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fix(autoware_hazard_status_converter): ignore errors during initializ…
…ation Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,65 @@ | ||
| // Copyright 2025 The Autoware Contributors | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
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| #include "mode_interface.hpp" | ||
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| namespace autoware::hazard_status_converter | ||
| { | ||
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| ModeInterface::ModeInterface(rclcpp::Node & node) : node_(node) | ||
| { | ||
| sub_operation_mode_state_ = node.create_subscription<OperationModeState>( | ||
| "/api/operation_mode/state", rclcpp::QoS(1).transient_local(), | ||
| [this](const OperationModeState & msg) { operation_mode_state_ = msg; }); | ||
| sub_autoware_state_ = node.create_subscription<AutowareState>( | ||
| "/autoware/state", rclcpp::QoS(1), | ||
| [this](const AutowareState & msg) { autoware_state_ = msg; }); | ||
| } | ||
|
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| RootModeStatus ModeInterface::get_root() const | ||
| { | ||
| const auto is_not_autoware_running = [this]() { | ||
| if (autoware_state_->state == AutowareState::INITIALIZING) return true; | ||
| if (autoware_state_->state == AutowareState::FINALIZING) return true; | ||
| return false; | ||
| }; | ||
|
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| const auto is_not_autonomous_ready = [this]() { | ||
| if (autoware_state_->state == AutowareState::WAITING_FOR_ROUTE) return true; | ||
| if (autoware_state_->state == AutowareState::PLANNING) return true; | ||
| return false; | ||
| }; | ||
|
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| // Returns unknown before receiving state messages. | ||
| if (!operation_mode_state_ || !autoware_state_) { | ||
| return {RootModeStatus::Mode::UNKNOWN, false}; | ||
| } | ||
|
|
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| // During stop mode refer to autonomous mode diagnostics. | ||
| if (operation_mode_state_->mode == OperationModeState::STOP) { | ||
| return {RootModeStatus::Mode::AUTO, is_not_autoware_running() || is_not_autonomous_ready()}; | ||
| } | ||
| if (operation_mode_state_->mode == OperationModeState::AUTONOMOUS) { | ||
| return {RootModeStatus::Mode::AUTO, is_not_autoware_running() || is_not_autonomous_ready()}; | ||
| } | ||
| if (operation_mode_state_->mode == OperationModeState::REMOTE) { | ||
| return {RootModeStatus::Mode::REMOTE, is_not_autoware_running()}; | ||
| } | ||
| if (operation_mode_state_->mode == OperationModeState::LOCAL) { | ||
| return {RootModeStatus::Mode::LOCAL, is_not_autoware_running()}; | ||
| } | ||
| return {RootModeStatus::Mode::UNKNOWN, false}; | ||
| } | ||
|
Check warning on line 63 in system/autoware_hazard_status_converter/src/mode_interface.cpp
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| } // namespace autoware::hazard_status_converter | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,59 @@ | ||
| // Copyright 2025 The Autoware Contributors | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
|
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| #ifndef MODE_INTERFACE_HPP_ | ||
| #define MODE_INTERFACE_HPP_ | ||
|
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| #include <rclcpp/rclcpp.hpp> | ||
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| #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp> | ||
| #include <autoware_system_msgs/msg/autoware_state.hpp> | ||
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| #include <optional> | ||
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| namespace autoware::hazard_status_converter | ||
| { | ||
|
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| struct RootModeStatus | ||
| { | ||
| enum class Mode { | ||
| UNKNOWN, | ||
| AUTO, | ||
| REMOTE, | ||
| LOCAL, | ||
| }; | ||
| Mode mode; | ||
| bool ignore; | ||
| }; | ||
|
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| class ModeInterface | ||
| { | ||
| public: | ||
| explicit ModeInterface(rclcpp::Node & node); | ||
| RootModeStatus get_root() const; | ||
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| private: | ||
| using OperationModeState = autoware_adapi_v1_msgs::msg::OperationModeState; | ||
| using AutowareState = autoware_system_msgs::msg::AutowareState; | ||
| rclcpp::Node & node_; | ||
| rclcpp::Subscription<OperationModeState>::SharedPtr sub_operation_mode_state_; | ||
| rclcpp::Subscription<AutowareState>::SharedPtr sub_autoware_state_; | ||
|
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| std::optional<OperationModeState> operation_mode_state_; | ||
| std::optional<AutowareState> autoware_state_; | ||
| }; | ||
|
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| } // namespace autoware::hazard_status_converter | ||
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| #endif // MODE_INTERFACE_HPP_ |