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add autoware_control check #99

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merged 2 commits into from
Apr 17, 2024
Merged

add autoware_control check #99

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899e43f
add autoware_control check
tkhmy Apr 12, 2024
85da901
update external signage logic
tkhmy Apr 12, 2024
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14 changes: 8 additions & 6 deletions 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 @@ -143,8 +143,6 @@
self._parameter.accept_start,
):
self._announce_interface.send_announce("restart_engage")
self._service_interface.trigger_external_signage(True)
self._trigger_external_signage = True
self._engage_trigger_time = self._node.get_clock().now()

if self._autoware.information.motion_state == MotionState.STARTING:
Expand Down Expand Up @@ -277,10 +275,14 @@
# Check whether the vehicle is move in autonomous
self._is_driving = True
self._is_stopping = False
if not self._announce_engage and self._parameter.signage_stand_alone:
self._announce_interface.send_announce("engage")
if (
not self._trigger_external_signage
and self._autoware.information.autoware_control
):
self._service_interface.trigger_external_signage(True)
self._trigger_external_signage = True
if not self._announce_engage and self._parameter.signage_stand_alone:
self._announce_interface.send_announce("engage")
self._announce_engage = True
elif self._autoware.information.route_state == RouteState.ARRIVED:
# Check whether the vehicle arrive to goal
Expand All @@ -291,8 +293,8 @@

if (
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self._autoware.information.operation_mode != OperationModeState.AUTONOMOUS
and self._trigger_external_signage
):
or self._autoware.information.autoware_control != True
) and self._trigger_external_signage:
self._service_interface.trigger_external_signage(False)
self._trigger_external_signage = False

Expand Down
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