Hotfix/seperate fms and negative distance

signage.repos

@@ -2,20 +2,20 @@ repositories:
   src/tier4_autoware_msgs:
     type: git
     url: https://github.com/tier4/tier4_autoware_msgs.git
-    version: tier4/universe
+    version: 12504f69041fb8c895ffb5625da63be2ea69da4b
   src/auto_msgs:
     type: git
     url: https://github.com/tier4/autoware_auto_msgs.git
-    version: tier4/main
+    version: 1e8b6d234e2690c9da386f006bb60835cdccddfd
   src/autoware_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_msgs.git
-    version: main
+    version: 1.1.0
   src/autoware_adapi_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
-    version: main
+    version: 9bb74bd5006f7e3901ecd0368c19c30d047482f4
   src/boot_shutdown_tools:
     type: git
     url: https://github.com/tier4/boot_shutdown_tools.git
-    version: main
+    version: 54d77e36b12393949aa6485ad6280b03249cc2cf

src/external_signage/setup.cfg

@@ -1,4 +1,4 @@
 [develop]
-script-dir=$base/lib/external_signage
+script_dir=$base/lib/external_signage
 [install]
-install-scripts=$base/lib/external_signage
+install_scripts=$base/lib/external_signage

src/signage/config/signage_param.yaml

@@ -1,11 +1,12 @@
 signage:
   ros__parameters:
     signage_stand_alone: true
     ignore_emergency_stoppped: false
+    ignore_disconnected: false
     ignore_manual_driving: false
     set_goal_by_distance: false
     goal_distance: 1.0 # meter
-    check_fms_time: 5.0 # second
+    check_fms_time: 2.0 # second
     emergency_repeat_period: 180.0 # second
     accept_start: 5.0 # second
     monitor_width: 1920
@@ -19,4 +20,4 @@
       thank_you: true
       in_emergency: true
       going_to_depart: true
-      going_to_arrive: true
+      going_to_arrive: true

src/signage/launch/signage.launch.xml

@@ -1,8 +1,13 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="signage_param" default="$(find-pkg-share signage)/config/signage_param.yaml" />
+  <arg name="fms_client_param" default="$(find-pkg-share signage_fms_client)/config/fms_client_param.yaml" />
   <node pkg="signage" exec="signage"  output="screen">
     <param from="$(var signage_param)"/>
   </node>
   <node pkg="external_signage" exec="external_signage"  output="screen" />
+
+  <node pkg="signage_fms_client" exec="signage_fms_client"  output="screen" >
+    <param from="$(var fms_client_param)"/>
+  </node>
 </launch>

src/signage/package.xml

@@ -4,7 +4,7 @@
   <version>0.1.0</version>
   <description>The signage package</description>
 
   <maintainer email="[email protected]">yabuta</maintainer>
 
   <license>Apache License 2.0</license>
   <exec_depend>ament_index_python</exec_depend>
@@ -12,14 +12,15 @@
 
   <depend>autoware_auto_system_msgs</depend>
   <depend>diagnostic_updater</depend>
+  <depend>external_signage</depend>
   <depend>python-pulsectl-pip</depend>
   <depend>rclpy</depend>
+  <depend>signage_fms_client</depend>
   <depend>std_srvs</depend>
   <depend>tier4_api_msgs</depend>
   <depend>tier4_debug_msgs</depend>
   <depend>tier4_external_api_msgs</depend>
   <depend>tier4_hmi_msgs</depend>
-  <depend>external_signage</depend>
 
   <export>
     <build_type>ament_python</build_type>

src/signage/setup.cfg

@@ -1,4 +1,4 @@
 [develop]
-script-dir=$base/lib/signage
+script_dir=$base/lib/signage
 [install]
-install-scripts=$base/lib/signage
+install_scripts=$base/lib/signage

src/signage/src/signage/autoware_interface.py

@@ -3,7 +3,7 @@
 
 import rclpy
 from dataclasses import dataclass
 from autoware_adapi_v1_msgs.msg import (
     RouteState,
     MrmState,
     OperationModeState,
@@ -11,6 +11,7 @@
     LocalizationInitializationState,
     VelocityFactorArray,
 )
+from std_msgs.msg import String
 import signage.signage_utils as utils
 from tier4_debug_msgs.msg import Float64Stamped
 from tier4_external_api_msgs.msg import DoorStatus
@@ -28,6 +29,7 @@
     goal_distance: float = 1000.0
     motion_state: int = 0
     localization_init_state: int = 0
+    active_schedule: str = ""
 
