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Commit 3e8567a

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author
KhalilSelyan
committed
update colors to use material_colors.hpp values instead of arbitrary colors all over the place
Signed-off-by: KhalilSelyan <khalil@leodrive.ai>
1 parent 7bf44dc commit 3e8567a

19 files changed

+300
-103
lines changed

‎common/tier4_state_rviz_plugin/CMakeLists.txt

+1
Original file line numberDiff line numberDiff line change
@@ -21,6 +21,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
2121
src/custom_segmented_button.cpp
2222
src/custom_segmented_button_item.cpp
2323
src/custom_label.cpp
24+
src/include/material_colors.hpp
2425
src/include/autoware_state_panel.hpp
2526
src/include/custom_button.hpp
2627
src/include/custom_container.hpp

‎common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp

+79-43
Original file line numberDiff line numberDiff line change
@@ -18,6 +18,8 @@
1818

1919
#include <rviz_common/display_context.hpp>
2020

21+
#include <qcolor.h>
22+
2123
#include <memory>
2224
#include <string>
2325

@@ -41,7 +43,10 @@ AutowareStatePanel::AutowareStatePanel(QWidget * parent) : rviz_common::Panel(pa
4143
QWidget * containerWidget = new QWidget(this);
4244
containerWidget->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
4345

44-
containerWidget->setStyleSheet("QWidget { background-color: #0F1417; color: #d0e6f2; }");
46+
containerWidget->setStyleSheet(
47+
QString("QWidget { background-color: %1; color: %2; }")
48+
.arg(autoware::state_rviz_plugin::colors::default_colors.background.c_str())
49+
.arg(autoware::state_rviz_plugin::colors::default_colors.on_surface.c_str()));
4550

4651
auto * containerLayout = new QVBoxLayout(containerWidget);
4752
// Set the alignment of the layout
@@ -188,7 +193,9 @@ QVBoxLayout * AutowareStatePanel::makeOperationModeGroup()
188193
&AutowareStatePanel::onSwitchStateChanged);
189194

190195
control_mode_label_ptr_ = new QLabel("Autoware Control");
191-
control_mode_label_ptr_->setStyleSheet("color: #d0e6f2; font-weight: bold;");
196+
control_mode_label_ptr_->setStyleSheet(
197+
QString("color: %1; font-weight: bold;")
198+
.arg(autoware::state_rviz_plugin::colors::default_colors.on_secondary_container.c_str()));
192199

193200
CustomContainer * group1 = new CustomContainer(this);
194201

@@ -226,15 +233,18 @@ QVBoxLayout * AutowareStatePanel::makeRoutingGroup()
226233

227234
auto * custom_container = new CustomContainer(this);
228235

229-
routing_icon = new CustomIconLabel(QColor("#84c2e6"));
236+
routing_icon = new CustomIconLabel(
237+
QColor(autoware::state_rviz_plugin::colors::default_colors.primary.c_str()));
230238

231239
clear_route_button_ptr_ = new CustomElevatedButton("Clear Route");
232240
clear_route_button_ptr_->setCheckable(true);
233241
clear_route_button_ptr_->setCursor(Qt::PointingHandCursor);
234242
connect(clear_route_button_ptr_, SIGNAL(clicked()), SLOT(onClickClearRoute()));
235243

236244
QLabel * routing_label = new QLabel("Routing");
237-
routing_label->setStyleSheet("color: #d0e6f2; font-weight: bold;");
245+
routing_label->setStyleSheet(
246+
QString("color: %1; font-weight: bold;")
247+
.arg(autoware::state_rviz_plugin::colors::default_colors.on_secondary_container.c_str()));
238248

239249
auto * horizontal_layout = new QHBoxLayout;
240250
horizontal_layout->setSpacing(10);
@@ -262,9 +272,12 @@ QVBoxLayout * AutowareStatePanel::makeLocalizationGroup()
262272
init_by_gnss_button_ptr_->setCursor(Qt::PointingHandCursor);
263273
connect(init_by_gnss_button_ptr_, SIGNAL(clicked()), SLOT(onClickInitByGnss()));
264274

