feat(rtc_manager_panel): add cooperateStatus state column (#104)

* add another column Signed-off-by: Go Sakayori <[email protected]> * fix Signed-off-by: Go Sakayori <[email protected]> --------- Signed-off-by: Go Sakayori <[email protected]>
autowarefoundation · Sep 12, 2024 · 008d0b5 · 008d0b5
1 parent 63eda19
commit 008d0b5
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Showing 2 changed files with 35 additions and 4 deletions.
diff --git a/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.cpp b/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.cpp
@@ -242,7 +242,8 @@ RTCManagerPanel::RTCManagerPanel(QWidget * parent) : rviz_common::Panel(parent)
     rtc_table_ = new QTableWidget();
     rtc_table_->setColumnCount(column_size_);
     rtc_table_->setHorizontalHeaderLabels(
-      {"ID", "Module", "AW Safe", "Received Cmd", "AutoMode", "StartDistance", "FinishDistance"});
+      {"ID", "Module", "AW\nSafe", "Recv\nCmd", "Auto\nMode", "State", "Start\nDistance",
+       "Finish\nDistance"});
     rtc_table_->setVerticalHeader(vertical_header);
     rtc_table_->setHorizontalHeader(horizontal_header);
     rtc_table_layout->addWidget(rtc_table_);
@@ -438,13 +439,41 @@ void RTCManagerPanel::onRTCStatus(const CooperateStatusArray::ConstSharedPtr msg
       rtc_table_->setCellWidget(cnt, 4, label);
     }
 
+    // State
+    std::string module_state = "NONE";
+    {
+      switch (status.state.type) {
+        case State::WAITING_FOR_EXECUTION:
+          module_state = "Waiting";
+          break;
+        case State::RUNNING:
+          module_state = "Running";
+          break;
+        case State::ABORTING:
+          module_state = "Aborting";
+          break;
+        case State::SUCCEEDED:
+          module_state = "Succeeded";
+          break;
+        case State::FAILED:
+          module_state = "Failed";
+          break;
+        default:
+          break;
+      }
+      auto label = new QLabel(QString::fromStdString(module_state));
+      label->setAlignment(Qt::AlignCenter);
+      label->setText(QString::fromStdString(module_state));
+      rtc_table_->setCellWidget(cnt, 5, label);
+    }
+
     // start distance
     {
       std::string start_distance = std::to_string(status.start_distance);
       auto label = new QLabel(QString::fromStdString(start_distance));
       label->setAlignment(Qt::AlignCenter);
       label->setText(QString::fromStdString(start_distance));
-      rtc_table_->setCellWidget(cnt, 5, label);
+      rtc_table_->setCellWidget(cnt, 6, label);
     }
 
     // finish distance
@@ -453,7 +482,7 @@ void RTCManagerPanel::onRTCStatus(const CooperateStatusArray::ConstSharedPtr msg
       auto label = new QLabel(QString::fromStdString(finish_distance));
       label->setAlignment(Qt::AlignCenter);
       label->setText(QString::fromStdString(finish_distance));
-      rtc_table_->setCellWidget(cnt, 6, label);
+      rtc_table_->setCellWidget(cnt, 7, label);
     }
 
     // add color for recognition

diff --git a/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.hpp b/common/rtc_manager_rviz_plugin/src/rtc_manager_panel.hpp
@@ -41,6 +41,7 @@
 #include <tier4_rtc_msgs/msg/cooperate_status.hpp>
 #include <tier4_rtc_msgs/msg/cooperate_status_array.hpp>
 #include <tier4_rtc_msgs/msg/module.hpp>
+#include <tier4_rtc_msgs/msg/state.hpp>
 #include <tier4_rtc_msgs/srv/auto_mode.hpp>
 #include <tier4_rtc_msgs/srv/cooperate_commands.hpp>
 #endif
@@ -53,6 +54,7 @@ using tier4_rtc_msgs::msg::CooperateResponse;
 using tier4_rtc_msgs::msg::CooperateStatus;
 using tier4_rtc_msgs::msg::CooperateStatusArray;
 using tier4_rtc_msgs::msg::Module;
+using tier4_rtc_msgs::msg::State;
 using tier4_rtc_msgs::srv::AutoMode;
 using tier4_rtc_msgs::srv::CooperateCommands;
 using unique_identifier_msgs::msg::UUID;
@@ -123,7 +125,7 @@ public Q_SLOTS:
   QPushButton * wait_button_ptr_ = {nullptr};
   QLabel * num_rtc_status_ptr_ = {nullptr};
 
-  size_t column_size_ = {7};
+  size_t column_size_ = {8};
   std::string enable_auto_mode_namespace_ = "/planning/enable_auto_mode";
 };