add autoware_control check (#99)

* add autoware_control check Signed-off-by: tkhmy <[email protected]> * update external signage logic Signed-off-by: tkhmy <[email protected]> --------- Signed-off-by: tkhmy <[email protected]>
tier4 · Apr 17, 2024 · 69d62b0 · 69d62b0
1 parent 2316a6f
commit 69d62b0
Showing 1 changed file with 8 additions and 6 deletions.
diff --git a/src/signage/src/signage/route_handler.py b/src/signage/src/signage/route_handler.py
@@ -143,8 +143,6 @@ def announce_engage_when_starting(self):
                     self._parameter.accept_start,
                 ):
                     self._announce_interface.send_announce("restart_engage")
-                    self._service_interface.trigger_external_signage(True)
-                    self._trigger_external_signage = True
                     self._engage_trigger_time = self._node.get_clock().now()
 
                 if self._autoware.information.motion_state == MotionState.STARTING:
@@ -277,10 +275,14 @@ def route_checker_callback(self):
                 # Check whether the vehicle is move in autonomous
                 self._is_driving = True
                 self._is_stopping = False
-                if not self._announce_engage and self._parameter.signage_stand_alone:
-                    self._announce_interface.send_announce("engage")
+                if (
+                    not self._trigger_external_signage
+                    and self._autoware.information.autoware_control
+                ):
                     self._service_interface.trigger_external_signage(True)
                     self._trigger_external_signage = True
+                if not self._announce_engage and self._parameter.signage_stand_alone:
+                    self._announce_interface.send_announce("engage")
                     self._announce_engage = True
             elif self._autoware.information.route_state == RouteState.ARRIVED:
                 # Check whether the vehicle arrive to goal
@@ -291,8 +293,8 @@ def route_checker_callback(self):
 
             if (
                 self._autoware.information.operation_mode != OperationModeState.AUTONOMOUS
-                and self._trigger_external_signage
-            ):
+                or self._autoware.information.autoware_control != True
+            ) and self._trigger_external_signage:
                 self._service_interface.trigger_external_signage(False)
                 self._trigger_external_signage = False