265-
localization_icon = new CustomIconLabel(QColor("#84c2e6"));
275+
localization_icon = new CustomIconLabel(
276+
QColor(autoware::state_rviz_plugin::colors::default_colors.primary.c_str()));
266277
QLabel * localization_label = new QLabel("Localization");
267-
localization_label->setStyleSheet("color: #d0e6f2; font-weight: bold;");
278+
localization_label->setStyleSheet(
279+
QString("color: %1; font-weight: bold;")
280+
.arg(autoware::state_rviz_plugin::colors::default_colors.on_secondary_container.c_str()));
268281

269282
auto * horizontal_layout = new QHBoxLayout;
270283
horizontal_layout->setSpacing(10);
@@ -292,9 +305,12 @@ QVBoxLayout * AutowareStatePanel::makeMotionGroup()
292305
accept_start_button_ptr_->setCursor(Qt::PointingHandCursor);
293306
connect(accept_start_button_ptr_, SIGNAL(clicked()), SLOT(onClickAcceptStart()));
294307

295-
motion_icon = new CustomIconLabel(QColor("#84c2e6"));
308+
motion_icon = new CustomIconLabel(
309+
QColor(autoware::state_rviz_plugin::colors::default_colors.primary.c_str()));
296310
QLabel * motion_label = new QLabel("Motion");
297-
motion_label->setStyleSheet("color: #d0e6f2; font-weight: bold;");
311+
motion_label->setStyleSheet(
312+
QString("color: %1; font-weight: bold;")
313+
.arg(autoware::state_rviz_plugin::colors::default_colors.on_secondary_container.c_str()));
298314

299315
auto * horizontal_layout = new QHBoxLayout;
300316
horizontal_layout->setSpacing(10);
@@ -321,15 +337,21 @@ QVBoxLayout * AutowareStatePanel::makeFailSafeGroup()
321337
auto * custom_container1 = new CustomContainer(this);
322338
auto * custom_container2 = new CustomContainer(this);
323339

324-
mrm_state_icon = new CustomIconLabel(QColor("#84c2e6"));
325-
mrm_behavior_icon = new CustomIconLabel(QColor("#84c2e6"));
340+
mrm_state_icon = new CustomIconLabel(
341+
QColor(autoware::state_rviz_plugin::colors::default_colors.primary.c_str()));
342+
mrm_behavior_icon = new CustomIconLabel(
343+
QColor(autoware::state_rviz_plugin::colors::default_colors.primary.c_str()));
326344

327345
mrm_state_label_ptr_ = new QLabel("MRM State | Unknown");
328346
mrm_behavior_label_ptr_ = new QLabel("MRM Behavior | Unknown");
329347

330348
// change text color
331-
mrm_state_label_ptr_->setStyleSheet("color: #d0e6f2; font-weight: bold;");
332-
mrm_behavior_label_ptr_->setStyleSheet("color: #d0e6f2; font-weight: bold;");
349+
mrm_state_label_ptr_->setStyleSheet(
350+
QString("color: %1; font-weight: bold;")
351+
.arg(autoware::state_rviz_plugin::colors::default_colors.on_secondary_container.c_str()));
352+
mrm_behavior_label_ptr_->setStyleSheet(
353+
QString("color: %1; font-weight: bold;")
354+
.arg(autoware::state_rviz_plugin::colors::default_colors.on_secondary_container.c_str()));
333355

334356
auto * horizontal_layout = new QHBoxLayout;
335357
horizontal_layout->setSpacing(10);
@@ -514,7 +536,8 @@ void AutowareStatePanel::onOperationMode(const OperationModeState::ConstSharedPt
514536

515537
// routing
516538
if (msg->is_in_transition) {
517-
routing_icon->updateStyle(Pending, QColor("#eef08b"));
539+
routing_icon->updateStyle(
540+
Pending, QColor(autoware::state_rviz_plugin::colors::default_colors.warning.c_str()));
518541
}
519542
}
520543