 
 class AutowareInterface:
@@ -79,7 +81,7 @@
         self._sub_motion_state = node.create_subscription(
             MotionState, "/api/motion/state", self.sub_motion_state_callback, api_qos
         )
         self._sub_localiztion_initializtion_state = node.create_subscription(
             LocalizationInitializationState,
             "/api/localization/initialization_state",
             self.sub_localization_initialization_state_callback,
@@ -93,6 +95,12 @@
         )
         self._autoware_connection_time = self._node.get_clock().now()
         self._node.create_timer(1, self.reset_timer)
+        self._sub_active_schedule = node.create_subscription(
+            String,
+            "/signage/active_schedule",
+            self.sub_active_schedule_callback,
+            sub_qos,
+        )
 
     def reset_timer(self):
         if utils.check_timeout(
@@ -156,3 +164,9 @@
             self._autoware_connection_time = self._node.get_clock().now()
         except Exception as e:
             self._node.get_logger().error("Unable to get the velocity factors, ERROR: " + str(e))
+
+    def sub_active_schedule_callback(self, msg):
+        try:
+            self.information.active_schedule = msg.data
+        except Exception as e:
+            self._node.get_logger().error("Unable to get the active schedule, ERROR: " + str(e))

src/signage/src/signage/parameter_interface.py

@@ -9,6 +9,7 @@
 class SignageParameter:
     signage_stand_alone: bool = False
     ignore_manual_driving: bool = False
+    ignore_disconnected: bool = False
     ignore_emergency: bool = False
     set_goal_by_distance: bool = False
     goal_distance: float = 1.0
@@ -18,6 +19,7 @@
     monitor_width: int = 1920
     monitor_height: int = 540
 
+
 @dataclass
 class AnnounceParameter:
     emergency: bool = True
@@ -31,16 +33,18 @@
     going_to_depart: bool = True
     going_to_arrive: bool = True
 
+
 class ParameterInterface:
     def __init__(self, node):
         self.parameter = SignageParameter()
         self.announce_settings = AnnounceParameter()
 
         node.declare_parameter("signage_stand_alone", False)
+        node.declare_parameter("ignore_disconnected", False)
         node.declare_parameter("ignore_manual_driving", False)
         node.declare_parameter("check_fms_time", 5.0)
         node.declare_parameter("accept_start", 5.0)
         node.declare_parameter("ignore_emergency_stoppped", False)
         node.declare_parameter("set_goal_by_distance", False)
         node.declare_parameter("goal_distance", 1.0)
         node.declare_parameter("emergency_repeat_period", 180.0)
@@ -50,6 +54,9 @@
         self.parameter.signage_stand_alone = (
             node.get_parameter("signage_stand_alone").get_parameter_value().bool_value
         )
+        self.parameter.ignore_disconnected = (
+            node.get_parameter("ignore_disconnected").get_parameter_value().bool_value
+        )
         self.parameter.ignore_manual_driving = (
             node.get_parameter("ignore_manual_driving").get_parameter_value().bool_value
         )
@@ -60,7 +67,7 @@
             node.get_parameter("accept_start").get_parameter_value().double_value
         )
         self.parameter.ignore_emergency = (
             node.get_parameter("ignore_emergency_stoppped").get_parameter_value().bool_value
         )
         self.parameter.set_goal_by_distance = (
             node.get_parameter("set_goal_by_distance").get_parameter_value().bool_value
@@ -96,4 +103,3 @@
                 key,
                 announce_prefix[key].get_parameter_value().bool_value,
             )
-

src/signage/src/signage/route_handler.py

@@ -5,13 +5,10 @@
 import os
 import json
 from datetime import datetime
-import aiohttp
-import asyncio
-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 (
     RouteState,
     MrmState,
     OperationModeState,
@@ -36,14 +33,6 @@
         self._autoware = autoware_interface
         self._parameter = parameter_interface.parameter
         self._service_interface = ros_service_interface
-        self.AUTOWARE_IP = os.getenv("AUTOWARE_IP", "localhost")
-        self._fms_payload = {
-            "method": "get",
-            "url": "https://"
-            + os.getenv("FMS_URL", "fms.web.auto")
-            + "/v1/projects/{project_id}/environments/{environment_id}/vehicles/{vehicle_id}/active_schedule",
-            "body": {},
-        }
         self._schedule_details = utils.init_ScheduleDetails()
         self._display_details = utils.init_DisplayDetails()
         self._current_task_details = utils.init_CurrentTask()
@@ -182,25 +171,8 @@
             self._node.get_logger().error("not able to play the announce, ERROR: {}".format(str(e)))
 
