fix error in pr merge

src/signage/src/signage/autoware_interface.py

@@ -3,7 +3,7 @@
 
 import rclpy
 from dataclasses import dataclass
 from autoware_adapi_v1_msgs.msg import (
     RouteState,
     MrmState,
     OperationModeState,
@@ -81,7 +81,7 @@
         self._sub_motion_state = node.create_subscription(
             MotionState, "/api/motion/state", self.sub_motion_state_callback, api_qos
         )
         self._sub_localiztion_initializtion_state = node.create_subscription(
             LocalizationInitializationState,
             "/api/localization/initialization_state",
             self.sub_localization_initialization_state_callback,
@@ -99,9 +99,8 @@
             self.sub_active_schedule_callback,
             sub_qos,
         )
-        if not self._parameter.debug_mode:
-            self._autoware_connection_time = self._node.get_clock().now()
-            self._node.create_timer(1, self.reset_timer)
+        self._autoware_connection_time = self._node.get_clock().now()
+        self._node.create_timer(1, self.reset_timer)
 
     def reset_timer(self):
         if utils.check_timeout(

src/signage/src/signage/route_handler.py

@@ -9,7 +9,7 @@
 
 import signage.signage_utils as utils
 from tier4_external_api_msgs.msg import DoorStatus
 from autoware_adapi_v1_msgs.msg import (
     RouteState,
     MrmState,
     OperationModeState,
@@ -27,15 +27,13 @@
         autoware_interface,
         parameter_interface,
         ros_service_interface,
-        external_signage,
     ):
         self._node = node
         self._viewController = viewController
         self._announce_interface = announceController
         self._autoware = autoware_interface
         self._parameter = parameter_interface.parameter
         self._service_interface = ros_service_interface
-        self._external_signage = external_signage
         self._schedule_details = utils.init_ScheduleDetails()
         self._display_details = utils.init_DisplayDetails()
         self._current_task_details = utils.init_CurrentTask()
@@ -272,7 +270,7 @@
                     self._trigger_external_signage = True
                 if not self._announce_engage and self._parameter.signage_stand_alone:
                     self._announce_interface.send_announce("engage")
-                    self._external_signage.trigger()
+                    self._service_interface.trigger_external_signage(True)
                     self._trigger_external_signage = True
                     self._announce_engage = True
             elif self._autoware.information.route_state == RouteState.ARRIVED:

src/signage/src/signage/signage.py

@@ -14,7 +14,6 @@
 from signage.parameter_interface import ParameterInterface
 from signage.route_handler import RouteHandler
 from signage.ros_service_interface import RosServiceInterface
-from signage.external_signage import ExternalSignage
 from ament_index_python.packages import get_package_share_directory
 
 
@@ -34,15 +33,13 @@ def main(args=None):
     ros_service_interface = RosServiceInterface(node, parameter_interface)
     viewController = ViewControllerProperty(node, parameter_interface)
     announceController = AnnounceControllerProperty(node, autoware_interface, parameter_interface)
-    external_signage = ExternalSignage(node)
     route_handler = RouteHandler(
         node,
         viewController,
         announceController,
         autoware_interface,
         parameter_interface,
         ros_service_interface,
-        external_signage,
     )
 
     ctx = engine.rootContext()