@@ -526,27 +549,27 @@ void AutowareStatePanel::onRoute(const RouteState::ConstSharedPtr msg)
526549
switch (msg->state) {
527550
case RouteState::UNSET:
528551
state = Pending;
529-
bgColor = QColor("#eef08b");
552+
bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.warning.c_str());
530553
break;
531554

532555
case RouteState::SET:
533556
state = Active;
534-
bgColor = QColor("#00e678");
557+
bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.success.c_str());
535558
break;
536559

537560
case RouteState::ARRIVED:
538561
state = Danger;
539-
bgColor = QColor("#f08b8b");
562+
bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.danger.c_str());
540563
break;
541564

542565
case RouteState::CHANGING:
543-
bgColor = QColor("#eef08b");
566+
bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.warning.c_str());
544567
state = Pending;
545568
break;
546569

547570
default:
548571
state = None;
549-
bgColor = QColor("#84c2e6");
572+
bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.info.c_str());
550573
break;
551574
}
552575

@@ -556,11 +579,15 @@ void AutowareStatePanel::onRoute(const RouteState::ConstSharedPtr msg)
556579
activateButton(clear_route_button_ptr_);
557580
} else {
558581
clear_route_button_ptr_->setStyleSheet(
559-
"QPushButton {"
560-
"background-color: #292d30;color: #6e7276;"
561-
"border: 2px solid #292d30;"
562-
"font-weight: bold;"
563-
"}");
582+
QString("QPushButton {"
583+
"background-color: %1;color: %2;"
584+
"border: 2px solid %3;"
585+
"font-weight: bold;"
586+
"}")
587+
.arg(autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str())
588+
.arg(autoware::state_rviz_plugin::colors::default_colors.outline.c_str())
589+
.arg(
590+
autoware::state_rviz_plugin::colors::default_colors.surface_container_highest.c_str()));
564591
deactivateButton(clear_route_button_ptr_);
565592
}
566593
}
@@ -573,22 +600,22 @@ void AutowareStatePanel::onLocalization(const LocalizationInitializationState::C
573600
switch (msg->state) {
574601
case LocalizationInitializationState::UNINITIALIZED:
575602
state = None;
576-
bgColor = QColor("#84c2e6");
603+
bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.info.c_str());
577604
break;
578605

579606
case LocalizationInitializationState::INITIALIZED:
580607
state = Active;
581-
bgColor = QColor("#00e678");
608+
bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.success.c_str());
582609
break;
583610

584611
case LocalizationInitializationState::INITIALIZING:
585612
state = Pending;
586-
bgColor = QColor("#eef08b");
613+
bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.warning.c_str());
587614
break;
588615

589616
default:
590617
state = None;
591-
bgColor = QColor("#84c2e6");
618+
bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.info.c_str());
592619
break;
593620
}
594621

@@ -603,22 +630,22 @@ void AutowareStatePanel::onMotion(const MotionState::ConstSharedPtr msg)
603630
switch (msg->state) {
604631
case MotionState::STARTING:
605632
state = Pending;
606-
bgColor = QColor("#eef08b");
633+
bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.warning.c_str());
607634
break;
608635

609636
case MotionState::MOVING:
610637
state = Active;
611-
bgColor = QColor("#00e678");
638+
bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.success.c_str());
612639
break;
613640

614641
case MotionState::STOPPED:
615642
state = None;
616-
bgColor = QColor("#f08b8b");
643+
bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.danger.c_str());
617644
break;
618645

619646
default:
620647
state = Danger;
621-
bgColor = QColor("#84c2e6");
648+
bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.info.c_str());
622649
break;
623650
}
624651

@@ -640,31 +667,31 @@ void AutowareStatePanel::onMRMState(const MRMState::ConstSharedPtr msg)
640667
switch (msg->state) {
641668
case MRMState::NONE:
642669
state = None;
643-
bgColor = QColor("#84c2e6");
670+
bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.info.c_str());
644671
mrm_state = "MRM State | Inactive";
645672
break;
646673

