fix conflict

src/signage/package.xml

@@ -11,11 +11,13 @@
   <exec_depend>signage_version</exec_depend>
 
   <depend>autoware_auto_system_msgs</depend>
+  <depend>python-pulsectl-pip</depend>
   <depend>rclpy</depend>
   <depend>tier4_api_msgs</depend>
   <depend>tier4_debug_msgs</depend>
   <depend>tier4_external_api_msgs</depend>
   <depend>tier4_hmi_msgs</depend>
+  <depend>diagnostic_updater</depend>
 
   <export>
     <build_type>ament_python</build_type>

src/signage/src/signage/announce_controller.py

@@ -2,9 +2,17 @@
 # -*- coding: utf-8 -*-
 # This Python file uses the following encoding: utf-8
 
+import os
+
 from PyQt5.QtMultimedia import QSound
 from rclpy.duration import Duration
 from ament_index_python.packages import get_package_share_directory
+from pulsectl import Pulse
+
+from std_msgs.msg import Float32
+from tier4_hmi_msgs.srv import SetVolume
+from tier4_external_api_msgs.msg import ResponseStatus
+
 
 # The higher the value, the higher the priority
 PRIORITY_DICT = {
@@ -20,6 +28,8 @@
     "going_to_arrive": 1,
 }
 
+CURRENT_VOLUME_PATH = "/opt/autoware/volume.txt"
+
 
 class AnnounceControllerProperty:
     def __init__(self, node, autoware_interface, parameter_interface):
@@ -35,6 +45,18 @@ def __init__(self, node, autoware_interface, parameter_interface):
         self._package_path = get_package_share_directory("signage") + "/resource/sound/"
         self._check_playing_timer = self._node.create_timer(1, self.check_playing_callback)
 
+        self._pulse = Pulse()
+        if os.path.isfile(CURRENT_VOLUME_PATH):
+            with open(CURRENT_VOLUME_PATH, "r") as f:
+                self._sink = self._pulse.get_sink_by_name(
+                    self._pulse.server_info().default_sink_name
+                )
+                self._pulse.volume_set_all_chans(self._sink, float(f.readline()))
+
+        self._get_volume_pub = self._node.create_publisher(Float32, "~/get/volume", 1)
+        self._node.create_timer(1.0, self.publish_volume_callback)
+        self._node.create_service(SetVolume, "~/set/volume", self.set_volume)
+
     def process_pending_announce(self):
         try:
             for play_sound in self._pending_announce_list:
@@ -112,3 +134,18 @@ def announce_going_to_depart_and_arrive(self, message):
             # To stop repeat announcement
             self.send_announce(message)
             self._prev_depart_and_arrive_type = message
+
+    def publish_volume_callback(self):
+        self._sink = self._pulse.get_sink_by_name(self._pulse.server_info().default_sink_name)
+        self._get_volume_pub.publish(Float32(data=self._sink.volume.value_flat))
+
+    def set_volume(self, request, response):
+        try:
+            self._sink = self._pulse.get_sink_by_name(self._pulse.server_info().default_sink_name)
+            self._pulse.volume_set_all_chans(self._sink, request.volume)
+            with open(CURRENT_VOLUME_PATH, "w") as f:
+                f.write(f"{self._sink.volume.value_flat}\n")
+            response.status.code = ResponseStatus.SUCCESS
+        except Exception:
+            response.status.code = ResponseStatus.ERROR
+        return response

src/signage/src/signage/autoware_diagnostic.py

@@ -0,0 +1,28 @@
+# -*- coding: utf-8 -*-
+# Copyright (c) 2020 Tier IV, Inc. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# ========================================================================
+# This code is used to public the diagnostic to autoware and let autoware
+# to decide the hazard level
+# ========================================================================
+
+import diagnostic_updater
+
+class AutowareDiagnostic():
+    def init_updater(self, node, name, update_function, hardware_id):
+        updater = diagnostic_updater.Updater(node, 1)
+        updater.setHardwareID(hardware_id)
+        updater.add(name, update_function)
+        return updater

src/signage/src/signage/autoware_interface.py

@@ -9,12 +9,12 @@
     OperationModeState,
     MotionState,
     LocalizationInitializationState,
+    VelocityFactorArray,
 )
 import signage.signage_utils as utils
 from tier4_debug_msgs.msg import Float64Stamped
 from tier4_external_api_msgs.msg import DoorStatus
 
