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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

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merged 2 commits into from
Jul 29, 2024
Merged

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

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e37bb69
cancel reengage annoounce when manual
yabuta Jul 25, 2024
2856a23
cancel engage announce when manual
yabuta Jul 25, 2024
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8 changes: 6 additions & 2 deletions src/signage/src/signage/route_handler.py
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@
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 (

Check warning on line 11 in src/signage/src/signage/route_handler.py

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Unknown word (adapi)
RouteState,
MrmState,
OperationModeState,
Expand Down Expand Up @@ -125,7 +125,8 @@

if (
self._autoware.information.localization_init_state
== LocalizationInitializationState.UNINITIALIZED
== LocalizationInitializationState.UNINITIALIZED or
self._autoware.information.autoware_control == False
):
self._prev_motion_state = 0
return
Expand Down Expand Up @@ -281,7 +282,7 @@
):
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
Expand Down Expand Up @@ -347,6 +348,9 @@
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")
Expand Down
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