diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/CHANGELOG.rst b/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/CHANGELOG.rst deleted file mode 100644 index e7672ee001955..0000000000000 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/CHANGELOG.rst +++ /dev/null @@ -1,24 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package rviz_2d_overlay_msgs -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.3.0 (2023-05-18) ------------------- -* Removed old position message fields -* Contributors: Dominik, Jonas Otto - -1.2.1 (2022-09-30) ------------------- - -1.2.0 (2022-09-27) ------------------- -* Rename package from overlay_rviz_msgs to rviz_2d_overlay_msgs -* Contributors: Jonas Otto - -1.1.0 (2022-09-11) ------------------- - -1.0.0 (2022-08-30) ------------------- -* Create OverlayText message (currently same as jsk_rviz_plugins) -* Contributors: Jonas Otto, Dominik Authaler diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/CMakeLists.txt b/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/CMakeLists.txt deleted file mode 100644 index e23a4e755cbc4..0000000000000 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/CMakeLists.txt +++ /dev/null @@ -1,19 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(autoware_overlay_msgs) - -if (NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) -endif () - - -# find dependencies -find_package(ament_cmake REQUIRED) -find_package(rosidl_default_generators REQUIRED) -find_package(std_msgs REQUIRED) -rosidl_generate_interfaces(${PROJECT_NAME} - "msg/OverlayText.msg" - DEPENDENCIES - std_msgs -) - -ament_package() diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/msg/OverlayText.msg b/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/msg/OverlayText.msg deleted file mode 100644 index db3cf628b895b..0000000000000 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/msg/OverlayText.msg +++ /dev/null @@ -1,31 +0,0 @@ -uint8 ADD = 0 -uint8 DELETE = 1 - -# constants for the horizontal and vertical alignment -uint8 LEFT = 0 -uint8 RIGHT = 1 -uint8 CENTER = 2 -uint8 TOP = 3 -uint8 BOTTOM = 4 - -uint8 action - -int32 width -int32 height -# Position: Positive values move the overlay towards the center of the window, -# for center alignment positive values move the overlay towards the bottom right -int32 horizontal_distance # Horizontal distance from left/right border or center, depending on alignment -int32 vertical_distance # Vertical distance between from top/bottom border or center, depending on alignment - -# Alignment of the overlay withing RVIZ -uint8 horizontal_alignment # one of LEFT, CENTER, RIGHT -uint8 vertical_alignment # one of TOP, CENTER, BOTTOM - -std_msgs/ColorRGBA bg_color - -int32 line_width -float32 text_size -string font -std_msgs/ColorRGBA fg_color - -string text diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/package.xml b/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/package.xml deleted file mode 100644 index 4881b126ffffb..0000000000000 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/package.xml +++ /dev/null @@ -1,24 +0,0 @@ - - - - autoware_overlay_msgs - 1.3.0 - Messages describing 2D overlays for RVIZ, extracted/derived from the jsk_visualization package. - Team Spatzenhirn - BSD-3-Clause - - ament_cmake - rosidl_default_generators - - autoware_auto_vehicle_msgs - autoware_perception_msgs - std_msgs - unique_identifier_msgs - rosidl_default_runtime - - rosidl_interface_packages - - - ament_cmake - - diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt index afb12bffeeaa7..aafc62fc90d25 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt @@ -3,28 +3,13 @@ project(autoware_overlay_rviz_plugin) # find dependencies find_package(ament_cmake_auto REQUIRED) -find_package(ament_cmake REQUIRED) -find_package(autoware_auto_vehicle_msgs REQUIRED) -find_package(tier4_planning_msgs REQUIRED) -find_package(autoware_perception_msgs REQUIRED) ament_auto_find_build_dependencies() -find_package(autoware_overlay_msgs REQUIRED) - -find_package(rviz_common REQUIRED) -find_package(rviz_rendering REQUIRED) -find_package(rviz_ogre_vendor REQUIRED) -find_package(std_msgs REQUIRED) - -set( - headers_to_moc - include/overlay_text_display.hpp - include/signal_display.hpp - +set(headers_to_moc + include/signal_display.hpp ) -set( - headers_to_not_moc +set(headers_to_not_moc include/steering_wheel_display.hpp include/gear_display.hpp