add pull over mrm

tier4 · Jun 26, 2024 · 2a53734 · 2a53734
1 parent 79a9165
commit 2a53734
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Showing 2 changed files with 11 additions and 6 deletions.
diff --git a/src/signage/src/signage/autoware_interface.py b/src/signage/src/signage/autoware_interface.py
@@ -17,6 +17,7 @@
 
 DISCONNECT_THRESHOLD = 2
 
+
 @dataclass
 class AutowareInformation:
     autoware_control: bool = False
@@ -94,9 +95,13 @@ def __init__(self, node):
         self._node.create_timer(1, self.reset_timer)
 
     def reset_timer(self):
-        if utils.check_timeout(self._node.get_clock().now(), self._autoware_connection_time, DISCONNECT_THRESHOLD):
+        if utils.check_timeout(
+            self._node.get_clock().now(), self._autoware_connection_time, DISCONNECT_THRESHOLD
+        ):
             self.information = AutowareInformation()
-            self._node.get_logger().error("Autoware disconnected", throttle_duration_sec=DISCONNECT_THRESHOLD)
+            self._node.get_logger().error(
+                "Autoware disconnected", throttle_duration_sec=DISCONNECT_THRESHOLD
+            )
             self.is_disconnected = True
         else:
             self.is_disconnected = False

diff --git a/src/signage/src/signage/route_handler.py b/src/signage/src/signage/route_handler.py
@@ -82,13 +82,13 @@ def emergency_checker_callback(self):
 
         self._in_slowing_state = (
             self._autoware.information.mrm_behavior == MrmState.COMFORTABLE_STOP
-            and self._autoware.information.motion_state == MotionState.MOVING
-        )
+            or self._autoware.information.mrm_behavior == MrmState.PULL_OVER
+        ) and self._autoware.information.motion_state == MotionState.MOVING
 
         self._in_slow_stop_state = (
             self._autoware.information.mrm_behavior == MrmState.COMFORTABLE_STOP
-            and self._autoware.information.motion_state == MotionState.STOPPED
-        )
+            or self._autoware.information.mrm_behavior == MrmState.PULL_OVER
+        ) and self._autoware.information.motion_state == MotionState.STOPPED
 
         if in_emergency and not self._in_emergency_state:
             self._announce_interface.announce_emergency("emergency")