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fix(rtc_interface): fix initial auto mode (#3029) #331

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merged 2 commits into from
Mar 22, 2023
Merged

fix(rtc_interface): fix initial auto mode (#3029) #331

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1705782
fix(rtc_interface): fix initial auto mode (#3029)
rej55 Mar 9, 2023
fc3a0b5
Merge branch 'beta/v0.6.1' into fix/initialize-rtc-auto-mode
mkuri Mar 20, 2023
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2 changes: 1 addition & 1 deletion planning/rtc_interface/include/rtc_interface/rtc_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -81,7 +81,7 @@ class RTCInterface
Module module_;
CooperateStatusArray registered_status_;
std::vector<CooperateCommand> stored_commands_;
bool is_auto_mode_;
bool is_auto_mode_init_;
bool is_locked_;

std::string cooperate_status_namespace_ = "/planning/cooperate_status";
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8 changes: 3 additions & 5 deletions planning/rtc_interface/src/rtc_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -70,7 +70,7 @@ namespace rtc_interface
{
RTCInterface::RTCInterface(rclcpp::Node * node, const std::string & name)
: logger_{node->get_logger().get_child("RTCInterface[" + name + "]")},
is_auto_mode_{false},
is_auto_mode_init_{false},
is_locked_{false}
{
using std::placeholders::_1;
Expand Down Expand Up @@ -156,7 +156,6 @@ void RTCInterface::updateCooperateCommandStatus(const std::vector<CooperateComma
if (itr != registered_status_.statuses.end()) {
itr->command_status = command.command;
itr->auto_mode = false;
is_auto_mode_ = false;
}
}
}
Expand All @@ -165,7 +164,7 @@ void RTCInterface::onAutoModeService(
const AutoMode::Request::SharedPtr request, const AutoMode::Response::SharedPtr response)
{
std::lock_guard<std::mutex> lock(mutex_);
is_auto_mode_ = request->enable;
is_auto_mode_init_ = request->enable;
for (auto & status : registered_status_.statuses) {
status.auto_mode = request->enable;
}
Expand All @@ -192,7 +191,7 @@ void RTCInterface::updateCooperateStatus(
status.command_status.type = Command::DEACTIVATE;
status.start_distance = start_distance;
status.finish_distance = finish_distance;
status.auto_mode = is_auto_mode_;
status.auto_mode = is_auto_mode_init_;
registered_status_.statuses.push_back(status);
return;
}
Expand All @@ -202,7 +201,6 @@ void RTCInterface::updateCooperateStatus(
itr->safe = safe;
itr->start_distance = start_distance;
itr->finish_distance = finish_distance;
itr->auto_mode = is_auto_mode_;
}

void RTCInterface::removeCooperateStatus(const UUID & uuid)
Expand Down