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feat(autoware_overlay_rviz_plugin)!: removed the blinking function of turn_signal #10319

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feat(autoware_overlay_rviz_plugin)!: removed the blinking function of turn_signal #10319

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4 changes: 0 additions & 4 deletions ...utoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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@xmfcx xmfcx Mar 21, 2025 •
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Also when you make the update, please also make this blink interval 250.
500 means it will blink at 1 Hz.
But it can be up to 2 Hz for most vehicles.
https://www.youtube.com/watch?v=iK2K9e_tcdI
At least in this video, I calculated it to be 180 clicks per minute https://www.beatsperminuteonline.com/ with this site.
Which makes 3 ticks per second, so we can set this blink_interval_ to 333 to make it 1.5Hz

};

} // namespace autoware_overlay_rviz_plugin
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24 changes: 5 additions & 19 deletions ...on/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,8 +37,6 @@

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");
Expand Down Expand Up @@ -87,28 +85,16 @@
(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);

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}
if (rightActive) {
scaledRightArrow = coloredImage(scaledRightArrow, color);

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}

// 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<std::chrono::milliseconds>(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)
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