feat(tier4_adapi_rviz_plugin): add legacy state panel

[isamu-takagi]

Description

Adding legacy state panel because #7036 reduces debug functionality.

Tests performed

Not applicable.

Effects on system behavior

Not applicable.

Interface changes

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[xmfcx]

@isamu-takagi I've just realized this was added back.

Why do you think the current one is reducing the debug functionality?

Could you provide feedback?

[xmfcx]

Which information is missing from the new panel?

[armaganarsln]

I also don’t understand why, instead of addressing the issue of what changes are required for better debug functionality, the state panel was added back without consulting.

[isamu-takagi]

@xmfcx @armaganarsln
All I really needed was the operation_mode part, but I copied the old source code because I could use it as is. Sorry for the confusion of having two panels with same functions.

This is redundant in normal use and is not necessary for the tier4_state_rviz_plugin, but we needed to display the following to check the correctness of the implementation. I will later extract the relevant part as a panel dedicated to debugging.

• The current mode when is_mode_available is false.

• The destination mode during transition.

[xmfcx]

I see, these cases are not represented correctly in the new version.

(I also understand why you needed the old version now, thanks. I've left a comment in #8933 as well.)

cc. @KhalilSelyan @isamu-takagi

Could you confirm if the proposed changes would make it better?

⚠️ Current mode should be always the selected button on the segmented buttons control.

Stop button should be selected, rest should be disabled

Stop button should be selected, rest should be enabled

Auto button should be selected, rest should be disabled

Auto button should be selected, rest should be enabled

---

As an additional question:

Should we allow users to press buttons during the transitions?

In your images, during:

• Stop(Transition)
• Autonomous(Transition)
  The user can press the buttons.

[isamu-takagi]

@xmfcx

Could you confirm if the proposed changes would make it better?

Yes, it's good that these are visible to the user.

• Stop button should be selected, rest should be disabled
• Stop button should be selected, rest should be enabled
• Auto button should be selected, rest should be disabled
• Auto button should be selected, rest should be enabled

Should we allow users to press buttons during the transitions?

No, changing modes during a transition is not an expected usage. It is better to allow this operation only from the debug panel.