refactor: external_signage subscribes to operation_mode instead of relying on signage

src/external_signage/src/external_signage/external_signage_core.py

@@ -10,7 +10,7 @@
 from std_msgs.msg import Bool
 from ament_index_python.packages import get_package_share_directory
 import external_signage.packet_tools as packet_tools
-from autoware_adapi_v1_msgs.msg import MrmState
+from autoware_adapi_v1_msgs.msg import MrmState, OperationModeState
 from std_msgs.msg import String
 from level4_mode_manager_msgs.msg import Level4DrivingStatus
 
@@ -137,9 +137,10 @@ def __init__(self, node):
             self.node.get_logger().error(str(e))
 
         self.autoware_status = {
-            "driving": True,
+            "driving": False,
             "mrm": False,
         }
+        self.is_autoware_launch = False
 
         # ros interface
         api_qos = rclpy.qos.QoSProfile(
@@ -148,10 +149,17 @@ def __init__(self, node):
             reliability=rclpy.qos.QoSReliabilityPolicy.RELIABLE,
             durability=rclpy.qos.QoSDurabilityPolicy.TRANSIENT_LOCAL,
         )
+        airport_mode_qos = rclpy.qos.QoSProfile(
+            history=rclpy.qos.QoSHistoryPolicy.KEEP_LAST,
+            depth=10,
+            reliability=rclpy.qos.QoSReliabilityPolicy.RELIABLE,
+            durability=rclpy.qos.QoSDurabilityPolicy.VOLATILE,
+        )
 
-        node.create_service(SetBool, "/signage/trigger_external", self.trigger_external_signage)
         node.create_service(SetBool, "/signage/mode_change", self.change_mode)
-        self._sub_airport_mode = node.create_subscription(Bool, "/signage/airport_mode", self.change_airport_mode, api_qos)
+        self._sub_airport_mode = node.create_subscription(
+            Bool, "/signage/airport_mode", self.change_airport_mode, airport_mode_qos
+        )
         self.mode_status_pub_ = node.create_publisher(Bool, "/signage/mode_status", api_qos)
         self.setting_pub_ = node.create_publisher(String, "/signage/external/settings", api_qos)
         self._sub_mrm = node.create_subscription(
@@ -160,6 +168,12 @@ def __init__(self, node):
             self.sub_mrm_callback,
             api_qos,
         )
+        self._sub_operation_mode = node.create_subscription(
+            OperationModeState,
+            "/api/operation_mode/state",
+            self.sub_operation_mode_callback,
+            api_qos,
+        )
 
         self._sub_is_driving_level = node.create_subscription(
             Level4DrivingStatus,
@@ -225,29 +239,27 @@ def send_data(self, display_key, data_key):
         sender = DataSender(self.bus, self.parser, self.protocol, self.node.get_logger())
         sender.send(data, ack_query_ack, ack_data_chunk)
 
-    # Lv4のときは自動運転中かどうかで表示を変更する。Lv2のときは変更しない
-    def trigger_external_signage(self, request, response):
+    # operation modeを受け取り、Lv4のときは自動運転中かどうかで表示を変更する。Lv2のときは変更しない
+    def sub_operation_mode_callback(self, msg):
         try:
-            self.autoware_status["driving"] = request.data
+            self.is_autoware_launch = True
+            self.autoware_status["driving"] = msg.mode == OperationModeState.AUTONOMOUS
             if self._settings["in_experiment"]:
-                return response
+                return
             elif self._settings["airport"]:
                 if self.autoware_status["mrm"]:
                     self.display_signage("mrm")
+                elif self.autoware_status["driving"]:
+                    self.display_signage("auto")
                 else:
-                    if request.data:
-                        self.display_signage("auto")
-                    else:
-                        self.display_signage("null")
+                    self.display_signage("null")
             else:
-                if request.data:
+                if self.autoware_status["driving"]:
                     self.display_signage("auto")
                 else:
                     self.display_signage("null")
-            response.success = True
         except Exception as e:
-            self.node.get_logger().error(str(e))
-        return response
+            self.node.get_logger().error("Unable to get the operation mode, ERROR: " + str(e))
 
     # MRMが発生していて空港モードの場合は「緊急停止中」表示にする
     def sub_mrm_callback(self, msg):

src/signage/launch/signage.launch.xml

@@ -3,12 +3,12 @@
   <arg name="signage_param" default="$(find-pkg-share signage)/config/signage_param.yaml" />
   <arg name="fms_client_param" default="$(find-pkg-share signage_fms_client)/config/fms_client_param.yaml" />
   <arg name="debug_mode" default="false" />
+  <arg name="use_external_signage" default="false" />
   <node pkg="signage" exec="signage"  output="screen">
     <param from="$(var signage_param)"/>
     <param name="debug_mode" value="$(var debug_mode)" />
   </node>
-  <node pkg="external_signage" exec="external_signage"  output="screen" />
-
+  <node pkg="external_signage" exec="external_signage" output="screen" if="$(var use_external_signage)" />
   <node pkg="signage_fms_client" exec="signage_fms_client"  output="screen" >
     <param from="$(var fms_client_param)"/>
   </node>

src/signage/src/signage/ros_service_interface.py

@@ -16,7 +16,6 @@
 import rclpy
 import time
 import threading
-from std_srvs.srv import SetBool
 from autoware_adapi_v1_msgs.srv import AcceptStart
 
 from std_srvs.srv import Trigger
@@ -35,7 +34,6 @@ def __init__(self, node, parameter_interface):
                 self._cli_accept_start = self.__create_client(
                     AcceptStart, "/api/motion/accept_start"
                 )
-            self._cli_trigger_external = self.__create_client(SetBool, "/signage/trigger_external")
 
     # service call function
     def accept_start(self):
@@ -45,15 +43,6 @@ def accept_start(self):
         request = AcceptStart.Request()
         self.__service_call(self._cli_accept_start, request, True)
 
-    # service call function
-    def trigger_external_signage(self, on):
-        if self._parameter.debug_mode:
-            return
-
-        request = SetBool.Request()
-        request.data = on
-        self.__service_call(self._cli_trigger_external, request, True)
-
     # common denominator
     def __create_client(self, service_type, service_name):
         client = self._node.create_client(service_type, service_name)

src/signage/src/signage/route_handler.py

@@ -54,7 +54,6 @@ def __init__(
         self._in_slowing_state = False
         self._announced_depart = False
         self._announced_arrive = False
-        self._trigger_external_signage = False
         self._processing_thread = False
 
         self.process_station_list_from_fms()
@@ -298,20 +297,12 @@ def route_checker_callback(self):
                 self._is_stopping = False
                 self._announced_depart = False
 
-                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
                     and self._autoware.information.autoware_control
                 ):
                     self._announce_interface.send_announce("engage")
-                    self._service_interface.trigger_external_signage(True)
-                    self._trigger_external_signage = True
                     self._announce_engage = True
             elif self._autoware.information.route_state in [RouteState.ARRIVED, RouteState.UNSET]:
                 # Check whether the vehicle arrive to goal
@@ -321,13 +312,6 @@ def route_checker_callback(self):
                 self._announce_engage = False
                 self._announced_arrive = False
 
-            if (
-                self._autoware.information.operation_mode != OperationModeState.AUTONOMOUS
-                or self._autoware.information.autoware_control != True
-            ) and self._trigger_external_signage:
-                self._service_interface.trigger_external_signage(False)
-                self._trigger_external_signage = False
-
             if self._prev_route_state != RouteState.SET:
                 if self._autoware.information.route_state == RouteState.SET:
                     self.process_station_list_from_fms(force_update=True)