feat: add color customization to gear speed mission speed limit and t…

…raffic displays (#8142)

feat: Add color customization to gear, speed, mission,speedlimit and traffic displays

common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/mission_details_display.hpp

@@ -61,6 +61,10 @@ private Q_SLOTS:
   rviz_common::properties::IntProperty * property_height_;
   rviz_common::properties::IntProperty * property_right_;
   rviz_common::properties::IntProperty * property_top_;
+  rviz_common::properties::ColorProperty * property_bg_color_;
+  rviz_common::properties::FloatProperty * property_bg_alpha_;
+  rviz_common::properties::ColorProperty * property_text_color_;
+
   std::unique_ptr<rviz_common::properties::RosTopicProperty>
     remaining_distance_time_topic_property_;
 

common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/remaining_distance_time_display.hpp

@@ -36,16 +36,15 @@ class RemainingDistanceTimeDisplay
 {
 public:
   RemainingDistanceTimeDisplay();
-  void drawRemainingDistanceTimeDisplay(QPainter & painter, const QRectF & backgroundRect);
+  void drawRemainingDistanceTimeDisplay(
+    QPainter & painter, const QRectF & backgroundRect, const QColor & text_color);
   void updateRemainingDistanceTimeData(
     const autoware_internal_msgs::msg::MissionRemainingDistanceTime::ConstSharedPtr & msg);
 
 private:
   double remaining_distance_;  // Internal variable to store remaining distance
   double remaining_time_;      // Internal variable to store remaining time
 
-  QColor gray = QColor(194, 194, 194);
-
   QImage icon_dist_;
   QImage icon_dist_scaled_;
   QImage icon_time_;

common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/mission_details_display.cpp

@@ -39,6 +39,12 @@ MissionDetailsDisplay::MissionDetailsDisplay()
     "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(update_size()));
+  property_bg_alpha_ = new rviz_common::properties::FloatProperty(
+    "Background Alpha", 0.3, "Background Alpha", this, SLOT(update_size()));
+  property_bg_color_ = new rviz_common::properties::ColorProperty(
+    "Background Color", QColor(0, 0, 0), "Background Color", this, SLOT(update_size()));
+  property_text_color_ = new rviz_common::properties::ColorProperty(
+    "Text Color", QColor(194, 194, 194), "Text Color", this, SLOT(update_size()));
 
   // Initialize the component displays
   remaining_distance_time_display_ = std::make_unique<RemainingDistanceTimeDisplay>();
@@ -154,7 +160,8 @@ void MissionDetailsDisplay::draw_widget(QImage & hud)
   draw_rounded_rect(painter, backgroundRect);
 
   if (remaining_distance_time_display_) {
-    remaining_distance_time_display_->drawRemainingDistanceTimeDisplay(painter, backgroundRect);
+    remaining_distance_time_display_->drawRemainingDistanceTimeDisplay(
+      painter, backgroundRect, property_text_color_->getColor());
   }
 
   painter.end();
@@ -164,8 +171,10 @@ void MissionDetailsDisplay::draw_rounded_rect(QPainter & painter, const QRectF &
 {
   painter.setRenderHint(QPainter::Antialiasing, true);
   QColor colorFromHSV;
-  colorFromHSV.setHsv(0, 0, 29);
-  colorFromHSV.setAlphaF(0.60);
+  colorFromHSV.setHsv(
+    property_bg_color_->getColor().hue(), property_bg_color_->getColor().saturation(),
+    property_bg_color_->getColor().value());
+  colorFromHSV.setAlphaF(property_bg_alpha_->getFloat());
 
   painter.setBrush(colorFromHSV);
 

common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/remaining_distance_time_display.cpp

@@ -60,7 +60,7 @@ void RemainingDistanceTimeDisplay::updateRemainingDistanceTimeData(
 }
 
 void RemainingDistanceTimeDisplay::drawRemainingDistanceTimeDisplay(
-  QPainter & painter, const QRectF & backgroundRect)
+  QPainter & painter, const QRectF & backgroundRect, const QColor & text_color)
 {
   const QFont font("Quicksand", 15, QFont::Bold);
   painter.setFont(font);
@@ -107,7 +107,7 @@ void RemainingDistanceTimeDisplay::drawRemainingDistanceTimeDisplay(
     QRectF rect_text_unit(
       rect.topRight().x() - unit_width, rect.topRight().y(), unit_width, rect.height());
 
-    painter.setPen(gray);
+    painter.setPen(text_color);
     painter.drawText(rect_text_unit, Qt::AlignLeft | Qt::AlignVCenter, str_unit);
 
