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| 1 | +// Copyright 2023 The Autoware Contributors |
| 2 | +// |
| 3 | +// Licensed under the Apache License, Version 2.0 (the "License"); |
| 4 | +// you may not use this file except in compliance with the License. |
| 5 | +// You may obtain a copy of the License at |
| 6 | +// |
| 7 | +// http://www.apache.org/licenses/LICENSE-2.0 |
| 8 | +// |
| 9 | +// Unless required by applicable law or agreed to in writing, software |
| 10 | +// distributed under the License is distributed on an "AS IS" BASIS, |
| 11 | +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 12 | +// See the License for the specific language governing permissions and |
| 13 | +// limitations under the License. |
| 14 | + |
| 15 | +#include "door_panel.hpp" |
| 16 | + |
| 17 | +#include <rviz_common/display_context.hpp> |
| 18 | + |
| 19 | +#include <memory> |
| 20 | + |
| 21 | +namespace tier4_adapi_rviz_plugins |
| 22 | +{ |
| 23 | + |
| 24 | +DoorPanel::DoorPanel(QWidget * parent) : rviz_common::Panel(parent) |
| 25 | +{ |
| 26 | + status_ = new QLabel("Trying to get door layout."); |
| 27 | + layout_ = new QGridLayout(); |
| 28 | + layout_->addWidget(status_, 0, 0, 1, 4); |
| 29 | + setLayout(layout_); |
| 30 | +} |
| 31 | + |
| 32 | +void DoorPanel::onInitialize() |
| 33 | +{ |
| 34 | + const auto on_layout = [this](const rclcpp::Client<DoorLayout::Service>::SharedFuture future) { |
| 35 | + const auto res = future.get(); |
| 36 | + if (!res->status.success) { |
| 37 | + status_->setText(QString::fromStdString("failed to get layout: " + res->status.message)); |
| 38 | + return; |
| 39 | + } |
| 40 | + const auto & layouts = res->doors; |
| 41 | + for (size_t index = 0; index < layouts.size(); ++index) { |
| 42 | + const auto & layout = layouts[index]; |
| 43 | + DoorUI door; |
| 44 | + door.description = new QLabel(QString::fromStdString(layout.description)); |
| 45 | + door.status = new QLabel("unknown"); |
| 46 | + door.open = new QPushButton("open"); |
| 47 | + door.close = new QPushButton("close"); |
| 48 | + doors_.push_back(door); |
| 49 | + |
| 50 | + layout_->addWidget(door.description, index + 1, 0); |
| 51 | + layout_->addWidget(door.status, index + 1, 1); |
| 52 | + layout_->addWidget(door.open, index + 1, 2); |
| 53 | + layout_->addWidget(door.close, index + 1, 3); |
| 54 | + |
| 55 | + using Command = autoware_adapi_v1_msgs::msg::DoorCommand; |
| 56 | + const auto on_open = [this, index] { on_button(index, Command::OPEN); }; |
| 57 | + const auto on_close = [this, index] { on_button(index, Command::CLOSE); }; |
| 58 | + connect(door.open, &QPushButton::clicked, on_open); |
| 59 | + connect(door.close, &QPushButton::clicked, on_close); |
| 60 | + } |
| 61 | + status_->hide(); |
| 62 | + }; |
| 63 | + |
| 64 | + const auto on_status = [this](const DoorStatus::Message::ConstSharedPtr msg) { |
| 65 | + using Status = autoware_adapi_v1_msgs::msg::DoorStatus; |
| 66 | + if (doors_.size() != msg->doors.size()) { |
| 67 | + return; |
| 68 | + } |
| 69 | + for (size_t index = 0; index < doors_.size(); ++index) { |
| 70 | + const auto & label = doors_[index].status; |
| 71 | + switch (msg->doors[index].status) { |
| 72 | + case Status::NOT_AVAILABLE: |
| 73 | + label->setText("not available"); |
| 74 | + break; |
| 75 | + case Status::OPENED: |
| 76 | + label->setText("opened"); |
| 77 | + break; |
| 78 | + case Status::CLOSED: |
| 79 | + label->setText("closed"); |
| 80 | + break; |
| 81 | + case Status::OPENING: |
| 82 | + label->setText("opening"); |
| 83 | + break; |
| 84 | + case Status::CLOSING: |
| 85 | + label->setText("closing"); |
| 86 | + break; |
| 87 | + default: |
| 88 | + label->setText("unknown"); |
| 89 | + break; |
| 90 | + } |
| 91 | + } |
| 92 | + }; |
| 93 | + |
| 94 | + auto lock = getDisplayContext()->getRosNodeAbstraction().lock(); |
| 95 | + auto node = lock->get_raw_node(); |
| 96 | + |
| 97 | + const auto adaptor = component_interface_utils::NodeAdaptor(node.get()); |
| 98 | + adaptor.init_cli(cli_command_); |
| 99 | + adaptor.init_cli(cli_layout_); |
| 100 | + adaptor.init_sub(sub_status_, on_status); |
| 101 | + |
| 102 | + const auto req = std::make_shared<DoorLayout::Service::Request>(); |
| 103 | + cli_layout_->async_send_request(req, on_layout); |
| 104 | +} |
| 105 | + |
| 106 | +void DoorPanel::on_button(uint32_t index, uint8_t command) |
| 107 | +{ |
| 108 | + const auto req = std::make_shared<DoorCommand::Service::Request>(); |
| 109 | + req->doors.resize(1); |
| 110 | + req->doors.back().index = index; |
| 111 | + req->doors.back().command = command; |
| 112 | + cli_command_->async_send_request(req); |
| 113 | +} |
| 114 | + |
| 115 | +} // namespace tier4_adapi_rviz_plugins |
| 116 | + |
| 117 | +#include <pluginlib/class_list_macros.hpp> |
| 118 | +PLUGINLIB_EXPORT_CLASS(tier4_adapi_rviz_plugins::DoorPanel, rviz_common::Panel) |
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