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clean up more
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Signed-off-by: M. Fatih Cırıt <[email protected]>
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M. Fatih Cırıt committed May 10, 2024
1 parent a4c28dd commit 42611d6
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Showing 3 changed files with 24 additions and 55 deletions.
11 changes: 4 additions & 7 deletions ...z_plugin/autoware_mission_details_overlay_rviz_plugin/include/mission_details_display.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -51,9 +51,7 @@ class MissionDetailsDisplay : public rviz_common::Display
void onDisable() override;

private Q_SLOTS:
void updateOverlaySize();
void updateSmallOverlaySize();
void updateOverlayColor();
void update_size();
void topic_updated_remaining_distance_time();

private:
Expand All @@ -66,8 +64,7 @@ private Q_SLOTS:
std::unique_ptr<rviz_common::properties::RosTopicProperty>
remaining_distance_time_topic_property_;

void drawHorizontalRoundedRectangle(QPainter & painter, const QRectF & backgroundRect);
void drawVerticalRoundedRectangle(QPainter & painter, const QRectF & backgroundRect);
void draw_rounded_rect(QPainter & painter, const QRectF & backgroundRect);
void setupRosSubscriptions();

std::unique_ptr<RemainingDistanceTimeDisplay> remaining_distance_time_display_;
Expand All @@ -77,9 +74,9 @@ private Q_SLOTS:

std::mutex property_mutex_;

void updateRemainingDistanceTimeData(
void cb_remaining_distance_time(
const autoware_internal_msgs::msg::MissionRemainingDistanceTime::ConstSharedPtr & msg);
void drawWidget(QImage & hud);
void draw_widget(QImage & hud);
};
} // namespace autoware::mission_details_overlay_rviz_plugin

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12 changes: 2 additions & 10 deletions ...verlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/overlay_utils.hpp
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Expand Up @@ -87,17 +87,9 @@ class ScopedPixelBuffer
Ogre::HardwarePixelBufferSharedPtr pixel_buffer_;
};

enum class VerticalAlignment : uint8_t {
CENTER,
TOP,
BOTTOM
};
enum class VerticalAlignment : uint8_t { CENTER, TOP, BOTTOM };

enum class HorizontalAlignment : uint8_t {
LEFT,
RIGHT,
CENTER
};
enum class HorizontalAlignment : uint8_t { LEFT, RIGHT, CENTER };

/**
* Helper class for realizing an overlay object on top of the rviz 3D panel.
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56 changes: 18 additions & 38 deletions ..._rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/mission_details_display.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@

#include <QFontDatabase>
#include <QPainter>
#include <memory>
#include <rclcpp/rclcpp.hpp>
#include <rviz_common/properties/ros_topic_property.hpp>
#include <rviz_rendering/render_system.hpp>
Expand All @@ -32,13 +33,13 @@ namespace autoware::mission_details_overlay_rviz_plugin
MissionDetailsDisplay::MissionDetailsDisplay()
{
property_width_ = new rviz_common::properties::IntProperty(
"Width", 170, "Width of the overlay", this, SLOT(updateOverlaySize()));
"Width", 170, "Width of the overlay", this, SLOT(update_size()));
property_height_ = new rviz_common::properties::IntProperty(
"Height", 100, "Height of the overlay", this, SLOT(updateOverlaySize()));
"Height", 100, "Height of the overlay", this, SLOT(update_size()));
property_right_ = new rviz_common::properties::IntProperty(
"Right", 10, "Margin from the right border", this, SLOT(updateOverlaySize()));
"Right", 10, "Margin from the right border", this, SLOT(update_size()));
property_top_ = new rviz_common::properties::IntProperty(
"Top", 10, "Margin from the top border", this, SLOT(updateOverlaySize()));
"Top", 10, "Margin from the top border", this, SLOT(update_size()));

// Initialize the component displays
remaining_distance_time_display_ = std::make_unique<RemainingDistanceTimeDisplay>();
Expand All @@ -53,9 +54,9 @@ void MissionDetailsDisplay::onInitialize()
static int count = 0;
std::stringstream ss;
ss << "MissionDetailsDisplay" << count++;
overlay_.reset(new autoware::mission_details_overlay_rviz_plugin::OverlayObject(ss.str()));
overlay_ = std::make_shared<autoware::mission_details_overlay_rviz_plugin::OverlayObject>(ss.str());
overlay_->show();
updateOverlaySize();
update_size();

auto rviz_ros_node = context_->getRosNodeAbstraction();

Expand All @@ -78,7 +79,7 @@ void MissionDetailsDisplay::setupRosSubscriptions()
remaining_distance_time_topic_property_->getTopicStd(),
rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(),
[this](const autoware_internal_msgs::msg::MissionRemainingDistanceTime::SharedPtr msg) {
updateRemainingDistanceTimeData(msg);
cb_remaining_distance_time(msg);
});
}

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Code Duplication 

The module contains 2 functions with similar structure: MissionDetailsDisplay::setupRosSubscriptions,MissionDetailsDisplay::topic_updated_remaining_distance_time. Avoid duplicated, aka copy-pasted, code inside the module. More duplication lowers the code health.