     // place the value text

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/gear_display.hpp

@@ -36,7 +36,9 @@ class GearDisplay
 {
 public:
   GearDisplay();
-  void drawGearIndicator(QPainter & painter, const QRectF & backgroundRect);
+  void drawGearIndicator(
+    QPainter & painter, const QRectF & backgroundRect, const QColor & color,
+    const QColor & bg_color);
   void updateGearData(const autoware_vehicle_msgs::msg::GearReport::ConstSharedPtr & msg);
 
 private:

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp

@@ -77,6 +77,12 @@ private Q_SLOTS:
   rviz_common::properties::IntProperty * property_top_;
   rviz_common::properties::ColorProperty * property_signal_color_;
   rviz_common::properties::FloatProperty * property_handle_angle_scale_;
+  rviz_common::properties::ColorProperty * property_background_color_;
+  rviz_common::properties::FloatProperty * property_background_alpha_;
+  rviz_common::properties::ColorProperty * property_primary_color_;
+  rviz_common::properties::ColorProperty * property_light_limit_color_;
+  rviz_common::properties::ColorProperty * property_dark_limit_color_;
+
   std::unique_ptr<rviz_common::properties::RosTopicProperty> steering_topic_property_;
   std::unique_ptr<rviz_common::properties::RosTopicProperty> gear_topic_property_;
   std::unique_ptr<rviz_common::properties::RosTopicProperty> speed_topic_property_;

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_display.hpp

@@ -36,12 +36,11 @@ class SpeedDisplay
 {
 public:
   SpeedDisplay();
-  void drawSpeedDisplay(QPainter & painter, const QRectF & backgroundRect);
+  void drawSpeedDisplay(QPainter & painter, const QRectF & backgroundRect, const QColor & color);
   void updateSpeedData(const autoware_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg);
 
 private:
   float current_speed_;  // Internal variable to store current speed
-  QColor gray = QColor(194, 194, 194);
 };
 
 }  // namespace autoware_overlay_rviz_plugin

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp

@@ -37,14 +37,16 @@ class SpeedLimitDisplay
 {
 public:
   SpeedLimitDisplay();
-  void drawSpeedLimitIndicator(QPainter & painter, const QRectF & backgroundRect);
+  void drawSpeedLimitIndicator(
+    QPainter & painter, const QRectF & backgroundRect, const QColor & color,
+    const QColor & light_color, const QColor & dark_color, const QColor & bg_color,
+    const float bg_alpha);
   void updateSpeedLimitData(const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg);
   void updateSpeedData(const autoware_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg);
 
 private:
   float current_limit;   // Internal variable to store current gear
   float current_speed_;  // Internal variable to store current speed
-  QColor gray = QColor(194, 194, 194);
 };
 
 }  // namespace autoware_overlay_rviz_plugin

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp

@@ -54,7 +54,8 @@ void GearDisplay::updateGearData(const autoware_vehicle_msgs::msg::GearReport::C
   current_gear_ = msg->report;  // Assuming msg->report contains the gear information
 }
 
-void GearDisplay::drawGearIndicator(QPainter & painter, const QRectF & backgroundRect)
+void GearDisplay::drawGearIndicator(
+  QPainter & painter, const QRectF & backgroundRect, const QColor & color, const QColor & bg_color)
 {
   // we deal with the different gears here
   std::string gearString;
@@ -90,9 +91,9 @@ void GearDisplay::drawGearIndicator(QPainter & painter, const QRectF & backgroun
   double gearX = backgroundRect.left() + 54;
   double gearY = backgroundRect.height() / 2 - gearBoxSize / 2;
   QRect gearRect(gearX, gearY, gearBoxSize, gearBoxSize);
-  painter.setBrush(gray);
+  painter.setBrush(color);
   painter.drawRoundedRect(gearRect, 10, 10);
-  painter.setPen(Qt::black);
+  painter.setPen(bg_color);
   painter.drawText(gearRect, Qt::AlignCenter, QString::fromStdString(gearString));
 }
 

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp

@@ -52,6 +52,20 @@ SignalDisplay::SignalDisplay()
   property_handle_angle_scale_ = new rviz_common::properties::FloatProperty(
     "Handle Angle Scale", 17.0, "Scale of the steering wheel handle angle", this,
     SLOT(updateOverlaySize()));
+  property_background_color_ = new rviz_common::properties::ColorProperty(
+    "Background Color", QColor(0, 0, 0), "Color of the signal arrows", this,
+    SLOT(updateOverlayColor()));
+  property_background_alpha_ = new rviz_common::properties::FloatProperty(
+    "Background Alpha", 0.3, "Background Color Alpha", this, SLOT(updateOverlayColor()));
+  property_primary_color_ = new rviz_common::properties::ColorProperty(
+    "Primary Color", QColor(174, 174, 174), "Color of the signal arrows", this,
+    SLOT(updateOverlayColor()));
+  property_light_limit_color_ = new rviz_common::properties::ColorProperty(
+    "Light Traffic Color", QColor(255, 153, 153), "Color of the signal arrows", this,
+    SLOT(updateOverlayColor()));
+  property_dark_limit_color_ = new rviz_common::properties::ColorProperty(
+    "Dark Traffic Color", QColor(255, 51, 51), "Color of the signal arrows", this,
+    SLOT(updateOverlayColor()));
 
