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fix(autoware_external_cmd_converter): fix check_topic_state #1395

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fix(autoware_external_cmd_converter): fix check_topic_state #1395

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6f72a60
fix(autoware_external_cmd_converter): fix check_topic_state
shtokuda Jul 8, 2024
5a08c76
style(pre-commit): autofix
pre-commit-ci[bot] Jul 8, 2024
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9 changes: 7 additions & 2 deletions vehicle/autoware_external_cmd_converter/src/node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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";
Expand All @@ -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_;
}
Expand All @@ -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;
}
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