correction of sizing/positionning of items in overlay + use color val…

…ues from main widget

Signed-off-by: KhalilSelyan <[email protected]>

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/gear_display.hpp

@@ -36,7 +36,9 @@ class GearDisplay
 {
 public:
   GearDisplay();
-  void drawGearIndicator(QPainter & painter, const QRectF & backgroundRect);
+  void drawGearIndicator(
+    QPainter & painter, const QRectF & backgroundRect, const QColor & color,
+    const QColor & bg_color);
   void updateGearData(const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr & msg);
 
 private:

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_display.hpp

@@ -36,12 +36,11 @@ class SpeedDisplay
 {
 public:
   SpeedDisplay();
-  void drawSpeedDisplay(QPainter & painter, const QRectF & backgroundRect);
+  void drawSpeedDisplay(QPainter & painter, const QRectF & backgroundRect, const QColor & color);
   void updateSpeedData(const autoware_auto_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg);
 
 private:
   float current_speed_;  // Internal variable to store current speed
-  QColor gray = QColor(194, 194, 194);
 };
 
 }  // namespace autoware_overlay_rviz_plugin

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp

@@ -37,14 +37,16 @@ class SpeedLimitDisplay
 {
 public:
   SpeedLimitDisplay();
-  void drawSpeedLimitIndicator(QPainter & painter, const QRectF & backgroundRect);
+  void drawSpeedLimitIndicator(
+    QPainter & painter, const QRectF & backgroundRect, const QColor & color,
+    const QColor & light_color, const QColor & dark_color, const QColor & bg_color,
+    const float bg_alpha);
   void updateSpeedLimitData(const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg);
   void updateSpeedData(const autoware_auto_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg);
 
 private:
   float current_limit;   // Internal variable to store current gear
   float current_speed_;  // Internal variable to store current speed
-  QColor gray = QColor(194, 194, 194);
 };
 
 }  // namespace autoware_overlay_rviz_plugin

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp

@@ -55,7 +55,8 @@ void GearDisplay::updateGearData(
   current_gear_ = msg->report;  // Assuming msg->report contains the gear information
 }
 
-void GearDisplay::drawGearIndicator(QPainter & painter, const QRectF & backgroundRect)
+void GearDisplay::drawGearIndicator(
+  QPainter & painter, const QRectF & backgroundRect, const QColor & color, const QColor & bg_color)
 {
   // we deal with the different gears here
   std::string gearString;
@@ -91,9 +92,9 @@ void GearDisplay::drawGearIndicator(QPainter & painter, const QRectF & backgroun
   double gearX = backgroundRect.left() + 54;
   double gearY = backgroundRect.height() / 2 - gearBoxSize / 2;
   QRect gearRect(gearX, gearY, gearBoxSize, gearBoxSize);
-  painter.setBrush(gray);
+  painter.setBrush(color);
   painter.drawRoundedRect(gearRect, 10, 10);
-  painter.setPen(Qt::black);
+  painter.setPen(bg_color);
   painter.drawText(gearRect, Qt::AlignCenter, QString::fromStdString(gearString));
 }
 

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp

@@ -76,7 +76,8 @@ void SpeedDisplay::updateSpeedData(
 //     }
 // }
 
-void SpeedDisplay::drawSpeedDisplay(QPainter & painter, const QRectF & backgroundRect)
+void SpeedDisplay::drawSpeedDisplay(
+  QPainter & painter, const QRectF & backgroundRect, const QColor & color)
 {
   QFont referenceFont("Quicksand", 80, QFont::Bold);
   painter.setFont(referenceFont);
@@ -96,7 +97,7 @@ void SpeedDisplay::drawSpeedDisplay(QPainter & painter, const QRectF & backgroun
   QPointF speedPos(
     backgroundRect.center().x() - speedNumberRect.width() / 2,
     backgroundRect.center().y() + speedNumberRect.bottom());
-  painter.setPen(gray);
+  painter.setPen(color);
   painter.drawText(speedPos, speedNumber);
 
   QFont unitFont("Quicksand", 8, QFont::DemiBold);