   // Initialize the component displays
   steering_wheel_display_ = std::make_unique<SteeringWheelDisplay>();
@@ -280,12 +294,14 @@ void SignalDisplay::drawWidget(QImage & hud)
   QPainter painter(&hud);
   painter.setRenderHint(QPainter::Antialiasing, true);
 
-  QRectF backgroundRect(0, 0, 550, hud.height());
+  QRectF backgroundRect(0, 0, hud.width(), hud.height());
   drawHorizontalRoundedRectangle(painter, backgroundRect);
 
   // Draw components
   if (gear_display_) {
-    gear_display_->drawGearIndicator(painter, backgroundRect);
+    gear_display_->drawGearIndicator(
+      painter, backgroundRect, property_primary_color_->getColor(),
+      property_background_color_->getColor());
   }
 
   if (steering_wheel_display_) {
@@ -294,7 +310,7 @@ void SignalDisplay::drawWidget(QImage & hud)
   }
 
   if (speed_display_) {
-    speed_display_->drawSpeedDisplay(painter, backgroundRect);
+    speed_display_->drawSpeedDisplay(painter, backgroundRect, property_primary_color_->getColor());
   }
   if (turn_signals_display_) {
     turn_signals_display_->drawArrows(painter, backgroundRect, property_signal_color_->getColor());
@@ -305,7 +321,10 @@ void SignalDisplay::drawWidget(QImage & hud)
   }
 
   if (speed_limit_display_) {
-    speed_limit_display_->drawSpeedLimitIndicator(painter, backgroundRect);
+    speed_limit_display_->drawSpeedLimitIndicator(
+      painter, backgroundRect, property_primary_color_->getColor(),
+      property_light_limit_color_->getColor(), property_dark_limit_color_->getColor(),
+      property_background_color_->getColor(), property_background_alpha_->getFloat());
   }
 
   painter.end();
@@ -316,9 +335,11 @@ void SignalDisplay::drawHorizontalRoundedRectangle(
 {
   painter.setRenderHint(QPainter::Antialiasing, true);
   QColor colorFromHSV;
-  colorFromHSV.setHsv(0, 0, 29);  // Hue, Saturation, Value
-  colorFromHSV.setAlphaF(0.60);   // Transparency
-
+  colorFromHSV.setHsv(
+    property_background_color_->getColor().hue(),
+    property_background_color_->getColor().saturation(),
+    property_background_color_->getColor().value());
+  colorFromHSV.setAlphaF(property_background_alpha_->getFloat());
   painter.setBrush(colorFromHSV);
 
   painter.setPen(Qt::NoPen);
@@ -329,8 +350,11 @@ void SignalDisplay::drawVerticalRoundedRectangle(QPainter & painter, const QRect
 {
   painter.setRenderHint(QPainter::Antialiasing, true);
   QColor colorFromHSV;
-  colorFromHSV.setHsv(0, 0, 0);  // Hue, Saturation, Value
-  colorFromHSV.setAlphaF(0.65);  // Transparency
+  colorFromHSV.setHsv(
+    property_background_color_->getColor().hue(),
+    property_background_color_->getColor().saturation(),
+    property_background_color_->getColor().value());
+  colorFromHSV.setAlphaF(property_background_alpha_->getFloat());
 
   painter.setBrush(colorFromHSV);
 

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp

@@ -76,7 +76,8 @@ void SpeedDisplay::updateSpeedData(
 //     }
 // }
 
-void SpeedDisplay::drawSpeedDisplay(QPainter & painter, const QRectF & backgroundRect)
+void SpeedDisplay::drawSpeedDisplay(
+  QPainter & painter, const QRectF & backgroundRect, const QColor & color)
 {
   QFont referenceFont("Quicksand", 80, QFont::Bold);
   painter.setFont(referenceFont);
@@ -96,7 +97,7 @@ void SpeedDisplay::drawSpeedDisplay(QPainter & painter, const QRectF & backgroun
   QPointF speedPos(
     backgroundRect.center().x() - speedNumberRect.width() / 2,
     backgroundRect.center().y() + speedNumberRect.bottom());
-  painter.setPen(gray);
+  painter.setPen(color);
   painter.drawText(speedPos, speedNumber);
 
