From 30a747b4d4035a73f395ed638044281ebddd95a1 Mon Sep 17 00:00:00 2001 From: shtokuda Date: Mon, 8 Jul 2024 16:49:12 +0900 Subject: [PATCH 1/4] fix(autoware_external_cmd_converter): fix check_topic_state Signed-off-by: shtokuda --- vehicle/autoware_external_cmd_converter/src/node.cpp | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/vehicle/autoware_external_cmd_converter/src/node.cpp b/vehicle/autoware_external_cmd_converter/src/node.cpp index cbff8ab5ef2ce..cb8a2457b1059 100644 --- a/vehicle/autoware_external_cmd_converter/src/node.cpp +++ b/vehicle/autoware_external_cmd_converter/src/node.cpp @@ -179,6 +179,9 @@ void ExternalCmdConverterNode::check_topic_status( { using diagnostic_msgs::msg::DiagnosticStatus; DiagnosticStatus status; + + current_gate_mode_ = gate_mode_sub_.takeData(); + if (!check_emergency_stop_topic_timeout()) { status.level = DiagnosticStatus::ERROR; status.message = "emergency stop topic is timeout"; @@ -195,6 +198,10 @@ void ExternalCmdConverterNode::check_topic_status( bool ExternalCmdConverterNode::check_emergency_stop_topic_timeout() { + if (current_gate_mode_ && current_gate_mode_->data == tier4_control_msgs::msg::GateMode::AUTO) { + latest_emergency_stop_heartbeat_received_time_ = nullptr; + } + if (!latest_emergency_stop_heartbeat_received_time_) { return wait_for_first_topic_; } @@ -205,8 +212,6 @@ bool ExternalCmdConverterNode::check_emergency_stop_topic_timeout() bool ExternalCmdConverterNode::check_remote_topic_rate() { - current_gate_mode_ = gate_mode_sub_.takeData(); - if (!current_gate_mode_) { return true; } From 8f9efc4974e26e489bdf8cd3afaf89be9ee1c066 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Mon, 8 Jul 2024 08:53:14 +0000 Subject: [PATCH 2/4] style(pre-commit): autofix --- vehicle/autoware_external_cmd_converter/src/node.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/vehicle/autoware_external_cmd_converter/src/node.cpp b/vehicle/autoware_external_cmd_converter/src/node.cpp index cb8a2457b1059..0fb17fa670cd4 100644 --- a/vehicle/autoware_external_cmd_converter/src/node.cpp +++ b/vehicle/autoware_external_cmd_converter/src/node.cpp @@ -179,7 +179,7 @@ void ExternalCmdConverterNode::check_topic_status( { using diagnostic_msgs::msg::DiagnosticStatus; DiagnosticStatus status; - + current_gate_mode_ = gate_mode_sub_.takeData(); if (!check_emergency_stop_topic_timeout()) { From 556a926b4e851fb8c11c311cdb9d97afcebd3d0c Mon Sep 17 00:00:00 2001 From: SHtokuda <165623782+shtokuda@users.noreply.github.com> Date: Tue, 9 Jul 2024 22:19:52 +0900 Subject: [PATCH 3/4] Update vehicle/autoware_external_cmd_converter/src/node.cpp Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> --- vehicle/autoware_external_cmd_converter/src/node.cpp | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/vehicle/autoware_external_cmd_converter/src/node.cpp b/vehicle/autoware_external_cmd_converter/src/node.cpp index 0fb17fa670cd4..5091502cb966a 100644 --- a/vehicle/autoware_external_cmd_converter/src/node.cpp +++ b/vehicle/autoware_external_cmd_converter/src/node.cpp @@ -198,7 +198,11 @@ void ExternalCmdConverterNode::check_topic_status( bool ExternalCmdConverterNode::check_emergency_stop_topic_timeout() { - if (current_gate_mode_ && current_gate_mode_->data == tier4_control_msgs::msg::GateMode::AUTO) { + if (!current_gate_mode_) { + return true; + } + + if (current_gate_mode_->data == tier4_control_msgs::msg::GateMode::AUTO) { latest_emergency_stop_heartbeat_received_time_ = nullptr; } From b2aaf0c022b8f283a533cac926dcf8d62d378c73 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Tue, 9 Jul 2024 13:23:38 +0000 Subject: [PATCH 4/4] style(pre-commit): autofix --- vehicle/autoware_external_cmd_converter/src/node.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/vehicle/autoware_external_cmd_converter/src/node.cpp b/vehicle/autoware_external_cmd_converter/src/node.cpp index 5091502cb966a..22fc1c319a4e3 100644 --- a/vehicle/autoware_external_cmd_converter/src/node.cpp +++ b/vehicle/autoware_external_cmd_converter/src/node.cpp @@ -200,7 +200,7 @@ bool ExternalCmdConverterNode::check_emergency_stop_topic_timeout() { if (!current_gate_mode_) { return true; - } + } if (current_gate_mode_->data == tier4_control_msgs::msg::GateMode::AUTO) { latest_emergency_stop_heartbeat_received_time_ = nullptr;