include/speed_display.hpp @@ -34,47 +19,42 @@ set( ) - foreach(header "${headers_to_moc}") - qt5_wrap_cpp(display_moc_files "${header}") + qt5_wrap_cpp(display_moc_files "${header}") endforeach() -set( - display_source_files - src/overlay_text_display.cpp - src/overlay_utils.cpp - src/signal_display.cpp - src/steering_wheel_display.cpp - src/gear_display.cpp - src/speed_display.cpp - src/turn_signals_display.cpp - src/traffic_display.cpp - src/speed_limit_display.cpp - +set(display_source_files + src/overlay_utils.cpp + src/signal_display.cpp + src/steering_wheel_display.cpp + src/gear_display.cpp + src/speed_display.cpp + src/turn_signals_display.cpp + src/traffic_display.cpp + src/speed_limit_display.cpp ) -add_library( - ${PROJECT_NAME} SHARED - ${display_moc_files} - ${headers_to_not_moc} - ${display_source_files} +add_library(${PROJECT_NAME} SHARED + ${display_moc_files} + ${headers_to_not_moc} + ${display_source_files} ) set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 17) target_compile_options(${PROJECT_NAME} PRIVATE -Wall -Wextra -Wpedantic) target_include_directories( - ${PROJECT_NAME} PUBLIC - $ - $ - ${Qt5Widgets_INCLUDE_DIRS} - ${OpenCV_INCLUDE_DIRS} + ${PROJECT_NAME} PUBLIC + $ + $ + ${Qt5Widgets_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} ) target_link_libraries( - ${PROJECT_NAME} PUBLIC - rviz_ogre_vendor::OgreMain - rviz_ogre_vendor::OgreOverlay + ${PROJECT_NAME} PUBLIC + rviz_ogre_vendor::OgreMain + rviz_ogre_vendor::OgreOverlay ) @@ -85,22 +65,19 @@ target_compile_definitions(${PROJECT_NAME} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNC pluginlib_export_plugin_description_file(rviz_common plugins_description.xml) -ament_target_dependencies( - ${PROJECT_NAME} - PUBLIC - rviz_common - rviz_rendering - autoware_overlay_msgs - autoware_auto_vehicle_msgs - tier4_planning_msgs - autoware_perception_msgs +ament_target_dependencies(${PROJECT_NAME} PUBLIC + rviz_common + rviz_rendering + autoware_auto_vehicle_msgs + tier4_planning_msgs + autoware_perception_msgs ) ament_export_include_directories(include) ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET) ament_export_dependencies( - rviz_common - rviz_ogre_vendor + rviz_common + rviz_ogre_vendor ) if(BUILD_TESTING) @@ -109,32 +86,32 @@ if(BUILD_TESTING) endif() install( - TARGETS ${PROJECT_NAME} - EXPORT ${PROJECT_NAME} - ARCHIVE DESTINATION lib - LIBRARY DESTINATION lib - RUNTIME DESTINATION bin - INCLUDES DESTINATION include + TARGETS ${PROJECT_NAME} + EXPORT ${PROJECT_NAME} + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin + INCLUDES DESTINATION include ) install( - DIRECTORY include/ - DESTINATION include + DIRECTORY include/ + DESTINATION include ) install( - TARGETS - DESTINATION lib/${PROJECT_NAME} + TARGETS + DESTINATION lib/${PROJECT_NAME} ) # Copy the assets directory to the installation directory install( - DIRECTORY assets/ - DESTINATION share/${PROJECT_NAME}/assets + DIRECTORY assets/ + DESTINATION share/${PROJECT_NAME}/assets ) add_definitions(-DQT_NO_KEYWORDS) ament_package( - CONFIG_EXTRAS "autoware_overlay_rviz_plugin-extras.cmake" + CONFIG_EXTRAS "autoware_overlay_rviz_plugin-extras.cmake" ) diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_text_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_text_display.hpp deleted file mode 100644 index ccea51b9a5349..0000000000000 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_text_display.hpp +++ /dev/null @@ -1,157 +0,0 @@ -// Copyright 2024 The Autoware Contributors -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -// -*- mode: c++; -*- -/********************************************************************* - * Software License Agreement (BSD License) - * - * Copyright (c) 2022, Team Spatzenhirn - * Copyright (c) 2014, JSK Lab - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/o2r other materials provided - * with the distribution. - * * Neither the name of the JSK Lab nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - *********************************************************************/ -#ifndef OVERLAY_TEXT_DISPLAY_HPP_ -#define OVERLAY_TEXT_DISPLAY_HPP_ - -#include "autoware_overlay_msgs/msg/overlay_text.hpp" -#ifndef Q_MOC_RUN -#include "overlay_utils.hpp" - -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#include -#endif - -namespace autoware_overlay_rviz_plugin -{ -class OverlayTextDisplay -: public rviz_common::RosTopicDisplay -{ - Q_OBJECT -public: - OverlayTextDisplay(); - virtual ~OverlayTextDisplay(); - -protected: - autoware_overlay_rviz_plugin::OverlayObject::SharedPtr overlay_; - - int texture_width_; - int texture_height_; - - bool overtake_fg_color_properties_; - bool overtake_bg_color_properties_; - bool overtake_position_properties_; - bool align_bottom_; - bool invert_shadow_; - QColor bg_color_; - QColor fg_color_; - int text_size_; - int line_width_; - std::string text_; - QStringList font_families_; - std::string font_; - int horizontal_dist_; - int vertical_dist_; - HorizontalAlignment horizontal_alignment_; - VerticalAlignment vertical_alignment_; - - void onInitialize() override; - void onEnable() override; - void onDisable() override; - void update(float wall_dt, float ros_dt) override; - void reset() override; - - bool require_update_texture_; - // properties are raw pointers since they are owned by Qt - rviz_common::properties::BoolProperty * overtake_position_properties_property_; - rviz_common::properties::BoolProperty * overtake_fg_color_properties_property_; - rviz_common::properties::BoolProperty * overtake_bg_color_properties_property_; - rviz_common::properties::BoolProperty * align_bottom_property_; - rviz_common::properties::BoolProperty * invert_shadow_property_; - rviz_common::properties::IntProperty * hor_dist_property_; - rviz_common::properties::IntProperty * ver_dist_property_; - rviz_common::properties::EnumProperty * hor_alignment_property_; - rviz_common::properties::EnumProperty * ver_alignment_property_; - rviz_common::properties::IntProperty * width_property_; - rviz_common::properties::IntProperty * height_property_; - rviz_common::properties::IntProperty * text_size_property_; - rviz_common::properties::IntProperty * line_width_property_; - rviz_common::properties::ColorProperty * bg_color_property_; - rviz_common::properties::FloatProperty * bg_alpha_property_; - rviz_common::properties::ColorProperty * fg_color_property_; - rviz_common::properties::FloatProperty * fg_alpha_property_; - rviz_common::properties::EnumProperty * font_property_; - -protected Q_SLOTS: - void updateOvertakePositionProperties(); - void updateOvertakeFGColorProperties(); - void updateOvertakeBGColorProperties(); - void updateAlignBottom(); - void updateInvertShadow(); - void updateHorizontalDistance(); - void updateVerticalDistance(); - void updateHorizontalAlignment(); - void updateVerticalAlignment(); - void updateWidth(); - void updateHeight(); - void updateTextSize(); - void updateFGColor(); - void updateFGAlpha(); - void updateBGColor(); - void updateBGAlpha(); - void updateFont(); - void updateLineWidth(); - -private: - void processMessage(autoware_overlay_msgs::msg::OverlayText::ConstSharedPtr msg) override; -}; -} // namespace autoware_overlay_rviz_plugin - -#endif // OVERLAY_TEXT_DISPLAY_HPP_ diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_utils.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_utils.hpp index 8581628ef0bce..b9c060899bace 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_utils.hpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_utils.hpp @@ -54,8 +54,6 @@ #include #include -#include "autoware_overlay_msgs/msg/overlay_text.hpp" - #include #include #include @@ -89,17 +87,9 @@ class ScopedPixelBuffer Ogre::HardwarePixelBufferSharedPtr pixel_buffer_; }; -enum class VerticalAlignment : uint8_t { - CENTER = autoware_overlay_msgs::msg::OverlayText::CENTER, - TOP = autoware_overlay_msgs::msg::OverlayText::TOP, - BOTTOM = autoware_overlay_msgs::msg::OverlayText::BOTTOM, -}; +enum class VerticalAlignment : uint8_t { CENTER, TOP, BOTTOM }; -enum class HorizontalAlignment : uint8_t { - LEFT = autoware_overlay_msgs::msg::OverlayText::LEFT, - RIGHT = autoware_overlay_msgs::msg::OverlayText::RIGHT, - CENTER = autoware_overlay_msgs::msg::OverlayText::CENTER -}; +enum class HorizontalAlignment : uint8_t { LEFT, RIGHT, CENTER }; /** * Helper class for realizing an overlay object on top of the rviz 3D panel. diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml index da075b2648937..4d2f53e1e27ed 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml @@ -12,7 +12,6 @@ BSD-3-Clause autoware_auto_vehicle_msgs - autoware_overlay_msgs autoware_perception_msgs boost rviz_common diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_text_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_text_display.cpp