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add handle negative goal distance #131

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merged 1 commit into from
Nov 5, 2024
Merged

add handle negative goal distance #131

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5 changes: 4 additions & 1 deletion src/signage/src/signage/route_handler.py
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Original file line number Diff line number Diff line change
Expand Up @@ -5,13 +5,13 @@
import os
import json
from datetime import datetime
import aiohttp

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import asyncio

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from threading import Thread

import signage.signage_utils as utils
from tier4_external_api_msgs.msg import DoorStatus
from autoware_adapi_v1_msgs.msg import (

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RouteState,
MrmState,
OperationModeState,
Expand Down Expand Up @@ -209,14 +209,14 @@
def process_station_list_from_fms(self, force_update=False):
if not self._processing_thread:
self._processing_thread = True
thread = Thread(target=asyncio.run(self.fms_thread()), args=(force_update,))

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thread.setDaemon(True)
thread.start()
self._processing_thread = False

async def fms_thread(self, force_update=False):
try:
async with aiohttp.ClientSession() as session:

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async with session.post(
f"http://{self.AUTOWARE_IP}:4711/v1/services/order",
json=self._fms_payload,
Expand Down Expand Up @@ -426,7 +426,10 @@
self._announced_depart = True
elif self._is_driving:
# handle text and announce while bus is running
if self._autoware.information.goal_distance < 100:
if (
self._autoware.information.goal_distance < 100
and self._autoware.information.goal_distance > 0
):
# display text and announce if the goal is within 100m
self._display_phrase = utils.handle_phrase("arriving")
if not self._announced_arrive:
Expand Down
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