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AriieesAriiees
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Merge branch 'autowarefoundation:main' into obstacle_stop_planner
2 parents fb4be19 + 7504092 commit 2945835

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‎.cppcheck_suppressions

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@@ -2,17 +2,14 @@
22

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checkersReport
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constParameterReference
5-
constVariableReference
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funcArgNamesDifferent
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functionConst
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functionStatic
9-
knownConditionTrueFalse
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missingInclude
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missingIncludeSystem
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noConstructor
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passedByValue
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redundantInitialization
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shadowVariable
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// cspell: ignore uninit
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uninitMemberVar
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unknownMacro

‎.github/CODEOWNERS

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‎.github/sync-files.yaml

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files:
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- source: .github/workflows/clang-tidy-differential.yaml
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pre-commands: |
41-
sd 'container: ros:(\w+)' 'container: ghcr.io/autowarefoundation/autoware:latest-prebuilt-cuda' {source}
41+
sd 'container: ros:(\w+)' 'container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe-cuda' {source}
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- source: .github/workflows/check-build-depends.yaml
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- source: .github/workflows/clang-tidy-pr-comments.yaml
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- source: .github/workflows/clang-tidy-pr-comments-manually.yaml

‎.github/workflows/build-and-test-daily-arm64.yaml

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@@ -19,7 +19,7 @@ jobs:
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- -cuda
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include:
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- rosdistro: humble
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container: ghcr.io/autowarefoundation/autoware:latest-prebuilt
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container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe
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build-depends-repos: build_depends.repos
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steps:
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- name: Check out repository

‎.github/workflows/build-and-test-daily.yaml

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@@ -19,7 +19,7 @@ jobs:
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- -cuda
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include:
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- rosdistro: humble
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container: ghcr.io/autowarefoundation/autoware:latest-prebuilt
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container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe
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build-depends-repos: build_depends.repos
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steps:
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- name: Check out repository

‎.github/workflows/build-and-test-differential-arm64.yaml

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@@ -29,7 +29,7 @@ jobs:
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- -cuda
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include:
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- rosdistro: humble
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container: ghcr.io/autowarefoundation/autoware:latest-prebuilt
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container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe
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build-depends-repos: build_depends.repos
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steps:
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- name: Set PR fetch depth

‎.github/workflows/build-and-test-differential.yaml

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@@ -33,7 +33,7 @@ jobs:
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- -cuda
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include:
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- rosdistro: humble
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container: ghcr.io/autowarefoundation/autoware:latest-prebuilt
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container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe
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build-depends-repos: build_depends.repos
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steps:
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- name: Set PR fetch depth
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clang-tidy-differential:
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needs: build-and-test-differential
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runs-on: ubuntu-latest
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container: ghcr.io/autowarefoundation/autoware:latest-prebuilt-cuda
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container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe-cuda
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steps:
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- name: Set PR fetch depth
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run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"

‎.github/workflows/build-and-test.yaml

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- -cuda
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include:
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- rosdistro: humble
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container: ghcr.io/autowarefoundation/autoware:latest-prebuilt
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container: ghcr.io/autowarefoundation/autoware:latest-autoware-universe
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build-depends-repos: build_depends.repos
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steps:
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- name: Check out repository

‎.github/workflows/pr-agent.yaml

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config.max_model_tokens: 64000
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pr_code_suggestions.max_context_tokens: 12000
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pr_code_suggestions.commitable_code_suggestions: true
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pr_reviewer.enable_review_labels_effort: false
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pr_reviewer.enable_review_labels_security: false

‎build_depends.repos

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@@ -8,31 +8,31 @@ repositories:
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core/autoware_cmake:
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type: git
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url: https://github.com/autowarefoundation/autoware_cmake.git
11-
version: main
11+
version: 1.0.0
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core/autoware_utils:
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type: git
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url: https://github.com/autowarefoundation/autoware_utils.git
15-
version: main
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version: 1.0.0
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core/autoware_lanelet2_extension:
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type: git
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url: https://github.com/autowarefoundation/autoware_lanelet2_extension.git
19-
version: main
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version: 0.5.0
2020
core/autoware.core:
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type: git
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url: https://github.com/autowarefoundation/autoware.core.git
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version: main
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core/autoware_msgs:
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type: git
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url: https://github.com/autowarefoundation/autoware_msgs.git
27-
version: main
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version: 1.1.0
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core/autoware_adapi_msgs:
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type: git
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url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
31-
version: main
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version: 1.3.0
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core/autoware_internal_msgs:
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type: git
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url: https://github.com/autowarefoundation/autoware_internal_msgs.git
35-
version: main
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version: 1.1.0
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# universe
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universe/external/tier4_autoware_msgs:
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type: git

