From b6c37aae69c033f84f952920d51f693b1b592dbe Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Wed, 21 Feb 2024 03:47:16 +0900 Subject: [PATCH] fix initializing state handling Signed-off-by: Takagi, Isamu --- system/default_ad_api/src/routing.cpp | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/system/default_ad_api/src/routing.cpp b/system/default_ad_api/src/routing.cpp index d08f74d172bd3..0f2247c3aada8 100644 --- a/system/default_ad_api/src/routing.cpp +++ b/system/default_ad_api/src/routing.cpp @@ -89,13 +89,15 @@ void RoutingNode::on_operation_mode(const OperationModeState::Message::ConstShar void RoutingNode::on_state(const State::Message::ConstSharedPtr msg) { - state_ = *msg; - // TODO(Takagi, Isamu): Add adapi initializing state. - if (State::Message::INITIALIZING) { - pub_state_->publish(conversion::convert_state(*msg)); + // Represent initializing state by not publishing the topic for now. + if (msg->state == State::Message::INITIALIZING) { + return; } + state_ = *msg; + pub_state_->publish(conversion::convert_state(*msg)); + // Change operation mode to stop when the vehicle arrives. if (msg->state == State::Message::ARRIVED) { change_stop_mode();