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specify all states colors for elevated buttons
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Signed-off-by: KhalilSelyan <[email protected]>
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@KhalilSelyan
KhalilSelyan committed Sep 11, 2024
1 parent a13058b commit d432432
Showing 1 changed file with 45 additions and 10 deletions.
55 changes: 45 additions & 10 deletions common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -560,18 +560,26 @@ void AutowareStatePanel::onRoute(const RouteState::ConstSharedPtr msg)

if (msg->state == RouteState::SET) {
activateButton(clear_route_button_ptr_);
clear_route_button_ptr_->updateStyle(

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common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp#L563 

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"Clear Route",
QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_low.c_str()),
QColor(autoware::state_rviz_plugin::colors::default_colors.primary.c_str()),
QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str()),
QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_high.c_str()),
QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_high.c_str()),
QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str()),
QColor(autoware::state_rviz_plugin::colors::default_colors.on_surface.c_str()));

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} else {
clear_route_button_ptr_->setStyleSheet(
QString("QPushButton {"
"background-color: %1;color: %2;"
"border: 2px solid %3;"
"font-weight: bold;"
"}")
.arg(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str())
.arg(autoware::state_rviz_plugin::colors::default_colors.outline.c_str())
.arg(
autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str()));
deactivateButton(clear_route_button_ptr_);
clear_route_button_ptr_->updateStyle(

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"Clear Route",
QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_low.c_str()),
QColor(autoware::state_rviz_plugin::colors::default_colors.primary.c_str()),
QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str()),
QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_high.c_str()),
QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_high.c_str()),
QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str()),
QColor(autoware::state_rviz_plugin::colors::default_colors.on_surface.c_str()));

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❌ New issue: Code Duplication 

The module contains 4 functions with similar structure: AutowareStatePanel::makeLocalizationGroup,AutowareStatePanel::makeMotionGroup,AutowareStatePanel::onMotion,AutowareStatePanel::onRoute. Avoid duplicated, aka copy-pasted, code inside the module. More duplication lowers the code health.

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}
}

Expand Down Expand Up @@ -608,6 +616,15 @@ void AutowareStatePanel::onLocalization(const LocalizationInitializationState::C

localization_icon->updateStyle(state, bgColor);
localization_label_ptr_->setText(localization_state);
init_by_gnss_button_ptr_->updateStyle(

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"Initialize with GNSS",
QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_low.c_str()),
QColor(autoware::state_rviz_plugin::colors::default_colors.primary.c_str()),
QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str()),
QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_high.c_str()),
QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_high.c_str()),
QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_high.c_str()),
QColor(autoware::state_rviz_plugin::colors::default_colors.on_surface.c_str()));

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}

void AutowareStatePanel::onMotion(const MotionState::ConstSharedPtr msg)
Expand Down Expand Up @@ -646,8 +663,26 @@ void AutowareStatePanel::onMotion(const MotionState::ConstSharedPtr msg)

if (msg->state == MotionState::STARTING) {
activateButton(accept_start_button_ptr_);
accept_start_button_ptr_->updateStyle(

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"Accept Start",
QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_low.c_str()),
QColor(autoware::state_rviz_plugin::colors::default_colors.primary.c_str()),
QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str()),
QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_high.c_str()),
QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_high.c_str()),
QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str()),
QColor(autoware::state_rviz_plugin::colors::default_colors.on_surface.c_str()));

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} else {
deactivateButton(accept_start_button_ptr_);
accept_start_button_ptr_->updateStyle(

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"Accept Start",
QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_low.c_str()),
QColor(autoware::state_rviz_plugin::colors::default_colors.primary.c_str()),
QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str()),
QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_high.c_str()),
QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_high.c_str()),
QColor(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str()),
QColor(autoware::state_rviz_plugin::colors::default_colors.on_surface.c_str()));

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}
}

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