‎common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/mission_details_display.hpp

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Original file line numberDiff line numberDiff line change
@@ -61,6 +61,10 @@ private Q_SLOTS:
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rviz_common::properties::IntProperty * property_height_;
6262
rviz_common::properties::IntProperty * property_right_;
6363
rviz_common::properties::IntProperty * property_top_;
64+
rviz_common::properties::ColorProperty * property_bg_color_;
65+
rviz_common::properties::FloatProperty * property_bg_alpha_;
66+
rviz_common::properties::ColorProperty * property_text_color_;
67+
6468
std::unique_ptr<rviz_common::properties::RosTopicProperty>
6569
remaining_distance_time_topic_property_;
6670

‎common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/include/remaining_distance_time_display.hpp

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@@ -36,16 +36,15 @@ class RemainingDistanceTimeDisplay
3636
{
3737
public:
3838
RemainingDistanceTimeDisplay();
39-
void drawRemainingDistanceTimeDisplay(QPainter & painter, const QRectF & backgroundRect);
39+
void drawRemainingDistanceTimeDisplay(
40+
QPainter & painter, const QRectF & backgroundRect, const QColor & text_color);
4041
void updateRemainingDistanceTimeData(
4142
const autoware_internal_msgs::msg::MissionRemainingDistanceTime::ConstSharedPtr & msg);
4243

4344
private:
4445
double remaining_distance_; // Internal variable to store remaining distance
4546
double remaining_time_; // Internal variable to store remaining time
4647

47-
QColor gray = QColor(194, 194, 194);
48-
4948
QImage icon_dist_;
5049
QImage icon_dist_scaled_;
5150
QImage icon_time_;

‎common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/mission_details_display.cpp

Lines changed: 12 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -39,6 +39,12 @@ MissionDetailsDisplay::MissionDetailsDisplay()
3939
"Right", 10, "Margin from the right border", this, SLOT(update_size()));
4040
property_top_ = new rviz_common::properties::IntProperty(
4141
"Top", 10, "Margin from the top border", this, SLOT(update_size()));
42+
property_bg_alpha_ = new rviz_common::properties::FloatProperty(
43+
"Background Alpha", 0.3, "Background Alpha", this, SLOT(update_size()));
44+
property_bg_color_ = new rviz_common::properties::ColorProperty(
45+
"Background Color", QColor(0, 0, 0), "Background Color", this, SLOT(update_size()));
46+
property_text_color_ = new rviz_common::properties::ColorProperty(
47+
"Text Color", QColor(194, 194, 194), "Text Color", this, SLOT(update_size()));
4248

4349
// Initialize the component displays
4450
remaining_distance_time_display_ = std::make_unique<RemainingDistanceTimeDisplay>();
@@ -154,7 +160,8 @@ void MissionDetailsDisplay::draw_widget(QImage & hud)
154160
draw_rounded_rect(painter, backgroundRect);
155161

156162
if (remaining_distance_time_display_) {
157-
remaining_distance_time_display_->drawRemainingDistanceTimeDisplay(painter, backgroundRect);
163+
remaining_distance_time_display_->drawRemainingDistanceTimeDisplay(
164+
painter, backgroundRect, property_text_color_->getColor());
158165
}
159166

160167
painter.end();
@@ -164,8 +171,10 @@ void MissionDetailsDisplay::draw_rounded_rect(QPainter & painter, const QRectF &
164171
{
165172
painter.setRenderHint(QPainter::Antialiasing, true);
166173
QColor colorFromHSV;
167-
colorFromHSV.setHsv(0, 0, 29);
168-
colorFromHSV.setAlphaF(0.60);
174+
colorFromHSV.setHsv(
175+
property_bg_color_->getColor().hue(), property_bg_color_->getColor().saturation(),
176+
property_bg_color_->getColor().value());
177+
colorFromHSV.setAlphaF(property_bg_alpha_->getFloat());
169178

