Fix/fms boot shutdown hash 2.3.0 (#137)

* add fms handler Signed-off-by: tkhmy <[email protected]> * add handle negative goal distance (#131) Signed-off-by: tkhmy <[email protected]> * modify sound of emergency stop * modify signage outlook * update hash Signed-off-by: tkhmy <[email protected]> --------- Signed-off-by: tkhmy <[email protected]> Co-authored-by: Shohei Sakai <[email protected]>
tier4 · Nov 21, 2024 · 8eb8237 · 8eb8237
1 parent 5f153f0
commit 8eb8237
Show file tree

Hide file tree

Showing 20 changed files with 210 additions and 43 deletions.
diff --git a/signage.repos b/signage.repos
@@ -2,20 +2,20 @@ repositories:
   src/tier4_autoware_msgs:
     type: git
     url: https://github.com/tier4/tier4_autoware_msgs.git
-    version: tier4/universe
+    version: f605df51444092daa23fbf31a350f058284191f9
   src/auto_msgs:
     type: git
     url: https://github.com/tier4/autoware_auto_msgs.git
-    version: tier4/main
+    version: 1e8b6d234e2690c9da386f006bb60835cdccddfd
   src/autoware_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_msgs.git
-    version: main
+    version: 224bd3a87fb539630f5a09409c809a81f8bb9118
   src/autoware_adapi_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
-    version: main
+    version: 12d6d7729be6b7b42612a202c29556261254ff30
   src/boot_shutdown_tools:
     type: git
     url: https://github.com/tier4/boot_shutdown_tools.git
-    version: main
+    version: v0.1.2
diff --git a/src/external_signage/setup.cfg b/src/external_signage/setup.cfg
@@ -1,4 +1,4 @@
 [develop]
-script-dir=$base/lib/external_signage
+script_dir=$base/lib/external_signage
 [install]
-install-scripts=$base/lib/external_signage
+install_scripts=$base/lib/external_signage
diff --git a/src/signage/config/signage_param.yaml b/src/signage/config/signage_param.yaml
@@ -2,10 +2,11 @@ signage:
   ros__parameters:
     signage_stand_alone: true
     ignore_emergency_stoppped: false
+    ignore_disconnected: false
     ignore_manual_driving: false
     set_goal_by_distance: false
     goal_distance: 1.0 # meter
-    check_fms_time: 5.0 # second
+    check_fms_time: 2.0 # second
     emergency_repeat_period: 180.0 # second
     accept_start: 5.0 # second
     monitor_width: 1920
@@ -19,4 +20,4 @@ signage:
       thank_you: true
       in_emergency: true
       going_to_depart: true
-      going_to_arrive: true
+      going_to_arrive: true
diff --git a/src/signage/launch/signage.launch.xml b/src/signage/launch/signage.launch.xml
@@ -1,8 +1,14 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="signage_param" default="$(find-pkg-share signage)/config/signage_param.yaml" />
+  <arg name="fms_client_param" default="$(find-pkg-share signage_fms_client)/config/fms_client_param.yaml" />
+  <arg name="debug_mode" default="false" />
   <node pkg="signage" exec="signage"  output="screen">
     <param from="$(var signage_param)"/>
   </node>
   <node pkg="external_signage" exec="external_signage"  output="screen" />
+
+  <node pkg="signage_fms_client" exec="signage_fms_client"  output="screen" >
+    <param from="$(var fms_client_param)"/>
+  </node>
 </launch>
diff --git a/src/signage/package.xml b/src/signage/package.xml
@@ -12,14 +12,15 @@
 
   <depend>autoware_auto_system_msgs</depend>
   <depend>diagnostic_updater</depend>
+  <depend>external_signage</depend>
   <depend>python-pulsectl-pip</depend>
   <depend>rclpy</depend>
+  <depend>signage_fms_client</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>

diff --git a/src/signage/resource/page/EmergencyStopView/EmergencyStop.qml b/src/signage/resource/page/EmergencyStopView/EmergencyStop.qml
@@ -5,11 +5,11 @@ Rectangle {
     id: emergencyStopView
     width: viewController.monitor_width
     height: viewController.monitor_height
-    color: "#f60000"
+    color: "#ffffff"
     Text {
         id: emergencyStopText
-        color: "#ffffff"
-        text: qsTr("緊急停止中")
+        color: "#000000"
+        text: qsTr("安全のため停止中")
         anchors.horizontalCenter: parent.horizontalCenter
         anchors.bottom: parent.verticalCenter
         horizontalAlignment: Text.AlignHCenter
@@ -21,7 +21,7 @@ Rectangle {
 
