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M. Fatih Cırıt
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fix anchoring, update readme
Signed-off-by: M. Fatih Cırıt <mfc@leodrive.ai>
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‎common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/README.md

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# autoware_mission_details_overlay_rviz_plugin
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Plugin for displaying 2D overlays over the RViz2 3D scene for mission details (such as remaining distance and time).
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Based on the [jsk_visualization](https://github.com/jsk-ros-pkg/jsk_visualization)
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package, under the 3-Clause BSD license.
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## Purpose
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This plugin provides a visual and easy-to-understand display of mission details (remaining distance and time)
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This RViz plugin displays the remaining distance and time for the current mission.
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## Inputs / Outputs
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### Input
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| Name | Type | Description |
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| ------------------------------------------- | ----------------------------------------------------------- | --------------------------------------------------------- |
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| `/planning/mission_remaining_distance_time` | `autoware_planning_msgs::msg::MissionRemainingDistanceTime` | The topic is for mission remaining distance and time Data |
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## Parameter
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| Name | Type | Description |
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|---------------------------------------------|-------------------------------------------------------------|------------------------------------------------------|
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| `/planning/mission_remaining_distance_time` | `autoware_planning_msgs::msg::MissionRemainingDistanceTime` | The topic is for mission remaining distance and time |
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### Core Parameters
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## Overlay Parameters
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#### SignalDisplay
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| Name | Type | Default Value | Description |
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|----------|------|---------------|-----------------------------------|
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| `Width` | int | 170 | Width of the overlay [px] |
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| `Height` | int | 100 | Height of the overlay [px] |
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| `Right` | int | 10 | Margin from the right border [px] |
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| `Top` | int | 10 | Margin from the top border [px] |
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| Name | Type | Default Value | Description |
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| ------------------ | ---- | ------------- | --------------------------------- |
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| `property_width_` | int | 225 | Width of the plotter window [px] |
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| `property_height_` | int | 100 | Height of the plotter window [px] |
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| `property_left_` | int | 10 | Left of the plotter window [px] |
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| `property_top_` | int | 10 | Top of the plotter window [px] |
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Note that mission details display is aligned with top right corner of the screen.
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## Assumptions / Known limits
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TBD.
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The mission details display is aligned with top right corner of the screen.
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## Usage
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Similar to [autoware_overlay_rviz_plugin](../autoware_overlay_rviz_plugin/README.md)
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## Credits
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Based on the [jsk_visualization](https://github.com/jsk-ros-pkg/jsk_visualization) package.
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### Icons
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- <https://fonts.google.com/icons?selected=Material+Symbols+Outlined:conversion_path:FILL@1;wght@400;GRAD@200;opsz@20&icon.size=20&icon.color=%23e8eaed&icon.query=path>

‎common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/mission_details_display.hpp

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private Q_SLOTS:
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void updateOverlaySize();
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void updateSmallOverlaySize();
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void updateOverlayPosition();
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void updateOverlayColor();
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void topic_updated_remaining_distance_time();
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autoware::mission_details_overlay_rviz_plugin::OverlayObject::SharedPtr overlay_;
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rviz_common::properties::IntProperty * property_width_;
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rviz_common::properties::IntProperty * property_height_;
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rviz_common::properties::IntProperty * property_left_;
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rviz_common::properties::IntProperty * property_right_;
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rviz_common::properties::IntProperty * property_top_;
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std::unique_ptr<rviz_common::properties::RosTopicProperty>
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remaining_distance_time_topic_property_;

‎common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/mission_details_display.cpp

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MissionDetailsDisplay::MissionDetailsDisplay()
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{
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property_width_ = new rviz_common::properties::IntProperty(
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"Width", 225, "Width of the overlay", this, SLOT(updateOverlaySize()));
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"Width", 170, "Width of the overlay", this, SLOT(updateOverlaySize()));
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property_height_ = new rviz_common::properties::IntProperty(
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"Height", 100, "Height of the overlay", this, SLOT(updateOverlaySize()));
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property_left_ = new rviz_common::properties::IntProperty(
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"Left", 10, "Left position of the overlay", this, SLOT(updateOverlayPosition()));
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property_right_ = new rviz_common::properties::IntProperty(
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"Right", 10, "Margin from the right border", this, SLOT(updateOverlaySize()));
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property_top_ = new rviz_common::properties::IntProperty(
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"Top", 10, "Top position of the overlay", this, SLOT(updateOverlayPosition()));
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"Top", 10, "Margin from the top border", this, SLOT(updateOverlaySize()));
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// Initialize the component displays
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remaining_distance_time_display_ = std::make_unique<RemainingDistanceTimeDisplay>();
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overlay_.reset(new autoware::mission_details_overlay_rviz_plugin::OverlayObject(ss.str()));
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overlay_->show();
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updateOverlaySize();
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updateOverlayPosition();
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auto rviz_ros_node = context_->getRosNodeAbstraction();
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QPainter painter(&hud);
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painter.setRenderHint(QPainter::Antialiasing, true);
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QRectF backgroundRect(0, 0, 170, 100);
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QRectF backgroundRect(0, 0, qreal(property_width_->getInt()), qreal(property_height_->getInt()));
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drawHorizontalRoundedRectangle(painter, backgroundRect);
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if (remaining_distance_time_display_) {
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std::lock_guard<std::mutex> lock(mutex_);
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overlay_->updateTextureSize(property_width_->getInt(), property_height_->getInt());
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overlay_->setDimensions(overlay_->getTextureWidth(), overlay_->getTextureHeight());
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queueRender();
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}
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void MissionDetailsDisplay::updateOverlayPosition()
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{
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std::lock_guard<std::mutex> lock(mutex_);
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overlay_->setPosition(
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property_left_->getInt(), property_top_->getInt(), HorizontalAlignment::RIGHT,
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property_right_->getInt(), property_top_->getInt(), HorizontalAlignment::RIGHT,
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VerticalAlignment::TOP);
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queueRender();
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}

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