647674
case MRMState::MRM_OPERATING:
648675
state = Active;
649-
bgColor = QColor("#84c2e6");
676+
bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.info.c_str());
650677
mrm_state = "MRM State | Operating";
651678
break;
652679

653680
case MRMState::MRM_SUCCEEDED:
654681
state = Active;
655-
bgColor = QColor("#00e678");
682+
bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.success.c_str());
656683
mrm_state = "MRM State | Successful";
657684
break;
658685

659686
case MRMState::MRM_FAILED:
660687
state = Danger;
661-
bgColor = QColor("#f08b8b");
688+
bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.danger.c_str());
662689
mrm_state = "MRM State | Failed";
663690
break;
664691

665692
default:
666693
state = None;
667-
bgColor = QColor("#84c2e6");
694+
bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.info.c_str());
668695
mrm_state = "MRM State | Unknown";
669696
break;
670697
}
@@ -681,31 +708,31 @@ void AutowareStatePanel::onMRMState(const MRMState::ConstSharedPtr msg)
681708
switch (msg->behavior) {
682709
case MRMState::NONE:
683710
state = Crash;
684-
bgColor = QColor("#84c2e6");
711+
bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.info.c_str());
685712
mrm_behavior = "MRM Behavior | Inactive";
686713
break;
687714

688715
case MRMState::PULL_OVER:
689716
state = Crash;
690-
bgColor = QColor("#00e678");
717+
bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.success.c_str());
691718
mrm_behavior = "MRM Behavior | Pull Over";
692719
break;
693720

694721
case MRMState::COMFORTABLE_STOP:
695722
state = Crash;
696-
bgColor = QColor("#eef08b");
723+
bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.warning.c_str());
697724
mrm_behavior = "MRM Behavior | Comfortable Stop";
698725
break;
699726

700727
case MRMState::EMERGENCY_STOP:
701728
state = Crash;
702-
bgColor = QColor("#f08b8b");
729+
bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.danger.c_str());
703730
mrm_behavior = "MRM Behavior | Emergency Stop";
704731
break;
705732

706733
default:
707734
state = Crash;
708-
bgColor = QColor("#84c2e6");
735+
bgColor = QColor(autoware::state_rviz_plugin::colors::default_colors.info.c_str());
709736
mrm_behavior = "MRM Behavior | Unknown";
710737
break;
711738
}
@@ -837,10 +864,19 @@ void AutowareStatePanel::onEmergencyStatus(
837864
current_emergency_ = msg->emergency;
838865
if (msg->emergency) {
839866
emergency_button_ptr_->updateStyle(
840-
"Clear Emergency", QColor("#f08b8b"), QColor("#FFDAD6"), QColor("#ed7474"));
867+
"Clear Emergency",
868+
QColor(autoware::state_rviz_plugin::colors::default_colors.error_container.c_str()),
869+
QColor(autoware::state_rviz_plugin::colors::default_colors.on_error_container.c_str()),
870+
QColor(autoware::state_rviz_plugin::colors::default_colors.on_error.c_str()),
871+
QColor(autoware::state_rviz_plugin::colors::default_colors.on_error_container.c_str()),
872+
QColor(autoware::state_rviz_plugin::colors::default_colors.error_container.c_str()));
841873
} else {
842874
emergency_button_ptr_->updateStyle(
843-
"Set Emergency", QColor("#84c2e6"), QColor("#003546"), QColor("#8bd0f0"));
875+
"Set Emergency", QColor(autoware::state_rviz_plugin::colors::default_colors.primary.c_str()),
876+
QColor(autoware::state_rviz_plugin::colors::default_colors.on_primary.c_str()),
877+
QColor(autoware::state_rviz_plugin::colors::default_colors.on_primary_container.c_str()),
878+
QColor(autoware::state_rviz_plugin::colors::default_colors.on_primary.c_str()),
879+
QColor(autoware::state_rviz_plugin::colors::default_colors.surface_tint.c_str()));
844880
}
845881
}
846882

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