deleted file mode 100644 index b853e14a5858d..0000000000000 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_text_display.cpp +++ /dev/null @@ -1,556 +0,0 @@ -// Copyright 2024 The Autoware Contributors -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -// -*- mode: c++; -*- -/********************************************************************* - * Software License Agreement (BSD License) - * - * Copyright (c) 2022, Team Spatzenhirn - * Copyright (c) 2014, JSK Lab - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/o2r other materials provided - * with the distribution. - * * Neither the name of the JSK Lab nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - *********************************************************************/ - -#include "overlay_text_display.hpp" - -#include -#include -#include -#include -#include -#include - -#include -#include - -#include -#include -#include - -#include -#include - -namespace autoware_overlay_rviz_plugin -{ -OverlayTextDisplay::OverlayTextDisplay() -: texture_width_(0), - texture_height_(0), - bg_color_(0, 0, 0, 0), - fg_color_(255, 255, 255, 255.0), - text_size_(14), - line_width_(2), - text_(""), - font_(""), - require_update_texture_(false) -{ - overtake_position_properties_property_ = new rviz_common::properties::BoolProperty( - "Overtake Position Properties", false, - "overtake position properties specified by message such as left, top and font", this, - SLOT(updateOvertakePositionProperties())); - overtake_fg_color_properties_property_ = new rviz_common::properties::BoolProperty( - "Overtake FG Color Properties", false, - "overtake color properties specified by message such as foreground color and alpha", this, - SLOT(updateOvertakeFGColorProperties())); - overtake_bg_color_properties_property_ = new rviz_common::properties::BoolProperty( - "Overtake BG Color Properties", false, - "overtake color properties specified by message such as background color and alpha", this, - SLOT(updateOvertakeBGColorProperties())); - align_bottom_property_ = new rviz_common::properties::BoolProperty( - "Align Bottom", false, "align text with the bottom of the overlay region", this, - SLOT(updateAlignBottom())); - invert_shadow_property_ = new rviz_common::properties::BoolProperty( - "Invert Shadow", false, "make shadow lighter than original text", this, - SLOT(updateInvertShadow())); - hor_dist_property_ = new rviz_common::properties::IntProperty( - "hor_dist", 0, "horizontal distance to anchor", this, SLOT(updateHorizontalDistance())); - ver_dist_property_ = new rviz_common::properties::IntProperty( - "ver_dist", 0, "vertical distance to anchor", this, SLOT(updateVerticalDistance())); - hor_alignment_property_ = new rviz_common::properties::EnumProperty( - "hor_alignment", "left", "horizontal alignment of the overlay", this, - SLOT(updateHorizontalAlignment())); - hor_alignment_property_->addOption("left", autoware_overlay_msgs::msg::OverlayText::LEFT); - hor_alignment_property_->addOption("center", autoware_overlay_msgs::msg::OverlayText::CENTER); - hor_alignment_property_->addOption("right", autoware_overlay_msgs::msg::OverlayText::RIGHT); - ver_alignment_property_ = new rviz_common::properties::EnumProperty( - "ver_alignment", "top", "vertical alignment of the overlay", this, - SLOT(updateVerticalAlignment())); - ver_alignment_property_->addOption("top", autoware_overlay_msgs::msg::OverlayText::TOP); - ver_alignment_property_->addOption("center", autoware_overlay_msgs::msg::OverlayText::CENTER); - ver_alignment_property_->addOption("bottom", autoware_overlay_msgs::msg::OverlayText::BOTTOM); - width_property_ = new rviz_common::properties::IntProperty( - "width", 128, "width position", this, SLOT(updateWidth())); - width_property_->setMin(0); - height_property_ = new rviz_common::properties::IntProperty( - "height", 128, "height position", this, SLOT(updateHeight())); - height_property_->setMin(0); - text_size_property_ = new rviz_common::properties::IntProperty( - "text size", 12, "text size", this, SLOT(updateTextSize())); - text_size_property_->setMin(0); - line_width_property_ = new rviz_common::properties::IntProperty( - "line width", 2, "line width", this, SLOT(updateLineWidth())); - line_width_property_->setMin(0); - fg_color_property_ = new rviz_common::properties::ColorProperty( - "Foreground Color", QColor(25, 255, 240), "Foreground