feat: add option to force local mode

Signed-off-by: TakahikoHasegawa97 <takahiko.hasegawa@tier4.jp>

Author: TakahikoHasegawa97

src/signage/config/signage_param.yaml

@@ -12,6 +12,7 @@ signage:
     emergency_repeat_period: 180.0 # second
     accept_start: 5.0 # second
     override_status_bus_stop: true
+    force_local_display: true
     monitor_width: 1920
     monitor_height: 360
     announce:

src/signage/src/signage/parameter_interface.py

@@ -22,6 +22,7 @@ class SignageParameter:
     monitor_width: int = 1920
     monitor_height: int = 540
     override_status_bus_stop: bool = True
+    force_local_display: bool = False
 
 
 @dataclass
@@ -58,6 +59,7 @@ def __init__(self, node):
         node.declare_parameter("override_status_bus_stop", True)
         node.declare_parameter("monitor_width", 1920)
         node.declare_parameter("monitor_height", 540)
+        node.declare_parameter("force_local_display", False)
 
         self.parameter.debug_mode = (
             node.get_parameter("debug_mode").get_parameter_value().bool_value
@@ -104,6 +106,9 @@ def __init__(self, node):
         self.parameter.monitor_height = (
             node.get_parameter("monitor_height").get_parameter_value().integer_value
         )
+        self.parameter.force_local_display = (
+            node.get_parameter("force_local_display").get_parameter_value().bool_value
+        )
 
         node.declare_parameter("announce.emergency", True)
         node.declare_parameter("announce.restart_engage", True)

src/signage/src/signage/route_handler.py

@@ -58,6 +58,7 @@ def __init__(
         self._trigger_external_signage = False
         self._processing_thread = False
 
+        if not self._parameter.force_local_display:
         self.process_station_list_from_fms()
 
         self._node.create_timer(0.2, self.route_checker_callback)
@@ -266,10 +267,11 @@ def process_station_list_from_fms(self, force_update=False):
                     self.task_list.done_list
                 )
 
+            call_type = "local" if self._parameter.force_local_display else "fms"
             self._display_details.next_station_list = utils.create_next_station_list(
                 self._current_task_details,
                 self.task_list.todo_list,
-                "fms",
+                call_type,
                 self._schedule_details.schedule_type,
             )
 
@@ -355,16 +357,17 @@ def route_checker_callback(self):
                 self._service_interface.trigger_external_signage(False)
                 self._trigger_external_signage = False
 
-            if self._prev_route_state != RouteState.SET:
-                if self._autoware.information.route_state == RouteState.SET:
-                    self.process_station_list_from_fms(force_update=True)
+            if not self._parameter.force_local_display:
+                if self._prev_route_state != RouteState.SET:
+                    if self._autoware.information.route_state == RouteState.SET:
+                        self.process_station_list_from_fms(force_update=True)
 
-            if not self._fms_check_time:
-                self.process_station_list_from_fms()
-            elif utils.check_timeout(
-                self._node.get_clock().now(), self._fms_check_time, self._parameter.check_fms_time
-            ):
-                self.process_station_list_from_fms()
+                if not self._fms_check_time:
+                    self.process_station_list_from_fms()
+                elif utils.check_timeout(
+                    self._node.get_clock().now(), self._fms_check_time, self._parameter.check_fms_time
+                ):
+                    self.process_station_list_from_fms()
 
             if self._in_emergency_state:
                 return