feat: 音声のON/OFF切り替え機能を追加（to develop）

src/signage/config/signage_param.yaml

@@ -10,3 +10,13 @@ signage:
     accept_start: 5.0 # second
     monitor_width: 1920
     monitor_height: 540
+    announce:
+      emergency: true
+      restart_engage: true
+      door_close: true
+      door_open: true
+      engage: true
+      thank_you: true
+      in_emergency: true
+      going_to_depart: true
+      going_to_arrive: true

src/signage/src/signage/announce_controller.py

@@ -13,7 +13,6 @@
 from tier4_hmi_msgs.srv import SetVolume
 from tier4_external_api_msgs.msg import ResponseStatus
 
-
 # The higher the value, the higher the priority
 PRIORITY_DICT = {
     "emergency": 3,
@@ -37,6 +36,7 @@ def __init__(self, node, autoware_interface, parameter_interface):
 
         self._node = node
         self._parameter = parameter_interface.parameter
+        self._announce_settings = parameter_interface.announce_settings
         self._current_announce = ""
         self._pending_announce_list = []
         self._sound = QSound("")
@@ -84,10 +84,21 @@ def play_sound(self, message):
         self._sound = QSound(self._package_path + message + ".wav")
         self._sound.play()
 
+    # skip announce by setting
+    def check_announce_or_not(self, message):
+        try:
+            return getattr(self._announce_settings, message)
+        except Exception as e:
+            self._node.get_logger().error("check announce or not: " + str(e))
+            return False
+
     def send_announce(self, message):
         priority = PRIORITY_DICT.get(message, 0)
         previous_priority = PRIORITY_DICT.get(self._current_announce, 0)
 
+        if not self.check_announce_or_not(message):
+            return
+
         if priority == 3:
             self._sound.stop()
             self.play_sound(message)

src/signage/src/signage/parameter_interface.py

@@ -18,10 +18,23 @@ class SignageParameter:
     monitor_width: int = 1920
     monitor_height: int = 540
 
+@dataclass
+class AnnounceParameter:
+    emergency: bool = True
+    restart_engage: bool = True
+    door_close: bool = True
+    door_open: bool = True
+    engage: bool = True
+    arrived: bool = True
+    thank_you: bool = True
+    in_emergency: bool = True
+    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_manual_driving", False)
@@ -64,3 +77,23 @@ def __init__(self, node):
         self.parameter.monitor_height = (
             node.get_parameter("monitor_height").get_parameter_value().integer_value
         )
+
+        node.declare_parameter("announce.emergency", True)
+        node.declare_parameter("announce.restart_engage", True)
+        node.declare_parameter("announce.door_close", True)
+        node.declare_parameter("announce.door_open", True)
+        node.declare_parameter("announce.engage", True)
+        node.declare_parameter("announce.thank_you", True)
+        node.declare_parameter("announce.in_emergency", True)
+        node.declare_parameter("announce.going_to_depart", True)
+        node.declare_parameter("announce.going_to_arrive", True)
+
+        announce_prefix = node.get_parameters_by_prefix("announce")
+
+        for key in announce_prefix.keys():
+            setattr(
+                self.announce_settings,
+                key,
+                announce_prefix[key].get_parameter_value().bool_value,
+            )
+

src/signage/src/signage/route_handler.py

@@ -141,7 +141,7 @@ def announce_engage_when_starting(self):
                     self._engage_trigger_time,
                     self._parameter.accept_start,
                 ):
-                    self._announce_interface.send_announce("engage")
+                    self._announce_interface.send_announce("restart_engage")
                     self._engage_trigger_time = self._node.get_clock().now()
 
                 if self._autoware.information.motion_state == MotionState.STARTING: