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merge beta/v2.2.0 update #83

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merged 6 commits into from
Nov 10, 2023
Merged

merge beta/v2.2.0 update #83

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dd22ab9
Merge pull request #74 from tier4/develop
yabuta Jul 13, 2023
b0abbd3
Merge pull request #76 from tier4/stage
yabuta Aug 4, 2023
5463eaf
Merge pull request #79 from tier4/develop
yabuta Sep 14, 2023
f1763b4
Merge pull request #80 from tier4/stage
yabuta Sep 14, 2023
3eadd4b
do not announce emergency when stop mode! (#81)
tkhmy Oct 23, 2023
6f895ba
add mute timeout for engage (#82)
tkhmy Nov 1, 2023
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10 changes: 9 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 @@ -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 @@ -48,6 +48,7 @@
self._display_phrase = ""
self._in_emergency_state = False
self._emergency_trigger_time = self._node.get_clock().now()
self._engage_trigger_time = self._node.get_clock().now()
self._is_stopping = True
self._is_driving = False
self._previous_driving_status = False
Expand All @@ -73,6 +74,8 @@
def emergency_checker_callback(self):
if self._parameter.ignore_emergency:
in_emergency = False
if self._autoware.information.operation_mode == OperationModeState.STOP:
in_emergency = False
else:
in_emergency = self._autoware.information.mrm_behavior == MrmState.EMERGENCY_STOP

Expand Down Expand Up @@ -133,8 +136,13 @@
):
if self._announce_engage and not self._skip_announce:
self._skip_announce = True
else:
elif utils.check_timeout(
self._node.get_clock().now(),
self._engage_trigger_time,
self._parameter.accept_start,
):
self._announce_interface.send_announce("engage")
self._engage_trigger_time = self._node.get_clock().now()

if self._autoware.information.motion_state == MotionState.STARTING:
self._service_interface.accept_start()
Expand Down
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