feat(system_error_monitor): add ignore hartbeat timeout in initializi…

…ng state (#972) * add ignore hartbeat timeout in initializing state Signed-off-by: asa-naki <[email protected]> * fix typo * Update comment * ci(pre-commit): autofix * fix typo * ci(pre-commit): autofix * update comment * ci(pre-commit): autofix --------- Signed-off-by: asa-naki <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
tier4 · Aug 14, 2024 · a629572 · a629572
1 parent 0b7fae2
commit a629572
Showing 1 changed file with 9 additions and 1 deletion.
diff --git a/system/system_error_monitor/src/system_error_monitor_core.cpp b/system/system_error_monitor/src/system_error_monitor_core.cpp
@@ -478,8 +478,16 @@ void AutowareErrorMonitor::onTimer()
     }
     return;
   }
-
+  // Heartbeat in AutowareState,diag_array times out during AutowareState INITIALIZING due to high
+  // processing load,add a disable function to avoid Emergencies in isDataHeartbeatTimeout() in
+  // AutowareState INITIALIZING.
   if (isDataHeartbeatTimeout()) {
+    if ((autoware_state_->state == autoware_auto_system_msgs::msg::AutowareState::INITIALIZING)) {
+      RCLCPP_WARN_THROTTLE(
+        get_logger(), *get_clock(), std::chrono::milliseconds(1000).count(),
+        "ignore heartbeat timeout in initializing state");
+      return;
+    }
     updateTimeoutHazardStatus();
     publishHazardStatus(hazard_status_);
     return;