Color", this, SLOT(updateFGColor())); - fg_alpha_property_ = new rviz_common::properties::FloatProperty( - "Foreground Alpha", 0.8, "Foreground Alpha", this, SLOT(updateFGAlpha())); - fg_alpha_property_->setMin(0.0); - fg_alpha_property_->setMax(1.0); - bg_color_property_ = new rviz_common::properties::ColorProperty( - "Background Color", QColor(0, 0, 0), "Background Color", this, SLOT(updateBGColor())); - bg_alpha_property_ = new rviz_common::properties::FloatProperty( - "Background Alpha", 0.8, "Background Alpha", this, SLOT(updateBGAlpha())); - bg_alpha_property_->setMin(0.0); - bg_alpha_property_->setMax(1.0); - - QFontDatabase database; - font_families_ = database.families(); - font_property_ = new rviz_common::properties::EnumProperty( - "font", "DejaVu Sans Mono", "font", this, SLOT(updateFont())); - for (ssize_t i = 0; i < font_families_.size(); i++) { - font_property_->addOption(font_families_[i], static_cast(i)); - } -} - -OverlayTextDisplay::~OverlayTextDisplay() -{ - onDisable(); -} - -void OverlayTextDisplay::onEnable() -{ - if (overlay_) { - overlay_->show(); - } - subscribe(); -} - -void OverlayTextDisplay::onDisable() -{ - if (overlay_) { - overlay_->hide(); - } - unsubscribe(); -} - -// only the first time -void OverlayTextDisplay::onInitialize() -{ - RTDClass::onInitialize(); - rviz_rendering::RenderSystem::get()->prepareOverlays(scene_manager_); - - onEnable(); - updateTopic(); - updateOvertakePositionProperties(); - updateOvertakeFGColorProperties(); - updateOvertakeBGColorProperties(); - updateAlignBottom(); - updateInvertShadow(); - updateHorizontalDistance(); - updateVerticalDistance(); - updateHorizontalAlignment(); - updateVerticalAlignment(); - updateWidth(); - updateHeight(); - updateTextSize(); - updateFGColor(); - updateFGAlpha(); - updateBGColor(); - updateBGAlpha(); - updateFont(); - updateLineWidth(); - require_update_texture_ = true; -} - -void OverlayTextDisplay::update(float /*wall_dt*/, float /*ros_dt*/) -{ - if (!require_update_texture_) { - return; - } - if (!isEnabled()) { - return; - } - if (!overlay_) { - return; - } - - overlay_->updateTextureSize(texture_width_, texture_height_); - { - autoware_overlay_rviz_plugin::ScopedPixelBuffer buffer = overlay_->getBuffer(); - QImage Hud = buffer.getQImage(*overlay_, bg_color_); - QPainter painter(&Hud); - painter.setRenderHint(QPainter::Antialiasing, true); - painter.setPen(QPen(fg_color_, std::max(line_width_, 1), Qt::SolidLine)); - uint16_t w = overlay_->getTextureWidth(); - uint16_t h = overlay_->getTextureHeight(); - - // font - if (text_size_ != 0) { - // QFont font = painter.font(); - QFont font(font_.length() > 0 ? font_.c_str() : "Liberation Sans"); - font.setPointSize(text_size_); - font.setBold(true); - painter.setFont(font); - } - if (text_.length() > 0) { - QColor shadow_color; - if (invert_shadow_) - shadow_color = Qt::white; // fg_color_.lighter(); - else - shadow_color = Qt::black; // fg_color_.darker(); - shadow_color.setAlpha(fg_color_.alpha()); - - std::string color_wrapped_text = - (boost::format("%1%") % text_ % - fg_color_.red() % fg_color_.green() % fg_color_.blue() % fg_color_.alpha()) - .str(); - - // find a remove "color: XXX;" regex match to generate a proper shadow - std::regex color_tag_re("color:.+?;"); - std::string null_char(""); - std::string formatted_text_ = std::regex_replace(text_, color_tag_re, null_char); - std::string color_wrapped_shadow = - (boost::format("%1%") % - formatted_text_ % shadow_color.red() % shadow_color.green() % shadow_color.blue() % - shadow_color.alpha()) - .str(); - - QStaticText static_text( - boost::algorithm::replace_all_copy(color_wrapped_text, "\n", "
").c_str()); - static_text.setTextWidth(w); - - painter.setPen(QPen(shadow_color, std::max(line_width_, 1), Qt::SolidLine)); - QStaticText static_shadow( - boost::algorithm::replace_all_copy(color_wrapped_shadow, "\n", "
