reduce disconnect time condition

tier4 · Apr 25, 2024 · c2feaf4 · c2feaf4
1 parent b50f908
commit c2feaf4
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/src/signage/src/signage/autoware_interface.py b/src/signage/src/signage/autoware_interface.py
@@ -15,6 +15,8 @@
 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
@@ -92,7 +94,7 @@ def __init__(self, node):
         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):
+        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=10)
             self.is_disconnected = True