add fix going to depart and arrive announce (#108) (#111)

* add fix going to depart and arrive announce * fix * reset flag when no schedule --------- Signed-off-by: tkhmy <[email protected]> Co-authored-by: Kah Hooi Tan <[email protected]>
tier4 · Aug 20, 2024 · 2a6cf7d · 2a6cf7d
1 parent 36341f0
commit 2a6cf7d
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Showing 2 changed files with 18 additions and 6 deletions.
diff --git a/src/signage/src/signage/announce_controller.py b/src/signage/src/signage/announce_controller.py
@@ -129,10 +129,7 @@ def announce_emergency(self, message):
             self.send_announce(message)
 
     def announce_going_to_depart_and_arrive(self, message):
-        if self._prev_depart_and_arrive_type != message:
-            # To stop repeat announcement
-            self.send_announce(message)
-            self._prev_depart_and_arrive_type = message
+        self.send_announce(message)
 
     def publish_volume_callback(self):
         self._sink = self._pulse.get_sink_by_name(self._pulse.server_info().default_sink_name)

diff --git a/src/signage/src/signage/route_handler.py b/src/signage/src/signage/route_handler.py
@@ -61,6 +61,8 @@ def __init__(
         self._announce_engage = False
         self._in_slow_stop_state = False
         self._in_slowing_state = False
+        self._announced_depart = False
+        self._announced_arrive = False
         self._trigger_external_signage = False
 
         self.process_station_list_from_fms()
@@ -276,6 +278,8 @@ def route_checker_callback(self):
                 # Check whether the vehicle is move in autonomous
                 self._is_driving = True
                 self._is_stopping = False
+                self._announced_depart = False
+
                 if (
                     not self._trigger_external_signage
                     and self._autoware.information.autoware_control
@@ -293,6 +297,7 @@ def route_checker_callback(self):
                 self._is_stopping = True
                 self._skip_announce = False
                 self._announce_engage = False
+                self._announced_arrive = False
 
             if (
                 self._autoware.information.operation_mode != OperationModeState.AUTONOMOUS
@@ -323,6 +328,7 @@ def route_checker_callback(self):
                 if self._autoware.information.goal_distance < self._parameter.goal_distance:
                     self._is_stopping = True
                     self._is_driving = False
+                    self._announced_depart = False
 
             if self._reach_final:
                 self._previous_driving_status = False
@@ -361,13 +367,21 @@ def calculate_time_callback(self):
                 else:
                     # the departure time is close (within 1 min), announce going to depart
                     self._display_phrase = utils.handle_phrase("departing")
-                    self._announce_interface.announce_going_to_depart_and_arrive("going_to_depart")
+                    if not self._announced_depart:
+                        self._announce_interface.announce_going_to_depart_and_arrive(
+                            "going_to_depart"
+                        )
+                        self._announced_depart = True
             elif self._is_driving:
                 # handle text and announce while bus is running
                 if self._autoware.information.goal_distance < 100:
                     # display text and announce if the goal is within 100m
                     self._display_phrase = utils.handle_phrase("arriving")
-                    self._announce_interface.announce_going_to_depart_and_arrive("going_to_arrive")
+                    if not self._announced_arrive:
+                        self._announce_interface.announce_going_to_depart_and_arrive(
+                            "going_to_arrive"
+                        )
+                        self._announced_arrive = True
                 else:
                     self._display_phrase = ""
             else:
@@ -410,6 +424,7 @@ def view_mode_callback(self):
                 view_mode = "stopping"
             else:
                 view_mode = "out_of_service"
+                self._announced_depart = False
 
             self._viewController.view_mode = view_mode
         except Exception as e: