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feat(tier4_traffic_light_rviz_plugin): selectable light shape, status…
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… and confidence (autowarefoundation#663)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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@satoshi-ota
satoshi-ota committed May 31, 2022
1 parent 5a1305c commit 3fd69e9
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Showing 2 changed files with 121 additions and 43 deletions.
161 changes: 118 additions & 43 deletions common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,11 +43,25 @@ TrafficLightPublishPanel::TrafficLightPublishPanel(QWidget * parent) : rviz_comm
traffic_light_id_input_->setRange(0, 999999);
traffic_light_id_input_->setValue(0);

// Traffic Light Confidence
traffic_light_confidence_input_ = new QDoubleSpinBox();
traffic_light_confidence_input_->setRange(0.0, 1.0);
traffic_light_confidence_input_->setSingleStep(0.1);
traffic_light_confidence_input_->setValue(1.0);

// Traffic Light Color
light_color_combo_ = new QComboBox();
light_color_combo_->addItems(
{"RED", "AMBER", "GREEN", "WHITE", "LEFT_ARROW", "RIGHT_ARROW", "UP_ARROW", "DOWN_ARROW",
"DOWN_LEFT_ARROW", "DOWN_RIGHT_ARROW", "FLASHING", "UNKNOWN"});
light_color_combo_->addItems({"RED", "AMBER", "GREEN", "WHITE", "UNKNOWN"});

// Traffic Light Shape
light_shape_combo_ = new QComboBox();
light_shape_combo_->addItems(
{"CIRCLE", "LEFT_ARROW", "RIGHT_ARROW", "UP_ARROW", "DOWN_ARROW", "DOWN_LEFT_ARROW",
"DOWN_RIGHT_ARROW", "CROSS", "UNKNOWN"});

// Traffic Light Status
light_status_combo_ = new QComboBox();
light_status_combo_->addItems({"SOLID_ON", "SOLID_OFF", "FLASHING", "UNKNOWN"});

// Set Traffic Signals Button
set_button_ = new QPushButton("SET");
Expand All @@ -64,8 +78,8 @@ TrafficLightPublishPanel::TrafficLightPublishPanel(QWidget * parent) : rviz_comm
horizontal_header->setSectionResizeMode(QHeaderView::Stretch);

traffic_table_ = new QTableWidget();
traffic_table_->setColumnCount(2);
traffic_table_->setHorizontalHeaderLabels({"ID", "Status"});
traffic_table_->setColumnCount(5);
traffic_table_->setHorizontalHeaderLabels({"ID", "Color", "Shape", "Status", "Confidence"});
traffic_table_->setVerticalHeader(vertical_header);
traffic_table_->setHorizontalHeader(horizontal_header);

Expand All @@ -77,34 +91,48 @@ TrafficLightPublishPanel::TrafficLightPublishPanel(QWidget * parent) : rviz_comm
auto * h_layout_1 = new QHBoxLayout;
h_layout_1->addWidget(new QLabel("Rate: "));
h_layout_1->addWidget(publishing_rate_input_);
h_layout_1->addWidget(new QLabel("Traffic Light ID: "));
h_layout_1->addWidget(new QLabel("ID: "));
h_layout_1->addWidget(traffic_light_id_input_);
h_layout_1->addWidget(new QLabel("Confidence: "));
h_layout_1->addWidget(traffic_light_confidence_input_);

auto * h_layout_2 = new QHBoxLayout;
h_layout_2->addWidget(new QLabel("Traffic Light Status: "));
h_layout_2->addWidget(light_color_combo_);
h_layout_2->addWidget(new QLabel("Traffic Light Color: "), 40);
h_layout_2->addWidget(light_color_combo_, 60);

auto * h_layout_3 = new QHBoxLayout;
h_layout_3->addWidget(new QLabel("Traffic Light Shape: "), 40);
h_layout_3->addWidget(light_shape_combo_, 60);

