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feat(mrm_handler): operate mrm only when autonomous operation mode #1377

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merged 1 commit into from
Jul 3, 2024
Merged

feat(mrm_handler): operate mrm only when autonomous operation mode #1377

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3 changes: 2 additions & 1 deletion system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -148,7 +148,8 @@ class MrmHandler : public rclcpp::Node
bool isStopped();
bool isDrivingBackwards();
bool isEmergency() const;
bool isAutonomous();
bool isControlModeAutonomous();
bool isOperationModeAutonomous();
bool isPullOverStatusAvailable();
bool isComfortableStopStatusAvailable();
bool isEmergencyStopStatusAvailable();
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15 changes: 12 additions & 3 deletions system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -396,12 +396,13 @@ void MrmHandler::updateMrmState()
}

// Get mode
const bool is_auto_mode = isAutonomous();
const bool is_control_mode_autonomous = isControlModeAutonomous();
const bool is_operation_mode_autonomous = isOperationModeAutonomous();

// State Machine
switch (mrm_state_.state) {
case MrmState::NORMAL:
if (is_auto_mode) {
if (is_control_mode_autonomous && is_operation_mode_autonomous) {
transitionTo(MrmState::MRM_OPERATING);
}
return;
Expand Down Expand Up @@ -537,14 +538,22 @@ bool MrmHandler::isEmergency() const
is_operation_mode_availability_timeout;
}

bool MrmHandler::isAutonomous()
bool MrmHandler::isControlModeAutonomous()
{
using autoware_vehicle_msgs::msg::ControlModeReport;
auto mode = sub_control_mode_.takeData();
if (mode == nullptr) return false;
return mode->mode == ControlModeReport::AUTONOMOUS;
}

bool MrmHandler::isOperationModeAutonomous()
{
using autoware_adapi_v1_msgs::msg::OperationModeState;
auto state = sub_operation_mode_state_.takeData();
if (state == nullptr) return false;
return state->mode == OperationModeState::AUTONOMOUS;
}

bool MrmHandler::isPullOverStatusAvailable()
{
auto status = sub_mrm_pull_over_status_.takeData();
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