diff --git a/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp b/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp index 6d2e2c6e81b60..a1739bf494c6e 100644 --- a/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp +++ b/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp @@ -32,8 +32,8 @@ AutowareStatePanel::AutowareStatePanel(QWidget * parent) : rviz_common::Panel(pa { // Panel Configuration this->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding); - this->setMinimumWidth(400); - this->setMaximumWidth(400); + this->setMinimumWidth(420); + this->setMaximumWidth(420); // Layout @@ -46,6 +46,7 @@ AutowareStatePanel::AutowareStatePanel(QWidget * parent) : rviz_common::Panel(pa auto * containerLayout = new QVBoxLayout(containerWidget); // Set the alignment of the layout containerLayout->setAlignment(Qt::AlignTop); + containerLayout->setSpacing(1); auto * operation_mode_group = makeOperationModeGroup(); auto * diagnostic_v_layout = new QVBoxLayout; @@ -192,6 +193,7 @@ QVBoxLayout * AutowareStatePanel::makeOperationModeGroup() CustomContainer * group1 = new CustomContainer(this); // add switch and label to the container + group1->setContentsMargins(0, 0, 0, 10); group1->getLayout()->addWidget(control_mode_switch_ptr_, 0, 0, 1, 1, Qt::AlignLeft); group1->getLayout()->addWidget(control_mode_label_ptr_, 0, 1, 1, 4, Qt::AlignLeft); @@ -205,7 +207,7 @@ QVBoxLayout * AutowareStatePanel::makeOperationModeGroup() QVBoxLayout * groupLayout = new QVBoxLayout; // set these widgets to show up at the left and not stretch more than needed groupLayout->setAlignment(Qt::AlignCenter); - groupLayout->setContentsMargins(10, 0, 10, 0); + groupLayout->setContentsMargins(10, 0, 0, 0); groupLayout->addWidget(group1); // groupLayout->addSpacing(5); groupLayout->addWidget(segmented_button, 0, Qt::AlignCenter); @@ -232,6 +234,8 @@ QVBoxLayout * AutowareStatePanel::makeRoutingGroup() custom_container->getLayout()->addWidget(routing_label, 0, 1, 1, 1, Qt::AlignLeft); custom_container->getLayout()->addWidget(clear_route_button_ptr_, 0, 2, 1, 4, Qt::AlignRight); + custom_container->setContentsMargins(10, 0, 0, 0); + group->addWidget(custom_container); return group; @@ -242,18 +246,20 @@ QVBoxLayout * AutowareStatePanel::makeLocalizationGroup() auto * group = new QVBoxLayout; auto * custom_container = new CustomContainer(this); - init_by_gnss_button_ptr_ = new CustomElevatedButton("Inititalize with GNSS"); + init_by_gnss_button_ptr_ = new CustomElevatedButton("Initialize with GNSS"); init_by_gnss_button_ptr_->setCursor(Qt::PointingHandCursor); connect(init_by_gnss_button_ptr_, SIGNAL(clicked()), SLOT(onClickInitByGnss())); localization_icon = new CustomIconLabel(QColor("#84c2e6")); - QLabel * localization_label = new QLabel("Localization"); + QLabel * localization_label = new QLabel(" Localization"); localization_label->setStyleSheet("color: #d0e6f2; font-weight: bold;"); custom_container->getLayout()->addWidget(localization_icon, 0, 0, 1, 1, Qt::AlignLeft); custom_container->getLayout()->addWidget(localization_label, 0, 1, 1, 1, Qt::AlignLeft); custom_container->getLayout()->addWidget(init_by_gnss_button_ptr_, 0, 2, 1, 4, Qt::AlignRight); + custom_container->setContentsMargins(10, 0, 0, 0); + group->addWidget(custom_container); return group; } @@ -275,6 +281,9 @@ QVBoxLayout * AutowareStatePanel::makeMotionGroup() custom_container->getLayout()->addWidget(motion_icon, 0, 0, 1, 1, Qt::AlignLeft); custom_container->getLayout()->addWidget(motion_label, 