   QFont unitFont("Quicksand", 8, QFont::DemiBold);

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp

@@ -68,41 +68,41 @@ void SpeedLimitDisplay::updateSpeedData(
   }
 }
 
-void SpeedLimitDisplay::drawSpeedLimitIndicator(QPainter & painter, const QRectF & backgroundRect)
+void SpeedLimitDisplay::drawSpeedLimitIndicator(
+  QPainter & painter, const QRectF & backgroundRect, const QColor & color,
+  const QColor & light_color, const QColor & dark_color, const QColor & bg_color,
+  const float bg_alpha)
 {
   // Enable Antialiasing for smoother drawing
   painter.setRenderHint(QPainter::Antialiasing, true);
   painter.setRenderHint(QPainter::SmoothPixmapTransform, true);
 
-  const double color_s_min = 0.4;
-  const double color_s_max = 0.8;
-  QColor colorMin;
-  colorMin.setHsvF(0.0, color_s_min, 1.0);
-  QColor colorMax;
-  colorMax.setHsvF(0.0, color_s_max, 1.0);
+  QColor borderColor = light_color;
 
-  QColor borderColor = colorMin;
   if (current_limit > 0.0) {
     double speed_to_limit_ratio = current_speed_ / current_limit;
     const double speed_to_limit_ratio_min = 0.6;
     const double speed_to_limit_ratio_max = 0.9;
 
     if (speed_to_limit_ratio >= speed_to_limit_ratio_max) {
-      borderColor = colorMax;
+      borderColor = dark_color;
     } else if (speed_to_limit_ratio > speed_to_limit_ratio_min) {
       double interpolation_factor = (speed_to_limit_ratio - speed_to_limit_ratio_min) /
                                     (speed_to_limit_ratio_max - speed_to_limit_ratio_min);
-      // Interpolate between colorMin and colorMax
-      double saturation = color_s_min + (color_s_max - color_s_min) * interpolation_factor;
-
-      borderColor.setHsvF(0.0, saturation, 1.0);
+      // Interpolate between light_color and dark_color
+      int red = light_color.red() + (dark_color.red() - light_color.red()) * interpolation_factor;
+      int green =
+        light_color.green() + (dark_color.green() - light_color.green()) * interpolation_factor;
+      int blue =
+        light_color.blue() + (dark_color.blue() - light_color.blue()) * interpolation_factor;
+      borderColor = QColor(red, green, blue);
     }
   }
 
   // Define the area for the outer circle
   QRectF outerCircleRect = QRectF(45, 45, 45, 45);
-  outerCircleRect.moveTopRight(
-    QPointF(backgroundRect.right() - 44, backgroundRect.top() + outerCircleRect.height() / 2 + 5));
+  outerCircleRect.moveTopRight(QPointF(
+    backgroundRect.right() - 44, backgroundRect.height() / 2 - outerCircleRect.height() / 2));
 
   // Now use borderColor for drawing
   painter.setPen(QPen(borderColor, 2, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin));
@@ -120,8 +120,8 @@ void SpeedLimitDisplay::drawSpeedLimitIndicator(QPainter & painter, const QRectF
 
   painter.setRenderHint(QPainter::Antialiasing, true);
   QColor colorFromHSV;
-  colorFromHSV.setHsv(0, 0, 29);  // Hue, Saturation, Value
-  colorFromHSV.setAlphaF(0.60);   // Transparency
+  colorFromHSV.setHsv(bg_color.hue(), bg_color.saturation(), bg_color.value());
+  colorFromHSV.setAlphaF(bg_alpha);
   painter.setBrush(colorFromHSV);
   painter.drawEllipse(innerCircleRect);
 
@@ -138,8 +138,7 @@ void SpeedLimitDisplay::drawSpeedLimitIndicator(QPainter & painter, const QRectF
   QFont font = QFont("Quicksand", 16, QFont::Bold);
 
   painter.setFont(font);
-  // #C2C2C2
-  painter.setPen(QPen(gray, 2, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin));
+  painter.setPen(QPen(color, 2, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin));
 
   // Draw the text in the center of the circle
   painter.drawText(innerCircleRect, Qt::AlignCenter, text);

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp

@@ -65,7 +65,7 @@ void TrafficDisplay::drawTrafficLightIndicator(QPainter & painter, const QRectF
   QRectF circleRect = QRectF(50, 50, 50, 50);
   circleRect.moveTopRight(QPointF(
     backgroundRect.right() - circleRect.width() - 75,
-    backgroundRect.top() + circleRect.height() / 2));
+    backgroundRect.height() / 2 - circleRect.height() / 2));
   painter.drawEllipse(circleRect);
 
   if (!current_traffic_.elements.empty()) {