").c_str()); - static_shadow.setTextWidth(w); - - if (!align_bottom_) { - painter.drawStaticText(1, 1, static_shadow); - painter.drawStaticText(0, 0, static_text); - } else { - QStaticText only_wrapped_text(color_wrapped_text.c_str()); - QFontMetrics fm(painter.fontMetrics()); - QRect text_rect = fm.boundingRect( - 0, 0, w, h, Qt::TextWordWrap | Qt::AlignLeft | Qt::AlignTop, - only_wrapped_text.text().remove(QRegExp("<[^>]*>"))); - painter.drawStaticText(1, h - text_rect.height() + 1, static_shadow); - painter.drawStaticText(0, h - text_rect.height(), static_text); - } - } - painter.end(); - } - overlay_->setDimensions(overlay_->getTextureWidth(), overlay_->getTextureHeight()); - require_update_texture_ = false; -} - -void OverlayTextDisplay::reset() -{ - RTDClass::reset(); - - if (overlay_) { - overlay_->hide(); - } -} - -void OverlayTextDisplay::processMessage(autoware_overlay_msgs::msg::OverlayText::ConstSharedPtr msg) -{ - if (!isEnabled()) { - return; - } - if (!overlay_) { - static int count = 0; - std::stringstream ss; - ss << "OverlayTextDisplayObject" << count++; - overlay_.reset(new autoware_overlay_rviz_plugin::OverlayObject(ss.str())); - overlay_->show(); - } - if (overlay_) { - if (msg->action == autoware_overlay_msgs::msg::OverlayText::DELETE) { - overlay_->hide(); - } else if (msg->action == autoware_overlay_msgs::msg::OverlayText::ADD) { - overlay_->show(); - } - } - - // store message for update method - text_ = msg->text; - - if (!overtake_position_properties_) { - texture_width_ = msg->width; - texture_height_ = msg->height; - text_size_ = msg->text_size; - horizontal_dist_ = msg->horizontal_distance; - vertical_dist_ = msg->vertical_distance; - - horizontal_alignment_ = HorizontalAlignment{msg->horizontal_alignment}; - vertical_alignment_ = VerticalAlignment{msg->vertical_alignment}; - } - if (!overtake_bg_color_properties_) - bg_color_ = QColor( - msg->bg_color.r * 255.0, msg->bg_color.g * 255.0, msg->bg_color.b * 255.0, - msg->bg_color.a * 255.0); - if (!overtake_fg_color_properties_) { - fg_color_ = QColor( - msg->fg_color.r * 255.0, msg->fg_color.g * 255.0, msg->fg_color.b * 255.0, - msg->fg_color.a * 255.0); - font_ = msg->font; - line_width_ = msg->line_width; - } - if (overlay_) { - overlay_->setPosition( - horizontal_dist_, vertical_dist_, horizontal_alignment_, vertical_alignment_); - } - require_update_texture_ = true; -} - -void OverlayTextDisplay::updateOvertakePositionProperties() -{ - if (!overtake_position_properties_ && overtake_position_properties_property_->getBool()) { - updateVerticalDistance(); - updateHorizontalDistance(); - updateVerticalAlignment(); - updateHorizontalAlignment(); - updateWidth(); - updateHeight(); - updateTextSize(); - require_update_texture_ = true; - } - - overtake_position_properties_ = overtake_position_properties_property_->getBool(); - if (overtake_position_properties_) { - hor_dist_property_->show(); - ver_dist_property_->show(); - hor_alignment_property_->show(); - ver_alignment_property_->show(); - width_property_->show(); - height_property_->show(); - text_size_property_->show(); - } else { - hor_dist_property_->hide(); - ver_dist_property_->hide(); - hor_alignment_property_->hide(); - ver_alignment_property_->hide(); - width_property_->hide(); - height_property_->hide(); - text_size_property_->hide(); - } -} - -void OverlayTextDisplay::updateOvertakeFGColorProperties() -{ - if (!overtake_fg_color_properties_ && overtake_fg_color_properties_property_->getBool()) { - // read all the parameters from properties - updateFGColor(); - updateFGAlpha(); - updateFont(); - updateLineWidth(); - require_update_texture_ = true; - } - overtake_fg_color_properties_ = overtake_fg_color_properties_property_->getBool(); - if (overtake_fg_color_properties_) { - fg_color_property_->show(); - fg_alpha_property_->show(); - line_width_property_->show(); - font_property_->show(); - } else { - fg_color_property_->hide(); - fg_alpha_property_->hide(); - line_width_property_->hide(); - font_property_->hide(); - } -} - -void OverlayTextDisplay::updateOvertakeBGColorProperties() -{ - if (!overtake_bg_color_properties_ && overtake_bg_color_properties_property_->getBool()) { - // read all the parameters from properties - updateBGColor(); - updateBGAlpha(); - require_update_texture_ = true; - } - overtake_bg_color_properties_ = overtake_bg_color_properties_property_->getBool(); - if (overtake_bg_color_properties_) { - bg_color_property_->show(); - bg_alpha_property_->show(); - } else { - bg_color_property_->hide(); - bg_alpha_property_->hide(); - } -} - -void OverlayTextDisplay::updateAlignBottom() -{ - if (align_bottom_ != align_bottom_property_->getBool()) { - require_update_texture_ = true; - } - align_bottom_ = align_bottom_property_->getBool(); -} - -void OverlayTextDisplay::updateInvertShadow() -{ - if (invert_shadow_ != invert_shadow_property_->getBool()) { - require_update_texture_ = true; - } - invert_shadow_ = invert_shadow_property_->getBool(); -} - -void OverlayTextDisplay::updateVerticalDistance() -{ - vertical_dist_ = ver_dist_property_->getInt(); - if (overtake_position_properties_) { - require_update_texture_ = true; - } -} - -void OverlayTextDisplay::updateHorizontalDistance() -{ - horizontal_dist_ = hor_dist_property_->getInt(); - if (overtake_position_properties_) { - require_update_texture_ = true; - } -} - -void OverlayTextDisplay::updateVerticalAlignment() -{ - vertical_alignment_ = - VerticalAlignment{static_cast(ver_alignment_property_->getOptionInt())}; - - if (overtake_position_properties_) { - require_update_texture_ = true; - } -} - -void OverlayTextDisplay::updateHorizontalAlignment() -{ - horizontal_alignment_ = - HorizontalAlignment{static_cast(hor_alignment_property_->getOptionInt())}; - - if (overtake_position_properties_) { - require_update_texture_ = true; - } -} - -void OverlayTextDisplay::updateWidth() -{ - texture_width_ = width_property_->getInt(); - if (overtake_position_properties_) { - require_update_texture_ = true; - } -} - -void OverlayTextDisplay::updateHeight() -{ - texture_height_ = height_property_->getInt(); - if (overtake_position_properties_) { - require_update_texture_ = true; - } -} - -void OverlayTextDisplay::updateTextSize() -{ - text_size_ = text_size_property_->getInt(); - if (overtake_position_properties_) { - require_update_texture_ = true; - } -} - -void OverlayTextDisplay::updateBGColor() -{ - QColor c = bg_color_property_->getColor(); - bg_color_.setRed(c.red()); - bg_color_.setGreen(c.green()); - bg_color_.setBlue(c.blue()); - if (overtake_bg_color_properties_) { - require_update_texture_ = true; - } -} - -void OverlayTextDisplay::updateBGAlpha() -{ - bg_color_.setAlpha(bg_alpha_property_->getFloat() * 255.0); - if (overtake_bg_color_properties_) { - require_update_texture_ = true; - } -} - -void OverlayTextDisplay::updateFGColor() -{ - QColor c = fg_color_property_->getColor(); - fg_color_.setRed(c.red()); - fg_color_.setGreen(c.green()); - fg_color_.setBlue(c.blue()); - if (overtake_fg_color_properties_) { - require_update_texture_ = true; - } -} - -void OverlayTextDisplay::updateFGAlpha() -{ - fg_color_.setAlpha(fg_alpha_property_->getFloat() * 255.0); - if (overtake_fg_color_properties_) { - require_update_texture_ = true; - } -} - -void OverlayTextDisplay::updateFont() -{ - int font_index = font_property_->getOptionInt(); - if (font_index < font_families_.size()) { - font_ = font_families_[font_index].toStdString(); - } else { - RVIZ_COMMON_LOG_ERROR_STREAM("Unexpected error at selecting font index " << font_index); - return; - } - if (overtake_fg_color_properties_) { - require_update_texture_ = true; - } -} - -void OverlayTextDisplay::updateLineWidth() -{ - line_width_ = line_width_property_->getInt(); - if (overtake_fg_color_properties_) { - require_update_texture_ = true; - } -} - -} // namespace autoware_overlay_rviz_plugin - -#include -PLUGINLIB_EXPORT_CLASS(autoware_overlay_rviz_plugin::OverlayTextDisplay, rviz_common::Display) diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp index 841b33c29fbb0..9add6336ece46 100644 --- a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp +++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp @@ -120,59 +120,13 @@ void SignalDisplay::onInitialize() void SignalDisplay::setupRosSubscriptions() { - // Don't create a node, just use the one from the parent class - auto rviz_node_ = context_->getRosNodeAbstraction().lock()->get_raw_node(); - - gear_sub_ = rviz_node_->create_subscription( - gear_topic_property_->getTopicStd(), - rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), - [this](const autoware_auto_vehicle_msgs::msg::GearReport::SharedPtr msg) { - updateGearData(msg); - }); - - steering_sub_ = rviz_node_->create_subscription( - steering_topic_property_->getTopicStd(), - rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), - [this](const autoware_auto_vehicle_msgs::msg::SteeringReport::SharedPtr msg) { - updateSteeringData(msg); - }); - - speed_sub_ = rviz_node_->create_subscription( - speed_topic_property_->getTopicStd(), - rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), - [this](const autoware_auto_vehicle_msgs::msg::VelocityReport::SharedPtr msg) { - updateSpeedData(msg); - }); - - turn_signals_sub_ = - rviz_node_->create_subscription( - turn_signals_topic_property_->getTopicStd(), - rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), - [this](const autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport::SharedPtr msg) { - updateTurnSignalsData(msg); - }); - - hazard_lights_sub_ = - rviz_node_->create_subscription( - hazard_lights_topic_property_->getTopicStd(), - rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), - [this](const autoware_auto_vehicle_msgs::msg::HazardLightsReport::SharedPtr msg) { - updateHazardLightsData(msg); - }); - - traffic_sub_ = rviz_node_->create_subscription( - traffic_topic_property_->getTopicStd(), - rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), - [this](const autoware_perception_msgs::msg::TrafficSignal::SharedPtr msg) { - updateTrafficLightData(msg); - }); - - speed_limit_sub_ = rviz_node_->create_subscription( - speed_limit_topic_property_->getTopicStd(), - rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), - [this](const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg) { - updateSpeedLimitData(msg); - }); + topic_updated_gear(); + topic_updated_steering(); + topic_updated_speed(); + topic_updated_speed_limit(); + topic_updated_turn_signals(); + topic_updated_hazard_lights(); + topic_updated_traffic(); } SignalDisplay::~SignalDisplay() @@ -419,8 +373,7 @@ void SignalDisplay::topic_updated_gear() auto rviz_ros_node = context_->getRosNodeAbstraction().lock(); gear_sub_ = rviz_ros_node->get_raw_node()->create_subscription( - gear_topic_property_->getTopicStd(), - rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), + gear_topic_property_->getTopicStd(), rclcpp::QoS(rclcpp::KeepLast(10)), [this](const autoware_auto_vehicle_msgs::msg::GearReport::SharedPtr msg) { updateGearData(msg); }); @@ -433,8 +386,7 @@ void SignalDisplay::topic_updated_steering() auto rviz_ros_node = context_->getRosNodeAbstraction().lock(); steering_sub_ = rviz_ros_node->get_raw_node() ->create_subscription( - steering_topic_property_->getTopicStd(), - rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), + steering_topic_property_->getTopicStd(), rclcpp::QoS(rclcpp::KeepLast(10)), [this](const autoware_auto_vehicle_msgs::msg::SteeringReport::SharedPtr msg) { updateSteeringData(msg); }); @@ -447,8 +399,7 @@ void SignalDisplay::topic_updated_speed() auto rviz_ros_node = context_->getRosNodeAbstraction().lock(); speed_sub_ = rviz_ros_node->get_raw_node() ->create_subscription( - speed_topic_property_->getTopicStd(), - rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), + speed_topic_property_->getTopicStd(), rclcpp::QoS(rclcpp::KeepLast(10)), [this](const autoware_auto_vehicle_msgs::msg::VelocityReport::SharedPtr msg) { updateSpeedData(msg); }); @@ -462,7 +413,7 @@ void SignalDisplay::topic_updated_speed_limit() speed_limit_sub_ = rviz_ros_node->get_raw_node()->create_subscription( speed_limit_topic_property_->getTopicStd(), - rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), + rclcpp::QoS(rclcpp::KeepLast(10)).transient_local(), [this](const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg) { updateSpeedLimitData(msg); }); @@ -477,8 +428,7 @@ void SignalDisplay::topic_updated_turn_signals() turn_signals_sub_ = rviz_ros_node->get_raw_node() ->create_subscription( - turn_signals_topic_property_->getTopicStd(), - rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), + turn_signals_topic_property_->getTopicStd(), rclcpp::QoS(rclcpp::KeepLast(10)), [this](const autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport::SharedPtr msg) { updateTurnSignalsData(msg); }); @@ -493,8 +443,7 @@ void SignalDisplay::topic_updated_hazard_lights() hazard_lights_sub_ = rviz_ros_node->get_raw_node() ->create_subscription( - hazard_lights_topic_property_->getTopicStd(), - rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), + hazard_lights_topic_property_->getTopicStd(), rclcpp::QoS(rclcpp::KeepLast(10)), [this](const autoware_auto_vehicle_msgs::msg::HazardLightsReport::SharedPtr msg) { updateHazardLightsData(msg); }); @@ -507,8 +456,7 @@ void SignalDisplay::topic_updated_traffic() auto rviz_ros_node = context_->getRosNodeAbstraction().lock(); traffic_sub_ = rviz_ros_node->get_raw_node() ->create_subscription( - traffic_topic_property_->getTopicStd(), - rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(), + traffic_topic_property_->getTopicStd(), rclcpp::QoS(rclcpp::KeepLast(10)), [this](const autoware_perception_msgs::msg::TrafficSignal::SharedPtr msg) { updateTrafficLightData(msg); });