-
 @dataclass
 class AutowareInformation:
     autoware_control: bool = False
@@ -31,6 +31,7 @@ class AutowareInterface:
     def __init__(self, node):
         self._node = node
         self.information = AutowareInformation()
+        self.is_disconnected = False
 
         sub_qos = rclpy.qos.QoSProfile(
             history=rclpy.qos.QoSHistoryPolicy.KEEP_LAST,
@@ -81,13 +82,22 @@ def __init__(self, node):
             self.sub_localization_initialization_state_callback,
             api_qos,
         )
+        self._sub_velocity_factors = node.create_subscription(
+            VelocityFactorArray,
+            "/api/planning/velocity_factors",
+            self.sub_velocity_factors_callback,
+            sub_qos,
+        )
         self._autoware_connection_time = self._node.get_clock().now()
         self._node.create_timer(2, self.reset_timer)
 
     def reset_timer(self):
         if utils.check_timeout(self._node.get_clock().now(), self._autoware_connection_time, 10):
             self.information = AutowareInformation()
             self._node.get_logger().error("Autoware disconnected", throttle_duration_sec=10)
+            self.is_disconnected = True
+        else:
+            self.is_disconnected = False
 
     def sub_operation_mode_callback(self, msg):
         try:
@@ -116,7 +126,6 @@ def sub_vehicle_door_callback(self, msg):
 
     def sub_path_distance_callback(self, msg):
         try:
-            self._autoware_connection_time = self._node.get_clock().now()
             self.information.goal_distance = msg.data
         except Exception as e:
             self._node.get_logger().error("Unable to get the goal distance, ERROR: " + str(e))
@@ -134,3 +143,9 @@ def sub_localization_initialization_state_callback(self, msg):
             self._node.get_logger().error(
                 "Unable to get the localization init state, ERROR: " + str(e)
             )
+
+    def sub_velocity_factors_callback(self, msg):
+        try:
+            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))

src/signage/src/signage/heartbeat.py

@@ -0,0 +1,20 @@
+# !/usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+from signage.autoware_diagnostic import AutowareDiagnostic
+from diagnostic_msgs.msg import DiagnosticStatus
+
+class Heartbeat:
+    def __init__(self, node):
+        self._node = node
+
+        self._diagnostic_updater = AutowareDiagnostic().init_updater(
+            self._node,
+            "/system/signage_connection : signage heartbeat",
+            self.handle_heartbeat_diagnostics,
+            "none",
+        )
+
+    def handle_heartbeat_diagnostics(self, stat):
+        stat.summary(DiagnosticStatus.OK, "signage is working")
+        return stat

src/signage/src/signage/route_handler.py

@@ -370,7 +370,9 @@ def view_mode_callback(self):
             self._viewController.next_station_list = self._display_details.next_station_list
             self._viewController.display_phrase = self._display_phrase
 
-            if (
+            if self._autoware.is_disconnected:
+                view_mode = "emergency_stopped"
+            elif (
                 not self._autoware.information.autoware_control
                 and not self._parameter.ignore_manual_driving
             ):

src/signage/src/signage/signage.py

@@ -7,6 +7,7 @@
 import rclpy
 from rclpy.node import Node
 
+from signage.heartbeat import Heartbeat
 from signage.view_controller import ViewControllerProperty
 from signage.announce_controller import AnnounceControllerProperty
 from signage.autoware_interface import AutowareInterface
@@ -25,6 +26,8 @@ def main(args=None):
     app = QApplication(sys.argv)
     engine = QQmlApplicationEngine()
 
+    heartbeat = Heartbeat(node)
+    autoware_interface = AutowareInterface(node)
     autoware_interface = AutowareInterface(node)
     parameter_interface = ParameterInterface(node)
     ros_service_interface = RosServiceInterface(node, parameter_interface)