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fix ignore emergency parameter not working #110

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merged 3 commits into from
Aug 19, 2024
Merged

fix ignore emergency parameter not working #110

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9a26582
fix ignore emergency parameter not working
tkhmy Aug 9, 2024
fa95b37
add comfortable stop condition
tkhmy Aug 19, 2024
ebc56f3
change comfortable stop condition
tkhmy Aug 19, 2024
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34 changes: 19 additions & 15 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 @@ -73,22 +73,22 @@
self._node.create_timer(0.2, self.announce_engage_when_starting)

def emergency_checker_callback(self):
if self._parameter.ignore_emergency:
in_emergency = False
if self._autoware.information.operation_mode == OperationModeState.STOP:
if (
self._parameter.ignore_emergency
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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_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 self._autoware.information.mrm_behavior in [
MrmState.COMFORTABLE_STOP,
MrmState.PULL_OVER,
]:
self._in_slowing_state == self._autoware.information.motion_state == MotionState.MOVING
self._in_slow_stop_state == self._autoware.information.motion_state == MotionState.STOPPED

if in_emergency and not self._in_emergency_state:
self._announce_interface.announce_emergency("emergency")
Expand Down Expand Up @@ -125,8 +125,8 @@

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
Expand Down Expand Up @@ -282,7 +282,11 @@
):
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
Expand Down
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