     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,))
-            thread.setDaemon(True)
-            thread.start()
-            self._processing_thread = False
-
-    async def fms_thread(self, force_update=False):
         try:
-            async with aiohttp.ClientSession() as session:
-                async with session.post(
-                    f"http://{self.AUTOWARE_IP}:4711/v1/services/order",
-                    json=self._fms_payload,
-                    timeout=10,
-                ) as response:
-                    data = await response.json()
-
-            self._fms_check_time = self._node.get_clock().now()
-
+            data = json.loads(self._autoware.information.active_schedule)
             if not data:
                 self._schedule_details = utils.init_ScheduleDetails()
                 self._display_details = utils.init_DisplayDetails()
@@ -210,6 +182,8 @@
                 self._fms_check_time = self._node.get_clock().now()
                 raise Exception("same schedule, skip")
 
+            self._fms_check_time = self._node.get_clock().now()
+
             self._schedule_details = utils.update_schedule_details(data)
 
             self._display_details.route_name = utils.get_route_name(
@@ -398,7 +372,10 @@
                         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:
@@ -425,7 +402,11 @@
             self._viewController.next_station_list = self._display_details.next_station_list
             self._viewController.display_phrase = self._display_phrase
 
-            if self._autoware.is_disconnected:
+            if (
+                self._autoware.is_disconnected
+                and not self._parameter.ignore_disconnected
+                and not self._parameter.ignore_emergency
+            ):
                 view_mode = "emergency_stopped"
             elif (
                 not self._autoware.information.autoware_control

src/signage_fms_client/config/fms_client_param.yaml

@@ -0,0 +1,3 @@
+signage:
+  ros__parameters:
+    post_request_time: 8.0 # second

src/signage_fms_client/launch/signage_fms_client.launch.xml

@@ -0,0 +1,7 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="fms_client_param" default="$(find-pkg-share signage)/config/fms_client_param.yaml" />
+  <node pkg="signage_fms_client" exec="signage_fms_client"  output="screen" >
+    <param from="$(var signage_param)"/>
+  </node>
+</launch>

src/signage_fms_client/package.xml

@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>signage_fms_client</name>
+  <version>0.1.0</version>
+  <description>The fms client for signage</description>
+
+  <maintainer email="[email protected]">tkhmy</maintainer>
+
+  <license>Apache License 2.0</license>
+  <exec_depend>ament_index_python</exec_depend>
+
+  <depend>rclpy</depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

src/signage_fms_client/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/signage_fms_client
+[install]
+install_scripts=$base/lib/signage_fms_client

src/signage_fms_client/setup.py

@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+
+import os
+
+from setuptools import setup
+
+
+def package_files(directory):
+    paths = []
+    for (path, directories, filenames) in os.walk(directory):
+        for filename in filenames:
+            paths.append(os.path.join(path, filename))
+    return paths
+
+
+package_name = "signage_fms_client"
+setup(
+    name=package_name,
+    version="0.1.0",
+    package_dir={"": "src"},
+    packages=[package_name],
+    data_files=[
+        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+        ("share/" + package_name, ["package.xml"]),
+        ("share/" + package_name + "/launch", ["launch/signage_fms_client.launch.xml"]),
+        ("share/" + package_name + "/config", ["config/fms_client_param.yaml"]),
+    ],
+    install_requires=["setuptools"],
+    zip_safe=True,
+    author="Kah Hooi Tan",
+    maintainer="Kah Hooi Tan",
+    maintainer_email="[email protected]",
+    keywords=["ROS"],
+    classifiers=[
+        "Intended Audience :: Developers",
+        "License :: OSI Approved :: Apache Software License",
+        "Programming Language :: Python",
+        "Topic :: Software Development",
+    ],
+    description=("for fms client with signage"),
+    license="TODO",
+    entry_points={
+        "console_scripts": [
+            "signage_fms_client = signage_fms_client.signage_fms_client:main",
+        ]
+    },
+)

src/signage_fms_client/src/signage_fms_client/__init__.py

@@ -0,0 +1,4 @@
+# This Python file uses the following encoding: utf-8
+
+# if__name__ == "__main__":
+#     pass