MSA: support dark themes

moveit_setup_assistant/src/tools/rotated_header_view.cpp

@@ -36,7 +36,6 @@
 
 #include "rotated_header_view.h"
 #include <QPainter>
-#include <QDebug>
 
 namespace moveit_setup_assistant
 {
@@ -125,7 +124,6 @@ int RotatedHeaderView::sectionSizeHint(int logicalIndex) const
   else
     size = sectionSizeFromContents(logicalIndex);
   int hint = size.height();
-  qDebug() << logicalIndex << size << hint;
   return qMax(minimumSectionSize(), hint);
 }
 }

moveit_setup_assistant/src/widgets/navigation_widget.cpp

@@ -35,7 +35,7 @@
 /* Author: Dave Coleman */
 
 #include "navigation_widget.h"
-#include <QDebug>
+#include <QApplication>
 #include <iostream>
 
 namespace moveit_setup_assistant
@@ -124,64 +124,48 @@ QSize NavDelegate::sizeHint(const QStyleOptionViewItem& option, const QModelInde
 void NavDelegate::paint(QPainter* painter, const QStyleOptionViewItem& option, const QModelIndex& index) const
 {
   const bool isSelected = option.state & QStyle::State_Selected;
+  const QPalette& palette = QApplication::palette();
 
-  // NavScreen tp = index.data().value<NavScreen>();
-  QString nav_name = index.data().value<QString>();
+  QString nav_name = displayText(index.data(), option.locale);
 
   painter->save();
 
-  QLinearGradient backgroundGradient(QPoint(option.rect.x(), option.rect.y()),
-                                     QPoint(option.rect.x(), option.rect.y() + option.rect.height()));
+  // draw background gradient
+  QLinearGradient backgroundGradient(option.rect.topLeft(), option.rect.bottomLeft());
   if (isSelected)
   {
-    backgroundGradient.setColorAt(0, QColor(109, 164, 219));
-    backgroundGradient.setColorAt(1, QColor(61, 138, 212));
+    backgroundGradient.setColorAt(0, palette.color(QPalette::Highlight).lighter(125));
+    backgroundGradient.setColorAt(1, palette.color(QPalette::Highlight));
     painter->fillRect(option.rect, QBrush(backgroundGradient));
   }
   else
   {
-    backgroundGradient.setColorAt(0, QColor(245, 245, 245));
-    backgroundGradient.setColorAt(1, QColor(240, 240, 240));
+    backgroundGradient.setColorAt(0, palette.color(QPalette::Light));
+    backgroundGradient.setColorAt(1, palette.color(QPalette::Light).darker(105));
     painter->fillRect(option.rect, QBrush(backgroundGradient));
   }
 
-  painter->setPen(QColor(225, 225, 225));
-  if (isSelected)
-  {
-    painter->setPen(QColor(37, 105, 169));
-    painter->drawLine(option.rect.bottomLeft(), option.rect.bottomRight());
-    painter->setPen(Qt::transparent);
-  }
-  painter->drawLine(option.rect.topLeft(), option.rect.topRight());
-  if (!isSelected)
+  if (!isSelected)  // draw shadow
   {
-    painter->setPen(QColor(248, 248, 248));
-    painter->drawLine(QPoint(option.rect.x(), option.rect.y() + 1),
-                      QPoint(option.rect.x() + option.rect.width(), option.rect.y() + 1));
+    painter->setPen(palette.color(QPalette::Button));
+    painter->drawLine(option.rect.topLeft(), option.rect.topRight());
+    painter->setPen(palette.color(QPalette::Light));
+    const QPoint offset(0, 1);
+    painter->drawLine(option.rect.topLeft() + offset, option.rect.topRight() + offset);
   }
 
   QRect textRect(option.rect.x() + 10, option.rect.y(), option.rect.width() - 10, option.rect.height());
-
   QFont textFont(painter->font());
   textFont.setPixelSize(14);  // Set font size
   painter->setFont(textFont);
 