auto * h_layout_4 = new QHBoxLayout;
h_layout_4->addWidget(new QLabel("Traffic Light Status: "), 40);
h_layout_4->addWidget(light_status_combo_, 60);

auto * v_layout = new QVBoxLayout;
v_layout->addLayout(h_layout_1);
v_layout->addLayout(h_layout_2);
v_layout->addLayout(h_layout_3);
v_layout->addLayout(h_layout_4);
v_layout->addWidget(set_button_);
v_layout->addWidget(reset_button_);
v_layout->addWidget(publish_button_);

auto * h_layout_3 = new QHBoxLayout;
h_layout_3->addLayout(v_layout);
h_layout_3->addWidget(traffic_table_);
auto * h_layout_5 = new QHBoxLayout;
h_layout_5->addLayout(v_layout);
h_layout_5->addWidget(traffic_table_);

setLayout(h_layout_3);
setLayout(h_layout_5);
}

void TrafficLightPublishPanel::onSetTrafficLightState()
{
const auto traffic_light_id = traffic_light_id_input_->value();
const auto color = light_color_combo_->currentText();
const auto shape = light_shape_combo_->currentText();
const auto status = light_status_combo_->currentText();

TrafficLight traffic_light;
traffic_light.confidence = 1.0;
traffic_light.confidence = traffic_light_confidence_input_->value();

if (color == "RED") {
traffic_light.color = TrafficLight::RED;
Expand All @@ -114,24 +142,38 @@ void TrafficLightPublishPanel::onSetTrafficLightState()
traffic_light.color = TrafficLight::GREEN;
} else if (color == "WHITE") {
traffic_light.color = TrafficLight::WHITE;
} else if (color == "LEFT_ARROW") {
traffic_light.color = TrafficLight::LEFT_ARROW;
} else if (color == "RIGHT_ARROW") {
traffic_light.color = TrafficLight::RIGHT_ARROW;
} else if (color == "UP_ARROW") {
traffic_light.color = TrafficLight::UP_ARROW;
} else if (color == "DOWN_ARROW") {
traffic_light.color = TrafficLight::DOWN_ARROW;
} else if (color == "DOWN_LEFT_ARROW") {
traffic_light.color = TrafficLight::DOWN_LEFT_ARROW;
} else if (color == "DOWN_RIGHT_ARROW") {
traffic_light.color = TrafficLight::DOWN_RIGHT_ARROW;
} else if (color == "FLASHING") {
traffic_light.color = TrafficLight::FLASHING;
} else if (color == "UNKNOWN") {
traffic_light.color = TrafficLight::UNKNOWN;
}

if (shape == "CIRCLE") {
traffic_light.shape = TrafficLight::CIRCLE;
} else if (shape == "LEFT_ARROW") {
traffic_light.shape = TrafficLight::LEFT_ARROW;
} else if (shape == "RIGHT_ARROW") {
traffic_light.shape = TrafficLight::RIGHT_ARROW;
} else if (shape == "UP_ARROW") {
traffic_light.shape = TrafficLight::UP_ARROW;
} else if (shape == "DOWN_ARROW") {
traffic_light.shape = TrafficLight::DOWN_ARROW;
} else if (shape == "DOWN_LEFT_ARROW") {
traffic_light.shape = TrafficLight::DOWN_LEFT_ARROW;
} else if (shape == "DOWN_RIGHT_ARROW") {
traffic_light.shape = TrafficLight::DOWN_RIGHT_ARROW;
} else if (shape == "UNKNOWN") {
traffic_light.shape = TrafficLight::UNKNOWN;
}

if (status == "SOLID_OFF") {
traffic_light.status = TrafficLight::SOLID_OFF;
} else if (status == "SOLID_ON") {
traffic_light.status = TrafficLight::SOLID_ON;
} else if (status == "FLASHING") {
traffic_light.status = TrafficLight::FLASHING;
} else if (status == "UNKNOWN") {
traffic_light.status = TrafficLight::UNKNOWN;
}

TrafficSignal traffic_signal;
traffic_signal.lights.push_back(traffic_light);
traffic_signal.map_primitive_id = traffic_light_id;
Expand Down Expand Up @@ -234,44 +276,77 @@ void TrafficLightPublishPanel::onTimer()
color_label->setText("WHITE");
color_label->setStyleSheet("background-color: #FFFFFF;");
break;
case TrafficLight::UNKNOWN:
color_label->setText("UNKNOWN");
color_label->setStyleSheet("background-color: #808080;");
break;
default:
break;
}

auto shape_label = new QLabel();
shape_label->setAlignment(Qt::AlignCenter);

switch (light.shape) {
case TrafficLight::CIRCLE:
shape_label->setText("CIRCLE");
break;
case TrafficLight::LEFT_ARROW:
color_label->setText("LEFT_ARROW");
color_label->setStyleSheet("background-color: #7CFC00;");
shape_label->setText("LEFT_ARROW");
break;
case TrafficLight::RIGHT_ARROW:
color_label->setText("RIGHT_ARROW");
color_label->setStyleSheet("background-color: #7CFC00;");
shape_label->setText("RIGHT_ARROW");
break;
case TrafficLight::UP_ARROW:
color_label->setText("UP_ARROW");
color_label->setStyleSheet("background-color: #7CFC00;");
shape_label->setText("UP_ARROW");
break;
case TrafficLight::DOWN_ARROW:
color_label->setText("DOWN_ARROW");
color_label->setStyleSheet("background-color: #7CFC00;");
shape_label->setText("DOWN_ARROW");
break;
case TrafficLight::DOWN_LEFT_ARROW:
color_label->setText("DOWN_LEFT_ARROW");
color_label->setStyleSheet("background-color: #7CFC00;");
shape_label->setText("DOWN_LEFT_ARROW");
break;
case TrafficLight::DOWN_RIGHT_ARROW:
color_label->setText("DOWN_RIGHT_ARROW");
color_label->setStyleSheet("background-color: #7CFC00;");
shape_label->setText("DOWN_RIGHT_ARROW");
break;
case TrafficLight::FLASHING:
color_label->setText("FLASHING");
color_label->setStyleSheet("background-color: #7CFC00;");
shape_label->setText("FLASHING");
break;
case TrafficLight::UNKNOWN:
color_label->setText("UNKNOWN");
color_label->setStyleSheet("background-color: #808080;");
shape_label->setText("UNKNOWN");
break;
default:
break;
}

auto status_label = new QLabel();
status_label->setAlignment(Qt::AlignCenter);

switch (light.status) {
case TrafficLight::SOLID_OFF:
status_label->setText("SOLID_OFF");
break;
case TrafficLight::SOLID_ON:
status_label->setText("SOLID_ON");
break;
case TrafficLight::FLASHING:
status_label->setText("FLASHING");
break;
case TrafficLight::UNKNOWN:
status_label->setText("UNKNOWN");
break;
default:
break;
}

auto confidence_label = new QLabel(QString::number(light.confidence));
confidence_label->setAlignment(Qt::AlignCenter);

traffic_table_->setCellWidget(i, 0, id_label);
traffic_table_->setCellWidget(i, 1, color_label);
traffic_table_->setCellWidget(i, 2, shape_label);
traffic_table_->setCellWidget(i, 3, status_label);
traffic_table_->setCellWidget(i, 4, confidence_label);
}
}

Expand Down
3 changes: 3 additions & 0 deletions common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -60,7 +60,10 @@ public Q_SLOTS:

QSpinBox * publishing_rate_input_;
QSpinBox * traffic_light_id_input_;
QDoubleSpinBox * traffic_light_confidence_input_;
QComboBox * light_color_combo_;
QComboBox * light_shape_combo_;
QComboBox * light_status_combo_;
QPushButton * set_button_;
QPushButton * reset_button_;
QPushButton * publish_button_;
Expand Down

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