0, 1, 1, 1, Qt::AlignLeft); custom_container->getLayout()->addWidget(accept_start_button_ptr_, 0, 2, 1, 4, Qt::AlignRight); + + custom_container->setContentsMargins(10, 0, 0, 0); + group->addWidget(custom_container); return group; @@ -307,6 +316,8 @@ QVBoxLayout * AutowareStatePanel::makeFailSafeGroup() // v_layout->addSpacing(5); v_layout->addWidget(custom_container2); + group->setContentsMargins(10, 0, 0, 0); + group->addLayout(v_layout); return group; } @@ -352,9 +363,8 @@ QVBoxLayout * AutowareStatePanel::makeVelocityLimitGroup() velocity_limit_setter_ptr_->fontMetrics().horizontalAdvance("Set Velocity Limit")); velocity_limit_value_label_ = new QLabel("0"); - // max width is set to fit the text velocity_limit_value_label_->setMaximumWidth( - velocity_limit_value_label_->fontMetrics().horizontalAdvance("999")); + velocity_limit_value_label_->fontMetrics().horizontalAdvance("0")); CustomSlider * pub_velocity_limit_slider_ = new CustomSlider(Qt::Horizontal); pub_velocity_limit_slider_->setRange(0, 100); @@ -372,6 +382,8 @@ QVBoxLayout * AutowareStatePanel::makeVelocityLimitGroup() connect(pub_velocity_limit_slider_, &QSlider::valueChanged, this, [this](int value) { this->velocity_limit_value_label_->setText(QString::number(value)); + velocity_limit_value_label_->setMaximumWidth( + velocity_limit_value_label_->fontMetrics().horizontalAdvance(QString::number(value))); if (!sliderIsDragging) { // If the value changed without dragging, it's a click on the track onClickVelocityLimit(); // Call the function immediately since it's not a drag operation } @@ -392,12 +404,15 @@ QVBoxLayout * AutowareStatePanel::makeVelocityLimitGroup() velocity_limit_layout->addWidget(velocity_limit_label); // Velocity Limit layout + utility_layout->addSpacing(15); utility_layout->addWidget(velocity_limit_setter_ptr_); - // utility_layout->addSpacing(5); + utility_layout->addSpacing(10); utility_layout->addLayout(velocity_limit_layout); - // utility_layout->addSpacing(5); + utility_layout->addSpacing(25); utility_layout->addWidget(emergency_button_ptr_); + utility_layout->setContentsMargins(15, 0, 15, 0); + return utility_layout; } @@ -465,27 +480,27 @@ void AutowareStatePanel::onRoute(const RouteState::ConstSharedPtr msg) switch (msg->state) { case RouteState::UNSET: state = Pending; - bgColor = QColor("#84c2e6"); // yellow + bgColor = QColor("#eef08b"); break; case RouteState::SET: state = Active; - bgColor = QColor("#00e678"); // blue + bgColor = QColor("#00e678"); break; case RouteState::ARRIVED: state = Danger; - bgColor = QColor("#f08b8b"); // orange + bgColor = QColor("#f08b8b"); break; case RouteState::CHANGING: + bgColor = QColor("#eef08b"); state = Pending; - bgColor = QColor("#eef08b"); // yellow break; default: state = None; - bgColor = QColor("#84c2e6"); // red + bgColor = QColor("#84c2e6"); break; } @@ -512,22 +527,22 @@ void AutowareStatePanel::onLocalization(const LocalizationInitializationState::C switch (msg->state) { case LocalizationInitializationState::UNINITIALIZED: state = None; - bgColor = QColor("#84c2e6"); // yellow + bgColor = QColor("#84c2e6"); break; case LocalizationInitializationState::INITIALIZED: state = Active; - bgColor = QColor("#00e678"); // blue + bgColor = QColor("#00e678"); break; case LocalizationInitializationState::INITIALIZING: state = Pending; - bgColor = QColor("#eef08b"); // yellow + bgColor = QColor("#eef08b"); break; default: state = None; - bgColor = QColor("#84c2e6"); // red + bgColor = QColor("#84c2e6"); break; }