170179
painter.setBrush(colorFromHSV);
171180

‎common/autoware_overlay_rviz_plugin/autoware_mission_details_overlay_rviz_plugin/src/remaining_distance_time_display.cpp

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Original file line numberDiff line numberDiff line change
@@ -60,7 +60,7 @@ void RemainingDistanceTimeDisplay::updateRemainingDistanceTimeData(
6060
}
6161

6262
void RemainingDistanceTimeDisplay::drawRemainingDistanceTimeDisplay(
63-
QPainter & painter, const QRectF & backgroundRect)
63+
QPainter & painter, const QRectF & backgroundRect, const QColor & text_color)
6464
{
6565
const QFont font("Quicksand", 15, QFont::Bold);
6666
painter.setFont(font);
@@ -107,7 +107,7 @@ void RemainingDistanceTimeDisplay::drawRemainingDistanceTimeDisplay(
107107
QRectF rect_text_unit(
108108
rect.topRight().x() - unit_width, rect.topRight().y(), unit_width, rect.height());
109109

110-
painter.setPen(gray);
110+
painter.setPen(text_color);
111111
painter.drawText(rect_text_unit, Qt::AlignLeft | Qt::AlignVCenter, str_unit);
112112

113113
// place the value text

‎common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/gear_display.hpp

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Original file line numberDiff line numberDiff line change
@@ -36,7 +36,9 @@ class GearDisplay
3636
{
3737
public:
3838
GearDisplay();
39-
void drawGearIndicator(QPainter & painter, const QRectF & backgroundRect);
39+
void drawGearIndicator(
40+
QPainter & painter, const QRectF & backgroundRect, const QColor & color,
41+
const QColor & bg_color);
4042
void updateGearData(const autoware_vehicle_msgs::msg::GearReport::ConstSharedPtr & msg);
4143

4244
private:

‎common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp

Lines changed: 8 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -77,6 +77,12 @@ private Q_SLOTS:
7777
rviz_common::properties::IntProperty * property_top_;
7878
rviz_common::properties::ColorProperty * property_signal_color_;
7979
rviz_common::properties::FloatProperty * property_handle_angle_scale_;
80+
rviz_common::properties::ColorProperty * property_background_color_;
81+
rviz_common::properties::FloatProperty * property_background_alpha_;
82+
rviz_common::properties::ColorProperty * property_primary_color_;
83+
rviz_common::properties::ColorProperty * property_light_limit_color_;
84+
rviz_common::properties::ColorProperty * property_dark_limit_color_;
85+
8086
std::unique_ptr<rviz_common::properties::RosTopicProperty> steering_topic_property_;
8187
std::unique_ptr<rviz_common::properties::RosTopicProperty> gear_topic_property_;
8288
std::unique_ptr<rviz_common::properties::RosTopicProperty> speed_topic_property_;
@@ -103,8 +109,7 @@ private Q_SLOTS:
103109
turn_signals_sub_;
104110
rclcpp::Subscription<autoware_vehicle_msgs::msg::HazardLightsReport>::SharedPtr
105111
hazard_lights_sub_;
106-
rclcpp::Subscription<autoware_perception_msgs::msg::TrafficLightGroupArray>::SharedPtr
107-
traffic_sub_;
112+
rclcpp::Subscription<autoware_perception_msgs::msg::TrafficLightGroup>::SharedPtr traffic_sub_;
108113
rclcpp::Subscription<tier4_planning_msgs::msg::VelocityLimit>::SharedPtr speed_limit_sub_;
109114

110115
std::mutex property_mutex_;
@@ -118,7 +123,7 @@ private Q_SLOTS:
118123
const autoware_vehicle_msgs::msg::HazardLightsReport::ConstSharedPtr & msg);
119124
void updateSpeedLimitData(const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg);
120125
void updateTrafficLightData(
121-
const autoware_perception_msgs::msg::TrafficLightGroupArray::ConstSharedPtr msg);
126+
const autoware_perception_msgs::msg::TrafficLightGroup::ConstSharedPtr msg);
122127
void drawWidget(QImage & hud);
123128
};
124129
} // namespace autoware_overlay_rviz_plugin