   // Font color
   if (isSelected)
-  {
-    // Selected
-    painter->setPen(QColor(229, 229, 229));
-  }
-  else if (index.flags().testFlag(Qt::NoItemFlags))
-  {
-    // Disabled font color if disabled
-    painter->setPen(QColor(170, 170, 170));  // TODO: make this work
-  }
+    painter->setPen(palette.color(QPalette::HighlightedText));
+  else if (!option.state.testFlag(QStyle::State_Enabled))
+    painter->setPen(palette.color(QPalette::Dark));
   else
-  {
-    // Normal
-    painter->setPen(QColor(69, 69, 69));
-  }
+    painter->setPen(palette.color(QPalette::ButtonText));
 
   painter->drawText(textRect, Qt::AlignLeft | Qt::AlignVCenter, nav_name);
 

moveit_setup_assistant/src/widgets/planning_groups_widget.cpp

@@ -943,7 +943,7 @@ void PlanningGroupsWidget::saveChainScreen()
 
     for (std::vector<std::string>::const_iterator link_it = links.begin(); link_it != links.end(); ++link_it)
     {
-      // Check if string matches either of user specefied links
+      // Check if string matches either of user specified links
       if (link_it->compare(tip) == 0)  // they are same
         found_tip = true;
       else if (link_it->compare(base) == 0)  // they are same

moveit_setup_assistant/src/widgets/setup_assistant_widget.cpp

@@ -41,7 +41,6 @@
 #include <QStackedLayout>
 #include <QListWidget>
 #include <QListWidgetItem>
-#include <QDebug>
 #include <QFont>
 #include <QLabel>
 #include <QPushButton>

moveit_setup_assistant/src/widgets/start_screen_widget.cpp

@@ -455,7 +455,7 @@ bool StartScreenWidget::loadNewFiles()
   // Check that box is filled out
   if (config_data_->urdf_path_.empty())
   {
-    QMessageBox::warning(this, "Error Loading Files", "No robot model file specefied");
+    QMessageBox::warning(this, "Error Loading Files", "No robot model file specified");
     return false;
   }
 
@@ -822,25 +822,16 @@ SelectModeWidget::SelectModeWidget(QWidget* parent) : QFrame(parent)
   layout->setAlignment(widget_title, Qt::AlignTop);
 
   // Widget Instructions
-  widget_instructions_ = new QTextEdit(this);
+  widget_instructions_ = new QLabel(this);
+  widget_instructions_->setAlignment(Qt::AlignLeft | Qt::AlignTop);
+  widget_instructions_->setWordWrap(true);
+  widget_instructions_->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
   widget_instructions_->setText(
       "All settings for MoveIt! are stored in the MoveIt! configuration package. Here you have "
       "the option to create a new configuration package or load an existing one. Note: "
       "changes to a MoveIt! configuration package outside this Setup Assistant are likely to be "
       "overwritten by this tool.");
 
-  // Change color of TextEdit
-  QPalette p = widget_instructions_->palette();
-  p.setColor(QPalette::Active, QPalette::Base, this->palette().color(QWidget::backgroundRole()));
-  p.setColor(QPalette::Inactive, QPalette::Base, this->palette().color(QWidget::backgroundRole()));
-  widget_instructions_->setPalette(p);
-
-  // Make TextEdit behave like QLabel
-  widget_instructions_->setWordWrapMode(QTextOption::WrapAtWordBoundaryOrAnywhere);
-  widget_instructions_->setReadOnly(true);
-  widget_instructions_->setFrameShape(QFrame::NoFrame);
-  widget_instructions_->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
-
   layout->addWidget(widget_instructions_);
   layout->setAlignment(widget_instructions_, Qt::AlignTop);
 

moveit_setup_assistant/src/widgets/start_screen_widget.h

@@ -187,7 +187,7 @@ private Q_SLOTS:
   // Load file button
   QPushButton* btn_new_;
   QPushButton* btn_exist_;
-  QTextEdit* widget_instructions_;
+  QLabel* widget_instructions_;
 };
 }