Expand All @@ -104,7 +105,7 @@ void MissionDetailsDisplay::update(float wall_dt, float ros_dt)
autoware::mission_details_overlay_rviz_plugin::ScopedPixelBuffer buffer = overlay_->getBuffer();
QImage hud = buffer.getQImage(*overlay_);
hud.fill(Qt::transparent);
drawWidget(hud);
draw_widget(hud);
}

void MissionDetailsDisplay::onEnable()
Expand All @@ -127,7 +128,7 @@ void MissionDetailsDisplay::onDisable()
}
}

void MissionDetailsDisplay::updateRemainingDistanceTimeData(
void MissionDetailsDisplay::cb_remaining_distance_time(
const autoware_internal_msgs::msg::MissionRemainingDistanceTime::ConstSharedPtr & msg)
{
std::lock_guard<std::mutex> lock(property_mutex_);
Expand All @@ -138,7 +139,7 @@ void MissionDetailsDisplay::updateRemainingDistanceTimeData(
}
}

void MissionDetailsDisplay::drawWidget(QImage & hud)
void MissionDetailsDisplay::draw_widget(QImage & hud)
{
std::lock_guard<std::mutex> lock(property_mutex_);

Expand All @@ -150,7 +151,7 @@ void MissionDetailsDisplay::drawWidget(QImage & hud)
painter.setRenderHint(QPainter::Antialiasing, true);

QRectF backgroundRect(0, 0, qreal(property_width_->getInt()), qreal(property_height_->getInt()));

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Unknown word (qreal)
drawHorizontalRoundedRectangle(painter, backgroundRect);
draw_rounded_rect(painter, backgroundRect);

if (remaining_distance_time_display_) {
remaining_distance_time_display_->drawRemainingDistanceTimeDisplay(painter, backgroundRect);
Expand All @@ -159,33 +160,18 @@ void MissionDetailsDisplay::drawWidget(QImage & hud)
painter.end();
}

void MissionDetailsDisplay::drawHorizontalRoundedRectangle(
void MissionDetailsDisplay::draw_rounded_rect(
QPainter & painter, const QRectF & backgroundRect)
{
painter.setRenderHint(QPainter::Antialiasing, true);
QColor colorFromHSV;
colorFromHSV.setHsv(0, 0, 29); // Hue, Saturation, Value
colorFromHSV.setAlphaF(0.60); // Transparency
colorFromHSV.setHsv(0, 0, 29);
colorFromHSV.setAlphaF(0.60);

painter.setBrush(colorFromHSV);

painter.setPen(Qt::NoPen);
painter.drawRoundedRect(
backgroundRect, backgroundRect.height() / 2, backgroundRect.height() / 2); // Circular ends
}
void MissionDetailsDisplay::drawVerticalRoundedRectangle(
QPainter & painter, const QRectF & backgroundRect)
{
painter.setRenderHint(QPainter::Antialiasing, true);
QColor colorFromHSV;
colorFromHSV.setHsv(0, 0, 0); // Hue, Saturation, Value
colorFromHSV.setAlphaF(0.65); // Transparency

painter.setBrush(colorFromHSV);

painter.setPen(Qt::NoPen);
painter.drawRoundedRect(
backgroundRect, backgroundRect.width() / 2, backgroundRect.width() / 2); // Circular ends
painter.drawRoundedRect(backgroundRect, backgroundRect.height() / 2, backgroundRect.height() / 2);
}

void MissionDetailsDisplay::reset()
Expand All @@ -194,7 +180,7 @@ void MissionDetailsDisplay::reset()
overlay_->hide();
}

void MissionDetailsDisplay::updateOverlaySize()
void MissionDetailsDisplay::update_size()
{
std::lock_guard<std::mutex> lock(mutex_);
overlay_->updateTextureSize(property_width_->getInt(), property_height_->getInt());
Expand All @@ -205,12 +191,6 @@ void MissionDetailsDisplay::updateOverlaySize()
queueRender();
}

void MissionDetailsDisplay::updateOverlayColor()
{
std::lock_guard<std::mutex> lock(mutex_);
queueRender();
}

void MissionDetailsDisplay::topic_updated_remaining_distance_time()
{
// resubscribe to the topic
Expand All @@ -222,7 +202,7 @@ void MissionDetailsDisplay::topic_updated_remaining_distance_time()
remaining_distance_time_topic_property_->getTopicStd(),
rclcpp::QoS(rclcpp::KeepLast(10)).durability_volatile().reliable(),
[this](const autoware_internal_msgs::msg::MissionRemainingDistanceTime::SharedPtr msg) {
updateRemainingDistanceTimeData(msg);
cb_remaining_distance_time(msg);
});
}

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