Feat/slow stop

signage.repos

@@ -11,7 +11,7 @@
     type: git
     url: https://github.com/autowarefoundation/autoware_msgs.git
     version: main
   src/autoware_adapi_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
     version: main
@@ -19,4 +19,3 @@
     type: git
     url: https://github.com/tier4/boot_shutdown_tools.git
     version: main
-

src/signage/resource/page/SlowStopView.qml

@@ -0,0 +1,41 @@
+import QtQuick 2.9
+import QtQuick.Controls 2.2
+
+import "Common"
+
+Rectangle {
+    id: slowStopView
+    width: viewController.monitor_width
+    height: viewController.monitor_height
+    color: "#ffffff"
+
+    CurrentTime {
+        id: displayCurrentTime
+    }
+
+    Text {
+        id: slowStopText
+        color: "#000000"
+        text: qsTr("安全確認のため停車中です")
+        anchors.horizontalCenter: parent.horizontalCenter
+        anchors.bottom: parent.verticalCenter
+        horizontalAlignment: Text.AlignHCenter
+        verticalAlignment: Text.AlignVCenter
+        font.pointSize: 80*viewController.size_ratio
+        font.bold: true
+        elide: Text.ElideMiddle
+    }
+
+    Text {
+        id: slowStopEnText
+        color: "#000000"
+        text: qsTr("Stop for safety check")
+        anchors.top: slowStopText.bottom
+        anchors.horizontalCenter: parent.horizontalCenter
+        horizontalAlignment: Text.AlignHCenter
+        verticalAlignment: Text.AlignVCenter
+        font.pointSize: 80*viewController.size_ratio
+        font.bold: true
+        elide: Text.ElideMiddle
+    }
+}

src/signage/resource/page/SlowingView.qml

@@ -0,0 +1,41 @@
+import QtQuick 2.9
+import QtQuick.Controls 2.2
+
+import "Common"
+
+Rectangle {
+    id: slowingView
+    width: viewController.monitor_width
+    height: viewController.monitor_height
+    color: "#ffffff"
+
+    CurrentTime {
+        id: displayCurrentTime
+    }
+
+    Text {
+        id: slowingText
+        color: "#000000"
+        text: qsTr("減速します")
+        anchors.horizontalCenter: parent.horizontalCenter
+        anchors.bottom: parent.verticalCenter
+        horizontalAlignment: Text.AlignHCenter
+        verticalAlignment: Text.AlignVCenter
+        font.pointSize: 80*viewController.size_ratio
+        font.bold: true
+        elide: Text.ElideMiddle
+    }
+
+    Text {
+        id: slowingEnText
+        color: "#000000"
+        text: qsTr("Slowing Down")
+        anchors.top: slowingText.bottom
+        anchors.horizontalCenter: parent.horizontalCenter
+        horizontalAlignment: Text.AlignHCenter
+        verticalAlignment: Text.AlignVCenter
+        font.pointSize: 80*viewController.size_ratio
+        font.bold: true
+        elide: Text.ElideMiddle
+    }
+}

src/signage/resource/page/main.qml

@@ -19,6 +19,16 @@ Window {
         visible: viewController.view_mode === "emergency_stopped"
     }
 
+    SlowStopView {
+        id: slowStopView
+        visible: viewController.view_mode === "slow_stop"
+    }
+
+    SlowingView {
+        id: slowingView
+        visible: viewController.view_mode === "slowing"
+    }
+
     ManualDriving {
         id: manualDriving
         visible: viewController.view_mode === "manual_driving"

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,
@@ -58,6 +58,8 @@
         self._prev_route_state = 0
         self._skip_announce = False
         self._announce_engage = False
+        self._in_slow_stop_state = False
+        self._in_slowing_state = False
 
         self.process_station_list_from_fms()
 
@@ -72,10 +74,17 @@
         if self._parameter.ignore_emergency:
             in_emergency = False
         else:
-            in_emergency = (
-                self._autoware.information.mrm_behavior == MrmState.EMERGENCY_STOP
-                or self._autoware.information.mrm_behavior == MrmState.COMFORTABLE_STOP
-            )
+            in_emergency = self._autoware.information.mrm_behavior == MrmState.EMERGENCY_STOP
+
+        self._in_slowing_state = (
+            self._autoware.information.mrm_behavior == MrmState.COMFORTABLE_STOP
+            and self._autoware.information.motion_state == MotionState.MOVING
+        )
+
+        self._in_slow_stop_state = (
+            self._autoware.information.mrm_behavior == MrmState.COMFORTABLE_STOP
+            and self._autoware.information.motion_state == MotionState.STOPPED
+        )
 
         if in_emergency and not self._in_emergency_state:
             self._announce_interface.announce_emergency("emergency")
@@ -175,7 +184,7 @@
                 data.get("tags", []),
             )
 
-            self.task_list = utils.seperate_task_list(data.get("tasks", []))
+            self.task_list = utils.separate_task_list(data.get("tasks", []))
 
             if not self.task_list.doing_list and not self.task_list.todo_list:
                 self._schedule_details = utils.init_ScheduleDetails()
@@ -192,11 +201,11 @@
                     self._display_details.previous_station = ["", ""]
                 else:
                     self._display_details.previous_station = (
-                        utils.get_prevous_station_name_from_fms(self.task_list.done_list)
+                        utils.get_previous_station_name_from_fms(self.task_list.done_list)
                     )
 
             if self._display_details.previous_station == ["", ""] and self.task_list.done_list:
-                self._display_details.previous_station = utils.get_prevous_station_name_from_fms(
+                self._display_details.previous_station = utils.get_previous_station_name_from_fms(
                     self.task_list.done_list
                 )
 
@@ -360,6 +369,10 @@
                 view_mode = "manual_driving"
             elif self._in_emergency_state:
                 view_mode = "emergency_stopped"
+            elif self._in_slowing_state:
+                view_mode = "slowing"
+            elif self._in_slow_stop_state:
+                view_mode = "slow_stop"
             elif self._is_stopping and self._current_task_details.departure_station != ["", ""]:
                 view_mode = "stopping"
             elif self._is_driving and self._current_task_details.arrival_station != ["", ""]:

src/signage/src/signage/signage_utils.py

@@ -91,7 +91,7 @@ def get_route_name(tag_list):
     return split_name(route_name)
 
 
-def seperate_task_list(task_list):
+def separate_task_list(task_list):
     doing_list = []
     todo_list = []
     done_list = []
@@ -126,7 +126,7 @@ def process_current_task(task):
     return CurrentTask(departure_station, arrival_station, depart_time)
 
 
-def get_prevous_station_name_from_fms(done_list):
+def get_previous_station_name_from_fms(done_list):
     previous_station_task = done_list[PREVIOUS_STATION_INDEX]
     return split_name(previous_station_task.get("origin", "").get("name", DEFAULT_DEPARTURE_NAME))