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Merge pull request #1234 from tier4/beta-to-tier4-main-sync
chore: sync beta branch beta/v0.26.0 with tier4/main
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,118 @@ | ||
| // Copyright 2023 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. | ||
|
|
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| #include "door_panel.hpp" | ||
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| #include <rviz_common/display_context.hpp> | ||
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| #include <memory> | ||
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| namespace tier4_adapi_rviz_plugins | ||
| { | ||
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| DoorPanel::DoorPanel(QWidget * parent) : rviz_common::Panel(parent) | ||
| { | ||
| status_ = new QLabel("Trying to get door layout."); | ||
| layout_ = new QGridLayout(); | ||
| layout_->addWidget(status_, 0, 0, 1, 4); | ||
| setLayout(layout_); | ||
| } | ||
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| void DoorPanel::onInitialize() | ||
| { | ||
| const auto on_layout = [this](const rclcpp::Client<DoorLayout::Service>::SharedFuture future) { | ||
| const auto res = future.get(); | ||
| if (!res->status.success) { | ||
| status_->setText(QString::fromStdString("failed to get layout: " + res->status.message)); | ||
| return; | ||
| } | ||
| const auto & layouts = res->doors; | ||
| for (size_t index = 0; index < layouts.size(); ++index) { | ||
| const auto & layout = layouts[index]; | ||
| DoorUI door; | ||
| door.description = new QLabel(QString::fromStdString(layout.description)); | ||
| door.status = new QLabel("unknown"); | ||
| door.open = new QPushButton("open"); | ||
| door.close = new QPushButton("close"); | ||
| doors_.push_back(door); | ||
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| layout_->addWidget(door.description, index + 1, 0); | ||
| layout_->addWidget(door.status, index + 1, 1); | ||
| layout_->addWidget(door.open, index + 1, 2); | ||
| layout_->addWidget(door.close, index + 1, 3); | ||
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| using Command = autoware_adapi_v1_msgs::msg::DoorCommand; | ||
| const auto on_open = [this, index] { on_button(index, Command::OPEN); }; | ||
| const auto on_close = [this, index] { on_button(index, Command::CLOSE); }; | ||
| connect(door.open, &QPushButton::clicked, on_open); | ||
| connect(door.close, &QPushButton::clicked, on_close); | ||
| } | ||
| status_->hide(); | ||
| }; | ||
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| const auto on_status = [this](const DoorStatus::Message::ConstSharedPtr msg) { | ||
| using Status = autoware_adapi_v1_msgs::msg::DoorStatus; | ||
| if (doors_.size() != msg->doors.size()) { | ||
| return; | ||
| } | ||
| for (size_t index = 0; index < doors_.size(); ++index) { | ||
| const auto & label = doors_[index].status; | ||
| switch (msg->doors[index].status) { | ||
| case Status::NOT_AVAILABLE: | ||
| label->setText("not available"); | ||
| break; | ||
| case Status::OPENED: | ||
| label->setText("opened"); | ||
| break; | ||
| case Status::CLOSED: | ||
| label->setText("closed"); | ||
| break; | ||
| case Status::OPENING: | ||
| label->setText("opening"); | ||
| break; | ||
| case Status::CLOSING: | ||
| label->setText("closing"); | ||
| break; | ||
| default: | ||
| label->setText("unknown"); | ||
| break; | ||
| } | ||
| } | ||
| }; | ||
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| auto lock = getDisplayContext()->getRosNodeAbstraction().lock(); | ||
| auto node = lock->get_raw_node(); | ||
|
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| const auto adaptor = component_interface_utils::NodeAdaptor(node.get()); | ||
| adaptor.init_cli(cli_command_); | ||
| adaptor.init_cli(cli_layout_); | ||
| adaptor.init_sub(sub_status_, on_status); | ||
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| const auto req = std::make_shared<DoorLayout::Service::Request>(); | ||
| cli_layout_->async_send_request(req, on_layout); | ||
| } | ||
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| void DoorPanel::on_button(uint32_t index, uint8_t command) | ||
| { | ||
| const auto req = std::make_shared<DoorCommand::Service::Request>(); | ||
| req->doors.resize(1); | ||
| req->doors.back().index = index; | ||
| req->doors.back().command = command; | ||
| cli_command_->async_send_request(req); | ||
| } | ||
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| } // namespace tier4_adapi_rviz_plugins | ||
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| #include <pluginlib/class_list_macros.hpp> | ||
| PLUGINLIB_EXPORT_CLASS(tier4_adapi_rviz_plugins::DoorPanel, rviz_common::Panel) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,64 @@ | ||
| // Copyright 2023 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. | ||
|
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| #ifndef DOOR_PANEL_HPP_ | ||
| #define DOOR_PANEL_HPP_ | ||
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| #include <QGridLayout> | ||
| #include <QLabel> | ||
| #include <QPushButton> | ||
| #include <autoware_ad_api_specs/vehicle.hpp> | ||
| #include <component_interface_utils/rclcpp.hpp> | ||
| #include <rclcpp/rclcpp.hpp> | ||
| #include <rviz_common/panel.hpp> | ||
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| #include <vector> | ||
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| namespace tier4_adapi_rviz_plugins | ||
| { | ||
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| class DoorPanel : public rviz_common::Panel | ||
| { | ||
| Q_OBJECT | ||
| using DoorCommand = autoware_ad_api::vehicle::DoorCommand; | ||
| using DoorLayout = autoware_ad_api::vehicle::DoorLayout; | ||
| using DoorStatus = autoware_ad_api::vehicle::DoorStatus; | ||
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| public: | ||
| explicit DoorPanel(QWidget * parent = nullptr); | ||
| void onInitialize() override; | ||
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| private: | ||
| component_interface_utils::Client<DoorCommand>::SharedPtr cli_command_; | ||
| component_interface_utils::Client<DoorLayout>::SharedPtr cli_layout_; | ||
| component_interface_utils::Subscription<DoorStatus>::SharedPtr sub_status_; | ||
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| struct DoorUI | ||
| { | ||
| QLabel * description; | ||
| QLabel * status; | ||
| QPushButton * open; | ||
| QPushButton * close; | ||
| }; | ||
| QGridLayout * layout_; | ||
| QLabel * status_; | ||
| std::vector<DoorUI> doors_; | ||
|
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| private slots: | ||
| void on_button(uint32_t index, uint8_t command); | ||
| }; | ||
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| } // namespace tier4_adapi_rviz_plugins | ||
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| #endif // DOOR_PANEL_HPP_ |
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