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feat: add selector mode and disengage function (#781) #194

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merged 2 commits into from
Dec 16, 2021
Merged

feat: add selector mode and disengage function (#781) #194

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18dfca4
feat: add selector mode and disengage function (#781)
h-ohta Dec 16, 2021
93238d9
Merge branch 'tier4/proposal' into 781-AAP
tkimura4 Dec 16, 2021
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46 changes: 44 additions & 2 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 @@ -40,6 +40,15 @@ AutowareStatePanel::AutowareStatePanel(QWidget * parent) : rviz_common::Panel(pa
gate_layout->addWidget(gate_prefix_label_ptr);
gate_layout->addWidget(gate_mode_label_ptr_);

// Selector Mode
auto * selector_prefix_label_ptr = new QLabel("SELECT: ");
selector_prefix_label_ptr->setAlignment(Qt::AlignRight);
selector_mode_label_ptr_ = new QLabel("INIT");
selector_mode_label_ptr_->setAlignment(Qt::AlignCenter);
auto * selector_layout = new QHBoxLayout;
selector_layout->addWidget(selector_prefix_label_ptr);
selector_layout->addWidget(selector_mode_label_ptr_);

// State
auto * state_prefix_label_ptr = new QLabel("STATE: ");
state_prefix_label_ptr->setAlignment(Qt::AlignRight);
Expand Down Expand Up @@ -73,6 +82,7 @@ AutowareStatePanel::AutowareStatePanel(QWidget * parent) : rviz_common::Panel(pa

auto * v_layout = new QVBoxLayout;
v_layout->addLayout(gate_layout);
v_layout->addLayout(selector_layout);
v_layout->addLayout(state_layout);
v_layout->addLayout(gear_layout);
v_layout->addLayout(engage_status_layout);
Expand All @@ -87,6 +97,11 @@ void AutowareStatePanel::onInitialize()
sub_gate_mode_ = raw_node_->create_subscription<tier4_control_msgs::msg::GateMode>(
"/control/current_gate_mode", 10, std::bind(&AutowareStatePanel::onGateMode, this, _1));

sub_selector_mode_ =
raw_node_->create_subscription<tier4_control_msgs::msg::ExternalCommandSelectorMode>(
"/control/external_cmd_selector/current_selector_mode", 10,
std::bind(&AutowareStatePanel::onSelectorMode, this, _1));

sub_autoware_state_ =
raw_node_->create_subscription<autoware_auto_system_msgs::msg::AutowareState>(
"/autoware/state", 10, std::bind(&AutowareStatePanel::onAutowareState, this, _1));
Expand Down Expand Up @@ -121,6 +136,32 @@ void AutowareStatePanel::onGateMode(const tier4_control_msgs::msg::GateMode::Con
}
}

void AutowareStatePanel::onSelectorMode(
const tier4_control_msgs::msg::ExternalCommandSelectorMode::ConstSharedPtr msg)
{
switch (msg->data) {
case tier4_control_msgs::msg::ExternalCommandSelectorMode::REMOTE:
selector_mode_label_ptr_->setText("REMOTE");
selector_mode_label_ptr_->setStyleSheet("background-color: #00FF00;");
break;

case tier4_control_msgs::msg::ExternalCommandSelectorMode::LOCAL:
selector_mode_label_ptr_->setText("LOCAL");
selector_mode_label_ptr_->setStyleSheet("background-color: #FFFF00;");
break;

case tier4_control_msgs::msg::ExternalCommandSelectorMode::NONE:
selector_mode_label_ptr_->setText("NONE");
selector_mode_label_ptr_->setStyleSheet("background-color: #FF0000;");
break;

default:
selector_mode_label_ptr_->setText("UNKNOWN");
selector_mode_label_ptr_->setStyleSheet("background-color: #FF0000;");
break;
}
}

void AutowareStatePanel::onAutowareState(
const autoware_auto_system_msgs::msg::AutowareState::ConstSharedPtr msg)
{
Expand Down Expand Up @@ -170,13 +211,14 @@ void AutowareStatePanel::onShift(
void AutowareStatePanel::onEngageStatus(
const tier4_external_api_msgs::msg::EngageStatus::ConstSharedPtr msg)
{
engage_status_label_ptr_->setText(QString::fromStdString(Bool2String(msg->engage)));
current_engage_ = msg->engage;
engage_status_label_ptr_->setText(QString::fromStdString(Bool2String(current_engage_)));
}

void AutowareStatePanel::onClickAutowareEngage()
{
auto req = std::make_shared<tier4_external_api_msgs::srv::Engage::Request>();
req->engage = true;
req->engage = current_engage_ ? false : true;

RCLCPP_INFO(raw_node_->get_logger(), "client request");

Expand Down
8 changes: 8 additions & 0 deletions common/tier4_state_rviz_plugin/src/autoware_state_panel.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@

#include <autoware_auto_system_msgs/msg/autoware_state.hpp>
#include <autoware_auto_vehicle_msgs/msg/gear_report.hpp>
#include <tier4_control_msgs/msg/external_command_selector_mode.hpp>
#include <tier4_control_msgs/msg/gate_mode.hpp>
#include <tier4_external_api_msgs/msg/engage_status.hpp>
#include <tier4_external_api_msgs/srv/engage.hpp>
Expand All @@ -43,12 +44,16 @@ public Q_SLOTS:

protected:
void onGateMode(const tier4_control_msgs::msg::GateMode::ConstSharedPtr msg);
void onSelectorMode(
const tier4_control_msgs::msg::ExternalCommandSelectorMode::ConstSharedPtr msg);
void onAutowareState(const autoware_auto_system_msgs::msg::AutowareState::ConstSharedPtr msg);
void onShift(const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr msg);
void onEngageStatus(const tier4_external_api_msgs::msg::EngageStatus::ConstSharedPtr msg);

rclcpp::Node::SharedPtr raw_node_;
rclcpp::Subscription<tier4_control_msgs::msg::GateMode>::SharedPtr sub_gate_mode_;
rclcpp::Subscription<tier4_control_msgs::msg::ExternalCommandSelectorMode>::SharedPtr
sub_selector_mode_;
rclcpp::Subscription<autoware_auto_system_msgs::msg::AutowareState>::SharedPtr
sub_autoware_state_;
rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::GearReport>::SharedPtr sub_gear_;
Expand All @@ -57,10 +62,13 @@ public Q_SLOTS:
rclcpp::Client<tier4_external_api_msgs::srv::Engage>::SharedPtr client_engage_;

QLabel * gate_mode_label_ptr_;
QLabel * selector_mode_label_ptr_;
QLabel * autoware_state_label_ptr_;
QLabel * gear_label_ptr_;
QLabel * engage_status_label_ptr_;
QPushButton * engage_button_ptr_;

bool current_engage_;
};

} // namespace rviz_plugins
Expand Down