From 9fc9517a4a082da29ceb39cc3421ba0fed3d9df3 Mon Sep 17 00:00:00 2001
From: Charles McCabe <mccabe.charles@icloud.com>
Date: Sun, 24 May 2026 10:37:09 -0400
Subject: [PATCH 1/2] added risk to Gui

---
 .../QWidget/QCarInfoWidget/QCarInfoWidget.cpp | 22 +++++++++++++++++--
 .../QWidget/QCarInfoWidget/QCarInfoWidget.hpp |  8 +++++++
 2 files changed, 28 insertions(+), 2 deletions(-)

diff --git a/sim_ws/src/arcus_gui/src/QWidget/QCarInfoWidget/QCarInfoWidget.cpp b/sim_ws/src/arcus_gui/src/QWidget/QCarInfoWidget/QCarInfoWidget.cpp
index a21de31..a50274e 100644
--- a/sim_ws/src/arcus_gui/src/QWidget/QCarInfoWidget/QCarInfoWidget.cpp
+++ b/sim_ws/src/arcus_gui/src/QWidget/QCarInfoWidget/QCarInfoWidget.cpp
@@ -11,6 +11,8 @@ QCarInfoWidget::QCarInfoWidget(std::shared_ptr<rclcpp::Node> node_, QWidget* par
     connect(this, &QCarInfoWidget::updateSpeedIU, this, &QCarInfoWidget::onUpdateSpeedUI);
 
     connect( this, &QCarInfoWidget::updateAngleIU, this, &QCarInfoWidget::onUpdateAngleUI);
+
+    connect( this, &QCarInfoWidget::updateRiskIU, this, &QCarInfoWidget::onUpdateRiskUI);
 }
 
 void QCarInfoWidget::initSubscriber(void)
@@ -26,8 +28,12 @@ void QCarInfoWidget::initSubscriber(void)
 
         _sub_acker = _node->create_subscription<ackermann_msgs::msg::AckermannDriveStamped>(DRIVE_TOPIC, 1, [this](ackermann_msgs::msg::AckermannDriveStamped msg_){
             this->CB_driver(msg_);
-        });                          
-                                                                    } 
+        });  
+        
+        _sub_risk = _node->create_subscription<std_msgs::msg::Float32>(RISK_TOPIC, 1, [this](std_msgs::msg::Float32 msg_){
+            this->CB_risk(msg_);
+        });
+    } 
     else
     {
         assert(false && "Error: GUI node is null");
@@ -48,6 +54,13 @@ void QCarInfoWidget::CB_driver(ackermann_msgs::msg::AckermannDriveStamped& msg_)
     emit this->updateAngleIU(angle);
 }
 
+void QCarInfoWidget::CB_risk(std_msgs::msg::Float32& msg_)
+{
+    float risk = msg_.data;
+
+    emit this->updateRiskIU(risk);
+}
+
 void QCarInfoWidget::onUpdateSpeedUI(float speed_)
 {
     this->_ui.lcdSpeed->display(QString::number(speed_,'f',2));
@@ -58,3 +71,8 @@ void QCarInfoWidget::onUpdateAngleUI(float angle_)
     this->_ui.lcdAngle->display(QString::number((180.0*angle_/pi),'f',2));
 }
 
+void QCarInfoWidget::onUpdateRiskUI(float risk_)
+{
+    this->_ui.lcdX1->display(QString::number(risk_,'f',2));
+}
+
diff --git a/sim_ws/src/arcus_gui/src/QWidget/QCarInfoWidget/QCarInfoWidget.hpp b/sim_ws/src/arcus_gui/src/QWidget/QCarInfoWidget/QCarInfoWidget.hpp
index 3ccdd04..796b1b9 100644
--- a/sim_ws/src/arcus_gui/src/QWidget/QCarInfoWidget/QCarInfoWidget.hpp
+++ b/sim_ws/src/arcus_gui/src/QWidget/QCarInfoWidget/QCarInfoWidget.hpp
@@ -3,6 +3,7 @@
 
 #include "UI_CarInfo.h"
 #include "nav_msgs/msg/odometry.hpp"
+#include "std_msgs/msg/float32.hpp"
 #include "ackermann_msgs/msg/ackermann_drive_stamped.hpp"
 
 #include <rclcpp/rclcpp.hpp>
@@ -14,6 +15,7 @@ class QCarInfoWidget : public QWidget
 
     static constexpr const char* TOPIC_ODOM = "/odometry/filtered";
     static constexpr const char* DRIVE_TOPIC = "/drive";
+    static constexpr const char* RISK_TOPIC = "/pure_pursuit/trajectory_risk";
     static constexpr const float pi = 3.14159265359;
 
 
@@ -24,10 +26,12 @@ class QCarInfoWidget : public QWidget
   signals:
     void updateSpeedIU(float speed_);
     void updateAngleIU(float angle_);
+    void updateRiskIU(float risk_);
     
   private slots:
     void onUpdateAngleUI(float angle_);
     void onUpdateSpeedUI(float speed_);
+    void onUpdateRiskUI(float risk_);
 
   private:
 
@@ -39,10 +43,14 @@ class QCarInfoWidget : public QWidget
 
     void CB_driver(ackermann_msgs::msg::AckermannDriveStamped& msg_);
 
+    void CB_risk(std_msgs::msg::Float32& msg_);
+
     std::shared_ptr<rclcpp::Subscription<nav_msgs::msg::Odometry>> _sub_odom;
 
     std::shared_ptr<rclcpp::Subscription<ackermann_msgs::msg::AckermannDriveStamped>> _sub_acker;
 
+    std::shared_ptr<rclcpp::Subscription<std_msgs::msg::Float32>> _sub_risk;
+
     std::shared_ptr<rclcpp::Node> _node;
 
     Ui::CarInfoWidget _ui;

From e6f23334b9573b6eca14e36c686f67b90cf9a186 Mon Sep 17 00:00:00 2001
From: gabduf <gab.duf04@icloud.com>
Date: Sun, 24 May 2026 10:44:50 -0400
Subject: [PATCH 2/2] info x -> risk

---
 sim_ws/src/arcus_gui/ui/ui/CarInfo.ui | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/sim_ws/src/arcus_gui/ui/ui/CarInfo.ui b/sim_ws/src/arcus_gui/ui/ui/CarInfo.ui
index d4862dc..e958911 100644
--- a/sim_ws/src/arcus_gui/ui/ui/CarInfo.ui
+++ b/sim_ws/src/arcus_gui/ui/ui/CarInfo.ui
@@ -62,7 +62,7 @@
           </font>
          </property>
          <property name="text">
-          <string>Info 1... : </string>
+          <string>Risk : </string>
          </property>
         </widget>
        </item>
@@ -218,7 +218,7 @@
           </font>
          </property>
          <property name="text">
-          <string>Info 2... :</string>
+          <string/>
          </property>
         </widget>
        </item>
@@ -248,7 +248,7 @@
           </sizepolicy>
          </property>
          <property name="text">
-          <string>Info 3... :</string>
+          <string/>
          </property>
         </widget>
        </item>