directories, filenames) in os.walk(directory):
+        for filename in filenames:
+            paths.append(os.path.join(path, filename))
+    return paths
+
+
+package_name = "external_signage"
+setup(
+    name=package_name,
+    version="0.1.0",
+    package_dir={"": "src"},
+    packages=[package_name],
+    data_files=[
+        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+        ("share/" + package_name + "/resource/td5_file", package_files("resource/td5_file")),
+        ("share/" + package_name, ["package.xml"]),
+        ("share/" + package_name + "/launch", ["launch/external_signage.launch.xml"]),
+    ],    
+    install_requires=["setuptools"],
+    zip_safe=True,
+    author="Makoto Yabuta",
+    maintainer="Makoto Yabuta",
+    maintainer_email="[email protected]",
+    keywords=["ROS"],
+    classifiers=[
+        "Intended Audience :: Developers",
+        "License :: OSI Approved :: Apache Software License",
+        "Programming Language :: Python",
+        "Topic :: Software Development",
+    ],
+    description=("external_signage provides a GUI for passanger."),
+    license="TODO",
+    entry_points={
+        "console_scripts": [
+            "external_signage = external_signage.external_signage:main",
+        ]
+    },
+)

src/external_signage/src/external_signage/__init__.py

@@ -0,0 +1,4 @@
+# This Python file uses the following encoding: utf-8
+
+# if__name__ == "__main__":
+#     pass

src/external_signage/src/external_signage/external_signage.py

@@ -0,0 +1,23 @@
+# This Python file uses the following encoding: utf-8
+import sys
+
+import rclpy
+from rclpy.node import Node
+
+from external_signage.external_signage_core import ExternalSignage
+from ament_index_python.packages import get_package_share_directory
+
+def main(args=None):
+    package_path = get_package_share_directory("external_signage")
+
+    rclpy.init(args=args)
+    node = Node("external_signage")
+
+    external_signage = ExternalSignage(node)
+
+    while True:
+        rclpy.spin_once(node, timeout_sec=0.01)
+
+
+if __name__ == "__main__":
+    main()

src/signage/src/signage/external_signage.py → src/external_signage/src/external_signage/external_signage_core.py

@@ -2,8 +2,9 @@
 import datetime
 import time
 import serial
+from std_srvs.srv import SetBool
 from ament_index_python.packages import get_package_share_directory
-import signage.packet_tools as packet_tools
+import external_signage.packet_tools as packet_tools
 
 
 @dataclass
@@ -113,6 +114,7 @@ def __init__(self, node):
             "back": self._load_display_data(self.protocol.back, package_path),
             "side": self._load_display_data(self.protocol.side, package_path),
         }
+        node.create_service(SetBool, "/signage/trigger_external", self.trigger_external_signage)
 
     def _load_display_data(self, display, package_path):
         auto_path = package_path + f"/automatic_{display.width}x{display.height}.td5"
@@ -134,17 +136,15 @@ def send_data(self, display_key, data_key):
         sender = DataSender(self.bus, self.parser, self.protocol, self.node.get_logger())
         sender.send(data, ack_query_ack, ack_data_chunk)
 
-    def trigger(self):
+    def trigger_external_signage(self, request, response):
         if not self._external_signage_available:
-            return
-
-        for display_key in self.displays:
-            self.send_data(display_key, "auto")
-            time.sleep(1)
-
-    def close(self):
-        if not self._external_signage_available:
-            return
-
-        for display_key in self.displays:
-            self.send_data(display_key, "null")
+            return response
+
+        if request.data:
+            for display_key in self.displays:
+                self.send_data(display_key, "auto")
+                time.sleep(1)
+        else:
+            for display_key in self.displays:
+                self.send_data(display_key, "null")
+        return response

src/signage/launch/signage.launch.xml

@@ -4,4 +4,5 @@
   <node pkg="signage" exec="signage"  output="screen">
     <param from="$(var signage_param)"/>
   </node>
+  <node pkg="external_signage" exec="external_signage"  output="screen" />
 </launch>

src/signage/package.xml

@@ -14,10 +14,12 @@
   <depend>diagnostic_updater</depend>
   <depend>python-pulsectl-pip</depend>
   <depend>rclpy</depend>
+  <depend>std_srvs</depend>
   <depend>tier4_api_msgs</depend>
   <depend>tier4_debug_msgs</depend>
   <depend>tier4_external_api_msgs</depend>
   <depend>tier4_hmi_msgs</depend>
+  <depend>external_signage</depend>
 