     Text {
         id: emergencyStopEnText
-        color: "#ffffff"
+        color: "#000000"
         text: qsTr("Emergency Stop")
         anchors.top: emergencyStopText.bottom
         anchors.horizontalCenter: parent.horizontalCenter

diff --git a/src/signage/resource/page/EmergencyStopView/EmergencyStopping.qml b/src/signage/resource/page/EmergencyStopView/EmergencyStopping.qml
@@ -5,10 +5,10 @@ Rectangle {
     id: emergencyStoppingView
     width: viewController.monitor_width
     height: viewController.monitor_height
-    color: "#f60000"
+    color: "#ffffff"
     Text {
         id: emergencyStoppingText
-        color: "#ffffff"
+        color: "#000000"
         text: qsTr("只今オペレータ対応中です")
         anchors.horizontalCenter: parent.horizontalCenter
         anchors.bottom: parent.verticalCenter
@@ -21,7 +21,7 @@ Rectangle {
 
     Text {
         id: emergencyStoppingEnText
-        color: "#ffffff"
+        color: "#000000"
         text: qsTr("Now the operator is working on it")
         anchors.top: emergencyStoppingText.bottom
         anchors.horizontalCenter: parent.horizontalCenter

diff --git a/src/signage/resource/sound/emergency.wav b/src/signage/resource/sound/emergency.wav
diff --git a/src/signage/setup.cfg b/src/signage/setup.cfg
@@ -1,4 +1,4 @@
 [develop]
-script-dir=$base/lib/signage
+script_dir=$base/lib/signage
 [install]
-install-scripts=$base/lib/signage
+install_scripts=$base/lib/signage
diff --git a/src/signage/src/signage/autoware_interface.py b/src/signage/src/signage/autoware_interface.py
@@ -11,12 +11,14 @@
     LocalizationInitializationState,
     VelocityFactorArray,
 )
+from std_msgs.msg import String
 import signage.signage_utils as utils
 from tier4_debug_msgs.msg import Float64Stamped
 from tier4_external_api_msgs.msg import DoorStatus
 
 DISCONNECT_THRESHOLD = 2
 
+
 @dataclass
 class AutowareInformation:
     autoware_control: bool = False
@@ -27,6 +29,7 @@ class AutowareInformation:
     goal_distance: float = 1000.0
     motion_state: int = 0
     localization_init_state: int = 0
+    active_schedule: str = ""
 
 
 class AutowareInterface:
@@ -90,13 +93,24 @@ def __init__(self, node):
             self.sub_velocity_factors_callback,
             sub_qos,
         )
-        self._autoware_connection_time = self._node.get_clock().now()
-        self._node.create_timer(1, self.reset_timer)
+        self._sub_active_schedule = node.create_subscription(
+            String,
+            "/signage/active_schedule",
+            self.sub_active_schedule_callback,
+            sub_qos,
+        )
+        if not self._parameter.debug_mode:
+            self._autoware_connection_time = self._node.get_clock().now()
+            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
@@ -151,3 +165,9 @@ def sub_velocity_factors_callback(self, msg):
             self._autoware_connection_time = self._node.get_clock().now()
         except Exception as e:
             self._node.get_logger().error("Unable to get the velocity factors, ERROR: " + str(e))
+
+    def sub_active_schedule_callback(self, msg):
+        try:
+            self.information.active_schedule = msg.data
+        except Exception as e:
+            self._node.get_logger().error("Unable to get the active schedule, ERROR: " + str(e))
diff --git a/src/signage/src/signage/parameter_interface.py b/src/signage/src/signage/parameter_interface.py
@@ -9,6 +9,7 @@
 class SignageParameter:
     signage_stand_alone: bool = False
     ignore_manual_driving: bool = False
+    ignore_disconnected: bool = False
     ignore_emergency: bool = False
     set_goal_by_distance: bool = False
     goal_distance: float = 1.0
@@ -18,6 +19,7 @@ class SignageParameter:
     monitor_width: int = 1920
     monitor_height: int = 540
 
