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add handling for force goal #120

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merged 1 commit into from
Sep 11, 2024
Merged

add handling for force goal #120

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12 changes: 8 additions & 4 deletions src/signage/src/signage/route_handler.py
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Original file line number Diff line number Diff line change
Expand Up @@ -5,12 +5,12 @@
import os
import requests
import json
from datetime import datetime

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import aiohttp

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import asyncio

import signage.signage_utils as utils
from tier4_external_api_msgs.msg import DoorStatus

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from autoware_adapi_v1_msgs.msg import (
RouteState,
MrmState,
Expand Down Expand Up @@ -67,7 +67,7 @@
self._announced_depart = False
self._announced_arrive = False
self._trigger_external_signage = False

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asyncio.run(self.process_station_list_from_fms())

self._node.create_timer(0.2, self.route_checker_callback)
Expand All @@ -92,8 +92,12 @@
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
self._in_slowing_state = (
self._autoware.information.motion_state == MotionState.MOVING
)
self._in_slow_stop_state = (
self._autoware.information.motion_state == MotionState.STOPPED
)
else:
self._in_slowing_state = False
self._in_slow_stop_state = False
Expand Down Expand Up @@ -177,7 +181,7 @@
self._node.get_logger().error("not able to play the announce, ERROR: {}".format(str(e)))

async def process_station_list_from_fms(self, force_update=False):
try:

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async with aiohttp.ClientSession() as session:
async with session.post(
f"http://{self.AUTOWARE_IP}:4711/v1/services/order",
Expand Down Expand Up @@ -286,7 +290,7 @@
self._is_driving = True
self._is_stopping = False
self._announced_depart = False

if (
not self._trigger_external_signage
and self._autoware.information.autoware_control
Expand All @@ -302,7 +306,7 @@
self._service_interface.trigger_external_signage(True)
self._trigger_external_signage = True
self._announce_engage = True
elif self._autoware.information.route_state == RouteState.ARRIVED:
elif self._autoware.information.route_state in [RouteState.ARRIVED, RouteState.UNSET]:
# Check whether the vehicle arrive to goal
self._is_driving = False
self._is_stopping = True
Expand All @@ -318,10 +322,10 @@
self._trigger_external_signage = False

if self._prev_route_state != RouteState.SET:
if self._autoware.information.route_state == RouteState.SET:

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asyncio.run(self.process_station_list_from_fms(force_update=True))

if not self._fms_check_time:

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asyncio.run(self.process_station_list_from_fms())
elif utils.check_timeout(
self._node.get_clock().now(), self._fms_check_time, self._parameter.check_fms_time
Expand Down
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