From 82578ba04b11610c970fde475d35b336c7d1206c Mon Sep 17 00:00:00 2001 From: tkhmy Date: Wed, 11 Sep 2024 14:02:12 +0900 Subject: [PATCH] add handling for force goal Signed-off-by: tkhmy --- src/signage/src/signage/route_handler.py | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/src/signage/src/signage/route_handler.py b/src/signage/src/signage/route_handler.py index 8af0871..0c15d63 100644 --- a/src/signage/src/signage/route_handler.py +++ b/src/signage/src/signage/route_handler.py @@ -92,8 +92,12 @@ 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 @@ -286,7 +290,7 @@ def route_checker_callback(self): self._is_driving = True self._is_stopping = False self._announced_depart = False - + if ( not self._trigger_external_signage and self._autoware.information.autoware_control @@ -302,7 +306,7 @@ 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