‎common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_display.hpp

Lines changed: 1 addition & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -36,12 +36,11 @@ class SpeedDisplay
3636
{
3737
public:
3838
SpeedDisplay();
39-
void drawSpeedDisplay(QPainter & painter, const QRectF & backgroundRect);
39+
void drawSpeedDisplay(QPainter & painter, const QRectF & backgroundRect, const QColor & color);
4040
void updateSpeedData(const autoware_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg);
4141

4242
private:
4343
float current_speed_; // Internal variable to store current speed
44-
QColor gray = QColor(194, 194, 194);
4544
};
4645

4746
} // namespace autoware_overlay_rviz_plugin

‎common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp

Lines changed: 4 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -37,14 +37,16 @@ class SpeedLimitDisplay
3737
{
3838
public:
3939
SpeedLimitDisplay();
40-
void drawSpeedLimitIndicator(QPainter & painter, const QRectF & backgroundRect);
40+
void drawSpeedLimitIndicator(
41+
QPainter & painter, const QRectF & backgroundRect, const QColor & color,
42+
const QColor & light_color, const QColor & dark_color, const QColor & bg_color,
43+
const float bg_alpha);
4144
void updateSpeedLimitData(const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg);
4245
void updateSpeedData(const autoware_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg);
4346

4447
private:
4548
float current_limit; // Internal variable to store current gear
4649
float current_speed_; // Internal variable to store current speed
47-
QColor gray = QColor(194, 194, 194);
4850
};
4951

5052
} // namespace autoware_overlay_rviz_plugin

‎common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp

Lines changed: 2 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -25,7 +25,6 @@
2525

2626
#include <autoware_perception_msgs/msg/traffic_light_element.hpp>
2727
#include <autoware_perception_msgs/msg/traffic_light_group.hpp>
28-
#include <autoware_perception_msgs/msg/traffic_light_group_array.hpp>
2928

3029
#include <OgreColourValue.h>
3130
#include <OgreMaterial.h>
@@ -40,8 +39,8 @@ class TrafficDisplay
4039
TrafficDisplay();
4140
void drawTrafficLightIndicator(QPainter & painter, const QRectF & backgroundRect);
4241
void updateTrafficLightData(
43-
const autoware_perception_msgs::msg::TrafficLightGroupArray::ConstSharedPtr & msg);
44-
autoware_perception_msgs::msg::TrafficLightGroupArray current_traffic_;
42+
const autoware_perception_msgs::msg::TrafficLightGroup::ConstSharedPtr & msg);
43+
autoware_perception_msgs::msg::TrafficLightGroup current_traffic_;
4544

4645
private:
4746
QImage traffic_light_image_;

‎common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp

Lines changed: 4 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -54,7 +54,8 @@ void GearDisplay::updateGearData(const autoware_vehicle_msgs::msg::GearReport::C
5454
current_gear_ = msg->report; // Assuming msg->report contains the gear information
5555
}
5656

57-
void GearDisplay::drawGearIndicator(QPainter & painter, const QRectF & backgroundRect)
57+
void GearDisplay::drawGearIndicator(
58+
QPainter & painter, const QRectF & backgroundRect, const QColor & color, const QColor & bg_color)
5859
{
5960
// we deal with the different gears here
6061
std::string gearString;
@@ -90,9 +91,9 @@ void GearDisplay::drawGearIndicator(QPainter & painter, const QRectF & backgroun
9091
double gearX = backgroundRect.left() + 54;
9192
double gearY = backgroundRect.height() / 2 - gearBoxSize / 2;
9293
QRect gearRect(gearX, gearY, gearBoxSize, gearBoxSize);
93-
painter.setBrush(gray);
94+
painter.setBrush(color);
9495
painter.drawRoundedRect(gearRect, 10, 10);
95-
painter.setPen(Qt::black);
96+
painter.setPen(bg_color);
9697
painter.drawText(gearRect, Qt::AlignCenter, QString::fromStdString(gearString));
9798
}
9899

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