   <export>
     <build_type>ament_python</build_type>

src/signage/src/signage/ros_service_interface.py

@@ -16,7 +16,7 @@
 import rclpy
 import time
 import threading
-
+from std_srvs.srv import SetBool
 from autoware_adapi_v1_msgs.srv import AcceptStart
 
 from std_srvs.srv import Trigger
@@ -31,13 +31,20 @@ def __init__(self, node, parameter_interface):
         self._parameter = parameter_interface.parameter
         if self._parameter.signage_stand_alone:
             self._cli_accept_start = self.__create_client(AcceptStart, "/api/motion/accept_start")
+        self._cli_trigger_external = self.__create_client(SetBool, "/signage/trigger_external")
 
     # service call function
     def accept_start(self):
         if self._parameter.signage_stand_alone:
             request = AcceptStart.Request()
             self.__service_call(self._cli_accept_start, request, True)
 
+    # service call function
+    def trigger_external_signage(self, on):
+        request = SetBool.Request()
+        request.data = on
+        self.__service_call(self._cli_trigger_external, request, True)
+
     # common denominator
     def __create_client(self, service_type, service_name):
         client = self._node.create_client(service_type, service_name)

src/signage/src/signage/route_handler.py

@@ -26,15 +26,13 @@ def __init__(
         autoware_interface,
         parameter_interface,
         ros_service_interface,
-        external_signage,
     ):
         self._node = node
         self._viewController = viewController
         self._announce_interface = announceController
         self._autoware = autoware_interface
         self._parameter = parameter_interface.parameter
         self._service_interface = ros_service_interface
-        self._external_signage = external_signage
         self.AUTOWARE_IP = os.getenv("AUTOWARE_IP", "localhost")
         self._fms_payload = {
             "method": "get",
@@ -145,7 +143,7 @@ def announce_engage_when_starting(self):
                     self._parameter.accept_start,
                 ):
                     self._announce_interface.send_announce("restart_engage")
-                    self._external_signage.trigger()
+                    self._service_interface.trigger_external_signage(True)
                     self._trigger_external_signage = True
                     self._engage_trigger_time = self._node.get_clock().now()
 
@@ -281,7 +279,7 @@ def route_checker_callback(self):
                 self._is_stopping = False
                 if not self._announce_engage and self._parameter.signage_stand_alone:
                     self._announce_interface.send_announce("engage")
-                    self._external_signage.trigger()
+                    self._service_interface.trigger_external_signage(True)
                     self._trigger_external_signage = True
                     self._announce_engage = True
             elif self._autoware.information.route_state == RouteState.ARRIVED:
@@ -295,7 +293,7 @@ def route_checker_callback(self):
                 self._autoware.information.operation_mode != OperationModeState.AUTONOMOUS
                 and self._trigger_external_signage
             ):
-                self._external_signage.close()
+                self._service_interface.trigger_external_signage(False)
                 self._trigger_external_signage = False
 
             if self._prev_route_state != RouteState.SET:

src/signage/src/signage/signage.py

@@ -14,7 +14,6 @@
 from signage.parameter_interface import ParameterInterface
 from signage.route_handler import RouteHandler
 from signage.ros_service_interface import RosServiceInterface
-from signage.external_signage import ExternalSignage
 from ament_index_python.packages import get_package_share_directory
 
 
@@ -34,15 +33,13 @@ def main(args=None):
     ros_service_interface = RosServiceInterface(node, parameter_interface)
     viewController = ViewControllerProperty(node, parameter_interface)
     announceController = AnnounceControllerProperty(node, autoware_interface, parameter_interface)
-    external_signage = ExternalSignage(node)
     route_handler = RouteHandler(
         node,
         viewController,
         announceController,
         autoware_interface,
         parameter_interface,
         ros_service_interface,
-        external_signage,
     )
 
     ctx = engine.rootContext()