add comfortable stop condition

Signed-off-by: tkhmy <[email protected]>
tier4 · Aug 19, 2024 · fa95b37 · fa95b37
1 parent 9a26582
commit fa95b37
Showing 1 changed file with 10 additions and 8 deletions.
diff --git a/src/signage/src/signage/route_handler.py b/src/signage/src/signage/route_handler.py
@@ -78,18 +78,20 @@ def emergency_checker_callback(self):
             or self._autoware.information.operation_mode == OperationModeState.STOP
         ):
             in_emergency = False
+            self._in_slowing_state = False
+            self._in_slow_stop_state = False
         else:
             in_emergency = self._autoware.information.mrm_behavior == MrmState.EMERGENCY_STOP
 
-        self._in_slowing_state = (
-            self._autoware.information.mrm_behavior == MrmState.COMFORTABLE_STOP
-            or self._autoware.information.mrm_behavior == MrmState.PULL_OVER
-        ) and self._autoware.information.motion_state == MotionState.MOVING
+            self._in_slowing_state = (
+                self._autoware.information.mrm_behavior == MrmState.COMFORTABLE_STOP
+                or self._autoware.information.mrm_behavior == MrmState.PULL_OVER
+            ) and self._autoware.information.motion_state == MotionState.MOVING
 
-        self._in_slow_stop_state = (
-            self._autoware.information.mrm_behavior == MrmState.COMFORTABLE_STOP
-            or self._autoware.information.mrm_behavior == MrmState.PULL_OVER
-        ) and self._autoware.information.motion_state == MotionState.STOPPED
+            self._in_slow_stop_state = (
+                self._autoware.information.mrm_behavior == MrmState.COMFORTABLE_STOP
+                or self._autoware.information.mrm_behavior == MrmState.PULL_OVER
+            ) and self._autoware.information.motion_state == MotionState.STOPPED
 
         if in_emergency and not self._in_emergency_state:
             self._announce_interface.announce_emergency("emergency")