feat(hazard_status_converter): hazard status converter subscribe emergency holding #9287
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Signed-off-by: TetsuKawa <[email protected]>
Signed-off-by: TetsuKawa <[email protected]>
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| @@ -117,7 +117,10 @@ void Converter::on_update(DiagGraph::ConstSharedPtr graph) | |||
| hazard.stamp = graph->updated_stamp(); | |||
| hazard.status.level = get_system_level(hazard.status); | |||
| hazard.status.emergency = hazard.status.level == HazardStatus::SINGLE_POINT_FAULT; | |||
| hazard.status.emergency_holding = false; | |||
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| auto is_emergency_holding = sub_emergency_holding_.takeData(); | |||
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nits
Suggested change
| auto is_emergency_holding = sub_emergency_holding_.takeData(); | |
| const auto is_emergency_holding = sub_emergency_holding_.takeData(); |
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Description
This PR add emergency holding subscriber and update
emergency_holdingwhich is inhazard_statustopic .Related links
Parent Issue:
How was this PR tested?
Please refer to the parent PR.
Notes for reviewers
None.
Interface changes
Topic changes
Additions and removals
/system/emergency_holdingtier4_system_msgs/msg/EmergencyHoldingStateEffects on system behavior
None.