From fb5a1715e2af614d7b867ba3b0fdcf2031f9a025 Mon Sep 17 00:00:00 2001
From: Berkay Karaman <brkay54@gmail.com>
Date: Mon, 17 Apr 2023 05:04:16 +0300
Subject: [PATCH] feat(default_ad_api): update pause interface request

Signed-off-by: Berkay Karaman <brkay54@gmail.com>
---
 system/default_ad_api/src/motion.cpp | 9 ++++++---
 system/default_ad_api/src/motion.hpp | 2 +-
 2 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/system/default_ad_api/src/motion.cpp b/system/default_ad_api/src/motion.cpp
index b02fd43e9be44..32e99bf214127 100644
--- a/system/default_ad_api/src/motion.cpp
+++ b/system/default_ad_api/src/motion.cpp
@@ -42,12 +42,12 @@ MotionNode::MotionNode(const rclcpp::NodeOptions & options)
 
 void MotionNode::update_state()
 {
-  if (!is_paused_ || !is_start_requested_) {
+  if (!is_paused_by_node_ || !is_start_requested_) {
     return;
   }
 
   const auto get_next_state = [this]() {
-    if (is_paused_.value()) {
+    if (is_paused_by_node_.value()) {
       if (!is_start_requested_.value()) {
         return State::Paused;
       } else {
@@ -112,6 +112,7 @@ void MotionNode::change_pause(bool pause)
   if (!is_calling_set_pause_ && cli_set_pause_->service_is_ready()) {
     const auto req = std::make_shared<control_interface::SetPause::Service::Request>();
     req->pause = pause;
+    req->request_source = "default_ad_api";
     is_calling_set_pause_ = true;
     cli_set_pause_->async_send_request(req, [this](auto) { is_calling_set_pause_ = false; });
   }
@@ -131,7 +132,9 @@ void MotionNode::on_timer()
 
 void MotionNode::on_is_paused(const control_interface::IsPaused::Message::ConstSharedPtr msg)
 {
-  is_paused_ = msg->data;
+  is_paused_by_node_ = msg->data && std::find(
+                                      msg->requested_sources.begin(), msg->requested_sources.end(),
+                                      "default_ad_api") != msg->requested_sources.end();
 }
 
 void MotionNode::on_is_start_requested(
diff --git a/system/default_ad_api/src/motion.hpp b/system/default_ad_api/src/motion.hpp
index 4d929d80c9655..710930bd6dc63 100644
--- a/system/default_ad_api/src/motion.hpp
+++ b/system/default_ad_api/src/motion.hpp
@@ -45,7 +45,7 @@ class MotionNode : public rclcpp::Node
 
   enum class State { Unknown, Pausing, Paused, Starting, Resuming, Resumed, Moving };
   State state_;
-  std::optional<bool> is_paused_;
+  std::optional<bool> is_paused_by_node_;
   std::optional<bool> is_start_requested_;
 
   double stop_check_duration_;