From 6dd07582cdcbccc30760f8323354f39fa02310c1 Mon Sep 17 00:00:00 2001 From: "Y.Hisaki" Date: Fri, 21 Mar 2025 15:32:35 +0900 Subject: [PATCH] feat!(autoware_overlay_rviz_plugin): removed the blinking function of turn_signal Signed-off-by: Y.Hisaki --- .../include/turn_signals_display.hpp | 4 ---- .../src/turn_signals_display.cpp | 24 ++++--------------- 2 files changed, 5 insertions(+), 23 deletions(-) diff --git a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp index 022de6d8c22c9..1e23e550ab367 100644 --- a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp +++ b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp @@ -52,10 +52,6 @@ class TurnSignalsDisplay int current_turn_signal_; // Internal variable to store turn signal state int current_hazard_lights_; // Internal variable to store hazard lights state QImage coloredImage(const QImage & source, const QColor & color); - - std::chrono::steady_clock::time_point last_toggle_time_; - bool blink_on_ = false; - const std::chrono::milliseconds blink_interval_{500}; // Blink interval in milliseconds }; } // namespace autoware_overlay_rviz_plugin diff --git a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp index ef0721d821e63..1ea72bf9a3e27 100644 --- a/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp +++ b/visualization/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp @@ -37,8 +37,6 @@ namespace autoware_overlay_rviz_plugin TurnSignalsDisplay::TurnSignalsDisplay() : current_turn_signal_(0) { - last_toggle_time_ = std::chrono::steady_clock::now(); - // Load the arrow image std::string package_path = ament_index_cpp::get_package_share_directory("autoware_overlay_rviz_plugin"); @@ -87,28 +85,16 @@ void TurnSignalsDisplay::drawArrows( (current_turn_signal_ == autoware_vehicle_msgs::msg::TurnIndicatorsReport::ENABLE_RIGHT || current_hazard_lights_ == autoware_vehicle_msgs::msg::HazardLightsReport::ENABLE); - // Color the arrows based on the state of the turn signals and hazard lights by having them blink - // on and off - if (this->blink_on_) { - if (leftActive) { - scaledLeftArrow = coloredImage(scaledLeftArrow, color); - } - if (rightActive) { - scaledRightArrow = coloredImage(scaledRightArrow, color); - } + if (leftActive) { + scaledLeftArrow = coloredImage(scaledLeftArrow, color); + } + if (rightActive) { + scaledRightArrow = coloredImage(scaledRightArrow, color); } // Draw the arrows painter.drawImage(QPointF(leftArrowXPos, arrowYPos), scaledLeftArrow); painter.drawImage(QPointF(rightArrowXPos, arrowYPos), scaledRightArrow); - - auto now = std::chrono::steady_clock::now(); - if ( - std::chrono::duration_cast(now - last_toggle_time_) >= - blink_interval_) { - blink_on_ = !blink_on_; // Toggle the blink state - last_toggle_time_ = now; - } } QImage TurnSignalsDisplay::coloredImage(const QImage & source, const QColor & color)