+
 @dataclass
 class AnnounceParameter:
     emergency: bool = True
@@ -31,12 +33,14 @@ class AnnounceParameter:
     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_disconnected", False)
         node.declare_parameter("ignore_manual_driving", False)
         node.declare_parameter("check_fms_time", 5.0)
         node.declare_parameter("accept_start", 5.0)
@@ -50,6 +54,9 @@ def __init__(self, node):
         self.parameter.signage_stand_alone = (
             node.get_parameter("signage_stand_alone").get_parameter_value().bool_value
         )
+        self.parameter.ignore_disconnected = (
+            node.get_parameter("ignore_disconnected").get_parameter_value().bool_value
+        )
         self.parameter.ignore_manual_driving = (
             node.get_parameter("ignore_manual_driving").get_parameter_value().bool_value
         )
@@ -96,4 +103,3 @@ def __init__(self, node):
                 key,
                 announce_prefix[key].get_parameter_value().bool_value,
             )
-
diff --git a/src/signage/src/signage/route_handler.py b/src/signage/src/signage/route_handler.py
@@ -6,6 +6,7 @@
 import requests
 import json
 from datetime import datetime
+
 import signage.signage_utils as utils
 from tier4_external_api_msgs.msg import DoorStatus
 from autoware_adapi_v1_msgs.msg import (
@@ -35,14 +36,6 @@ def __init__(
         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",
-            "url": "https://"
-            + os.getenv("FMS_URL", "fms.web.auto")
-            + "/v1/projects/{project_id}/environments/{environment_id}/vehicles/{vehicle_id}/active_schedule",
-            "body": {},
-        }
         self._schedule_details = utils.init_ScheduleDetails()
         self._display_details = utils.init_DisplayDetails()
         self._current_task_details = utils.init_CurrentTask()
@@ -171,15 +164,7 @@ def announce_engage_when_starting(self):
 
     def process_station_list_from_fms(self, force_update=False):
         try:
-            respond = requests.post(
-                "http://{}:4711/v1/services/order".format(self.AUTOWARE_IP),
-                json=self._fms_payload,
-                timeout=5,
-            )
-
-            data = json.loads(respond.text)
-            self._fms_check_time = self._node.get_clock().now()
-
+            data = json.loads(self._autoware.information.active_schedule)
             if not data:
                 self._schedule_details = utils.init_ScheduleDetails()
                 self._display_details = utils.init_DisplayDetails()
@@ -189,6 +174,8 @@ def process_station_list_from_fms(self, force_update=False):
                 self._fms_check_time = self._node.get_clock().now()
                 raise Exception("same schedule, skip")
 
+            self._fms_check_time = self._node.get_clock().now()
+
             self._schedule_details = utils.update_schedule_details(data)
 
             self._display_details.route_name = utils.get_route_name(
@@ -365,7 +352,10 @@ 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
-                if self._autoware.information.goal_distance < 100:
+                if (
+                    self._autoware.information.goal_distance < 100
+                    and self._autoware.information.goal_distance > 0
+                ):
                     # display text and announce if the goal is within 100m
                     self._display_phrase = utils.handle_phrase("arriving")
                     self._announce_interface.announce_going_to_depart_and_arrive("going_to_arrive")
@@ -388,7 +378,11 @@ def view_mode_callback(self):
             self._viewController.next_station_list = self._display_details.next_station_list
             self._viewController.display_phrase = self._display_phrase
 
-            if self._autoware.is_disconnected:
+            if (
+                self._autoware.is_disconnected
+                and not self._parameter.ignore_disconnected
+                and not self._parameter.ignore_emergency
+            ):
                 view_mode = "emergency_stopped"
             elif (
                 not self._autoware.information.autoware_control

diff --git a/src/signage_fms_client/config/fms_client_param.yaml b/src/signage_fms_client/config/fms_client_param.yaml
@@ -0,0 +1,3 @@
+signage:
+  ros__parameters:
+    post_request_time: 8.0 # second
diff --git a/src/signage_fms_client/launch/signage_fms_client.launch.xml b/src/signage_fms_client/launch/signage_fms_client.launch.xml
@@ -0,0 +1,7 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="fms_client_param" default="$(find-pkg-share signage)/config/fms_client_param.yaml" />
+  <node pkg="signage_fms_client" exec="signage_fms_client"  output="screen" >
+    <param from="$(var signage_param)"/>
+  </node>
+</launch>
diff --git a/src/signage_fms_client/package.xml b/src/signage_fms_client/package.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>signage_fms_client</name>
+  <version>0.1.0</version>
+  <description>The fms client for signage</description>
+
+  <maintainer email="[email protected]">tkhmy</maintainer>
+
+  <license>Apache License 2.0</license>
+  <exec_depend>ament_index_python</exec_depend>
+
+  <depend>rclpy</depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/src/signage_fms_client/resource/signage_fms_client b/src/signage_fms_client/resource/signage_fms_client
diff --git a/src/signage_fms_client/setup.cfg b/src/signage_fms_client/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/signage_fms_client
+[install]
+install_scripts=$base/lib/signage_fms_client