Merge branch 'main' into mypy-pre-commit-ci

Author: KelseyVDB

src/surface/gui/gui/app.py

@@ -1,9 +1,12 @@
 import atexit
 import signal
+from pathlib import Path
 from threading import Thread
 
 import rclpy.utilities
+from ament_index_python import get_package_share_directory
 from PyQt6.QtWidgets import QApplication, QWidget
+from qt_material import apply_stylesheet
 from rclpy.executors import MultiThreadedExecutor
 
 from gui.gui_node import GUINode
@@ -29,18 +32,27 @@ def run_gui(self) -> None:
         # Kills with Control + C
         signal.signal(signal.SIGINT, signal.SIG_DFL)
 
-        # TODO: New method of dark mode
+        extra_blue = {'success': '#040444', 'danger': '#040444', 'warning': '#040444'}
+        extra_watermelon = {'success': '#341616', 'danger': '#341616', 'warning': '#341616'}
         # Apply theme
-        # theme_param = self.theme_param.get_parameter_value().string_value
-        # theme_path = Path(get_package_share_directory('gui')) / 'styles' / (theme_param + '.qss')
-
-        # base_theme = 'dark' if theme_param == 'dark' else 'light'
-        # custom_styles = '\n'
-        # if theme_path.exists():
-        #     with theme_path.open(encoding='utf-8') as theme_file:
-        #         custom_styles += theme_file.read()
-
-        # qdarktheme.setup_theme(base_theme, additional_qss=custom_styles)
+        theme_param = self.theme_param.get_parameter_value().string_value
+
+        match theme_param:
+            case 'dark':
+                base_theme = 'dark_blue.xml'
+            case 'light':
+                base_theme = 'light_blue.xml'
+            case 'watermelon':
+                base_path = Path(get_package_share_directory('gui')) / 'styles' / ('watermelon.xml')
+                base_theme = base_path.as_posix()
+            case _:
+                base_theme = 'dark_blue.xml'
+                self.node.get_logger().info(
+                    'Theme ' + theme_param + ' not found, defaulting to dark.'
+                )
+
+        extra = extra_watermelon if theme_param == 'watermelon' else extra_blue
+        apply_stylesheet(self, theme=base_theme, style='', extra=extra)
 
         executor = MultiThreadedExecutor()
         executor.add_node(self.node)

src/surface/gui/gui/styles/custom_styles.py

@@ -15,10 +15,16 @@ class IndicatorMixin(QWidget):
     # The stylesheets that correspond to each widget state
     _STYLESHEETS: Final[dict[WidgetState, str]] = {
         # Stylesheet for when a component is running, enabled, or armed
-        WidgetState.ON: 'QWidget { background-color: limegreen; }',
+        WidgetState.ON: """
+        QWidget { background-color: limegreen; }
+        QWidget:hover { background-color: #5bd75b; }
+        """,
         # Stylesheet for when a component is disabled, not running, or disarmed, but could be
         # enabled through this widget
-        WidgetState.OFF: 'QWidget { background-color: red; }',
+        WidgetState.OFF: """
+        QWidget { background-color: red; }
+        QWidget:hover { background-color: #ff3333; }
+        """,
         # Stylesheet for when a component is disabled, not expected to have any effect or perform
         # its function because of some external factor, either another widget or something
         # external to the gui. For example, a the arm button when the pi is not connected
@@ -48,6 +54,13 @@ def set_state(self, new_state: WidgetState) -> None:
             The new state for the widget
         """
         self.current_state = new_state
+        match self.current_state:
+            case WidgetState.OFF:
+                self.setProperty('class', 'danger')
+            case WidgetState.ON:
+                self.setProperty('class', 'success')
+            case _:
+                self.setProperty('class', 'warning')
         self.setStyleSheet(self._original_stylesheet + self._STYLESHEETS[self.current_state])
 
 

src/surface/gui/gui/styles/watermelon.xml

@@ -0,0 +1,10 @@
+<!--?xml version="1.0" encoding="UTF-8"?-->
+<resources>
+  <color name="primaryColor">#ff4d4e</color>
+  <color name="primaryLightColor">#bf0002</color>
+  <color name="secondaryColor">#6f0001</color>
+  <color name="secondaryLightColor">#31363b</color>
+  <color name="secondaryDarkColor">#1b5e1a</color>
+  <color name="primaryTextColor">#ffffff</color>
+  <color name="secondaryTextColor">#ffffff</color>
+</resources>

src/surface/gui/package.xml

@@ -13,6 +13,7 @@
 
   <exec_depend>python3-numpy</exec_depend>
   <exec_depend>cv_bridge</exec_depend>
+  <exec_depend>python3-qt-material-pip</exec_depend>
   <exec_depend>python3-pyqtgraph</exec_depend>
   <exec_depend>pyqt6-dev-tools</exec_depend>
   <exec_depend>python3-pyqt6.qtmultimedia</exec_depend>

src/surface/gui/setup.py

@@ -27,7 +27,7 @@
         # Include all style files.
         (
             str(Path('share') / PACKAGE_NAME / 'styles'),
-            [str(path) for path in (Path('gui') / 'styles').glob('*.qss')],
+            [str(path) for path in (Path('gui') / 'styles').glob('*.xml')],
         ),
         # Include all images.
         (