add fix going to depart and arrive announce

src/signage/src/signage/announce_controller.py

@@ -7,7 +7,7 @@
 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
@@ -50,7 +50,7 @@
                 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)
@@ -129,10 +129,7 @@
             self.send_announce(message)
 
     def announce_going_to_depart_and_arrive(self, message):
-        if self._prev_depart_and_arrive_type != message:
-            # To stop repeat announcement
-            self.send_announce(message)
-            self._prev_depart_and_arrive_type = message
+        self.send_announce(message)
 
     def publish_volume_callback(self):
         self._sink = self._pulse.get_sink_by_name(self._pulse.server_info().default_sink_name)
@@ -141,7 +138,7 @@
     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

src/signage/src/signage/route_handler.py

@@ -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 (
     RouteState,
     MrmState,
     OperationModeState,
@@ -61,6 +61,8 @@
         self._announce_engage = False
         self._in_slow_stop_state = False
         self._in_slowing_state = False
+        self._announced_depart = False
+        self._announced_arrive = False
         self._trigger_external_signage = False
 
         self.process_station_list_from_fms()
@@ -125,8 +127,8 @@
 
             if (
                 self._autoware.information.localization_init_state
-                == LocalizationInitializationState.UNINITIALIZED or
-                self._autoware.information.autoware_control == False
+                == LocalizationInitializationState.UNINITIALIZED
+                or self._autoware.information.autoware_control == False
             ):
                 self._prev_motion_state = 0
                 return
@@ -276,13 +278,19 @@
                 # Check whether the vehicle is move in autonomous
                 self._is_driving = True
                 self._is_stopping = False
+                self._announced_depart = False
+
                 if (
                     not self._trigger_external_signage
                     and self._autoware.information.autoware_control
                 ):
                     self._service_interface.trigger_external_signage(True)
                     self._trigger_external_signage = True
-                if not self._announce_engage and self._parameter.signage_stand_alone and self._autoware.information.autoware_control:
+                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
@@ -293,6 +301,7 @@
                 self._is_stopping = True
                 self._skip_announce = False
                 self._announce_engage = False
+                self._announced_arrive = False
 
             if (
                 self._autoware.information.operation_mode != OperationModeState.AUTONOMOUS
@@ -323,6 +332,7 @@
                 if self._autoware.information.goal_distance < self._parameter.goal_distance:
                     self._is_stopping = True
                     self._is_driving = False
+                    self._announced_depart = False
 
             if self._reach_final:
                 self._previous_driving_status = False
@@ -364,13 +374,21 @@
                 else:
                     # the departure time is close (within 1 min), announce going to depart
                     self._display_phrase = utils.handle_phrase("departing")
-                    self._announce_interface.announce_going_to_depart_and_arrive("going_to_depart")
+                    if not self._announced_depart:
+                        self._announce_interface.announce_going_to_depart_and_arrive(
+                            "going_to_depart"
+                        )
+                        self._announced_depart = True
             elif self._is_driving:
                 # handle text and announce while bus is running
                 if self._autoware.information.goal_distance < 100:
                     # display text and announce if the goal is within 100m
                     self._display_phrase = utils.handle_phrase("arriving")
-                    self._announce_interface.announce_going_to_depart_and_arrive("going_to_arrive")
+                    if not self._announced_arrive:
+                        self._announce_interface.announce_going_to_depart_and_arrive(
+                            "going_to_arrive"
+                        )
+                        self._announced_arrive = True
                 else:
                     self._display_phrase = ""
             else:
@@ -413,6 +431,7 @@
                 view_mode = "stopping"
             else:
                 view_mode = "out_of_service"
+                self._announced_depart = False
 
             self._viewController.view_mode = view_mode
         except Exception as e: