hotfix: 手動時に発進・再発進時の発話を行わないようにする (#106)

* cancel reengage annoounce when manual * cancel engage announce when manual
tier4 · Jul 29, 2024 · c066955 · c066955
1 parent f5d8ac6
commit c066955
Showing 1 changed file with 6 additions and 2 deletions.
diff --git a/src/signage/src/signage/route_handler.py b/src/signage/src/signage/route_handler.py
@@ -125,7 +125,8 @@ def announce_engage_when_starting(self):
 
             if (
                 self._autoware.information.localization_init_state
-                == LocalizationInitializationState.UNINITIALIZED
+                == LocalizationInitializationState.UNINITIALIZED or
+                self._autoware.information.autoware_control == False
             ):
                 self._prev_motion_state = 0
                 return
@@ -281,7 +282,7 @@ def route_checker_callback(self):
                 ):
                     self._service_interface.trigger_external_signage(True)
                     self._trigger_external_signage = True
-                if not self._announce_engage and self._parameter.signage_stand_alone:
+                if not self._announce_engage and self._parameter.signage_stand_alone and self._autoware.information.autoware_control:
                     self._announce_interface.send_announce("engage")
                     self._service_interface.trigger_external_signage(True)
                     self._trigger_external_signage = True
@@ -347,6 +348,9 @@ def calculate_time_callback(self):
                 self._current_task_details.depart_time, self._node.get_clock().now().to_msg().sec
             )
 
+            self._node.get_logger().info("_reach_final: " + str(self._reach_final))
+            self._node.get_logger().info("remain_minute: " + str(remain_minute))
+
             if self._reach_final:
                 # display arrive to final station
                 self._display_phrase = utils.handle_phrase("final")