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp

@@ -68,41 +68,40 @@ void SpeedLimitDisplay::updateSpeedData(
   }
 }
 
-void SpeedLimitDisplay::drawSpeedLimitIndicator(QPainter & painter, const QRectF & backgroundRect)
+void SpeedLimitDisplay::drawSpeedLimitIndicator(
+  QPainter & painter, const QRectF & backgroundRect, const QColor & color,
+  const QColor & light_color, const QColor & dark_color, const QColor & bg_color,
+  const float bg_alpha)
 {
   // Enable Antialiasing for smoother drawing
   painter.setRenderHint(QPainter::Antialiasing, true);
   painter.setRenderHint(QPainter::SmoothPixmapTransform, true);
 
-  const double color_s_min = 0.4;
-  const double color_s_max = 0.8;
-  QColor colorMin;
-  colorMin.setHsvF(0.0, color_s_min, 1.0);
-  QColor colorMax;
-  colorMax.setHsvF(0.0, color_s_max, 1.0);
-
-  QColor borderColor = colorMin;
+  QColor borderColor = light_color;
   if (current_limit > 0.0) {
     double speed_to_limit_ratio = current_speed_ / current_limit;
     const double speed_to_limit_ratio_min = 0.6;
     const double speed_to_limit_ratio_max = 0.9;
 
     if (speed_to_limit_ratio >= speed_to_limit_ratio_max) {
-      borderColor = colorMax;
+      borderColor = dark_color;
     } else if (speed_to_limit_ratio > speed_to_limit_ratio_min) {
       double interpolation_factor = (speed_to_limit_ratio - speed_to_limit_ratio_min) /
                                     (speed_to_limit_ratio_max - speed_to_limit_ratio_min);
-      // Interpolate between colorMin and colorMax
-      double saturation = color_s_min + (color_s_max - color_s_min) * interpolation_factor;
-
-      borderColor.setHsvF(0.0, saturation, 1.0);
+      // Interpolate between light_color and dark_color
+      int red = light_color.red() + (dark_color.red() - light_color.red()) * interpolation_factor;
+      int green =
+        light_color.green() + (dark_color.green() - light_color.green()) * interpolation_factor;
+      int blue =
+        light_color.blue() + (dark_color.blue() - light_color.blue()) * interpolation_factor;
+      borderColor = QColor(red, green, blue);
     }
   }
 
   // Define the area for the outer circle
   QRectF outerCircleRect = QRectF(45, 45, 45, 45);
-  outerCircleRect.moveTopRight(
-    QPointF(backgroundRect.right() - 44, backgroundRect.top() + outerCircleRect.height() / 2 + 5));
+  outerCircleRect.moveTopRight(QPointF(
+    backgroundRect.right() - 44, backgroundRect.height() / 2 - outerCircleRect.height() / 2));
 
   // Now use borderColor for drawing
   painter.setPen(QPen(borderColor, 2, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin));
@@ -120,8 +119,8 @@ void SpeedLimitDisplay::drawSpeedLimitIndicator(QPainter & painter, const QRectF
 
   painter.setRenderHint(QPainter::Antialiasing, true);
   QColor colorFromHSV;
-  colorFromHSV.setHsv(0, 0, 29);  // Hue, Saturation, Value
-  colorFromHSV.setAlphaF(0.60);   // Transparency
+  colorFromHSV.setHsv(bg_color.hue(), bg_color.saturation(), bg_color.value());
+  colorFromHSV.setAlphaF(bg_alpha);
   painter.setBrush(colorFromHSV);
   painter.drawEllipse(innerCircleRect);
 
@@ -138,8 +137,7 @@ void SpeedLimitDisplay::drawSpeedLimitIndicator(QPainter & painter, const QRectF
   QFont font = QFont("Quicksand", 16, QFont::Bold);
 
   painter.setFont(font);
-  // #C2C2C2
-  painter.setPen(QPen(gray, 2, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin));
+  painter.setPen(QPen(color, 2, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin));
 
   // Draw the text in the center of the circle
   painter.drawText(innerCircleRect, Qt::AlignCenter, text);

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp

@@ -65,7 +65,7 @@ void TrafficDisplay::drawTrafficLightIndicator(QPainter & painter, const QRectF
   QRectF circleRect = QRectF(50, 50, 50, 50);
   circleRect.moveTopRight(QPointF(
     backgroundRect.right() - circleRect.width() - 75,
-    backgroundRect.top() + circleRect.height() / 2));
+    backgroundRect.height() / 2 - circleRect.height() / 2));
   painter.drawEllipse(circleRect);
 
   if (!current_traffic_.elements.empty()) {