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130 lines
3.5 KiB
130 lines
3.5 KiB
#pragma once
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#include <QPushButton>
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#include <QStackedLayout>
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#include <QWidget>
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#include "common/util.h"
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#include "selfdrive/ui/ui.h"
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#include "selfdrive/ui/qt/widgets/cameraview.h"
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const int btn_size = 192;
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const int img_size = (btn_size / 4) * 3;
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// ***** onroad widgets *****
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class OnroadAlerts : public QWidget {
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Q_OBJECT
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public:
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OnroadAlerts(QWidget *parent = 0) : QWidget(parent) {};
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void updateAlert(const Alert &a, const QColor &color);
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protected:
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void paintEvent(QPaintEvent*) override;
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private:
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QColor bg;
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Alert alert = {};
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};
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class ExperimentalButton : public QPushButton {
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Q_OBJECT
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public:
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explicit ExperimentalButton(QWidget *parent = 0);
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void updateState(const UIState &s);
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private:
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void paintEvent(QPaintEvent *event) override;
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Params params;
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QPixmap engage_img;
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QPixmap experimental_img;
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};
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// container window for the NVG UI
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class AnnotatedCameraWidget : public CameraWidget {
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Q_OBJECT
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Q_PROPERTY(float speed MEMBER speed);
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Q_PROPERTY(QString speedUnit MEMBER speedUnit);
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Q_PROPERTY(float setSpeed MEMBER setSpeed);
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Q_PROPERTY(float speedLimit MEMBER speedLimit);
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Q_PROPERTY(bool is_cruise_set MEMBER is_cruise_set);
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Q_PROPERTY(bool has_eu_speed_limit MEMBER has_eu_speed_limit);
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Q_PROPERTY(bool has_us_speed_limit MEMBER has_us_speed_limit);
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Q_PROPERTY(bool is_metric MEMBER is_metric);
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Q_PROPERTY(bool dmActive MEMBER dmActive);
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Q_PROPERTY(bool hideDM MEMBER hideDM);
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Q_PROPERTY(bool rightHandDM MEMBER rightHandDM);
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Q_PROPERTY(int status MEMBER status);
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public:
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explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
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void updateState(const UIState &s);
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private:
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void drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, float opacity);
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void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
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ExperimentalButton *experimental_btn;
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QPixmap dm_img;
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float speed;
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QString speedUnit;
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float setSpeed;
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float speedLimit;
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bool is_cruise_set = false;
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bool is_metric = false;
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bool dmActive = false;
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bool hideDM = false;
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bool rightHandDM = false;
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float dm_fade_state = 1.0;
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bool has_us_speed_limit = false;
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bool has_eu_speed_limit = false;
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bool v_ego_cluster_seen = false;
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int status = STATUS_DISENGAGED;
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std::unique_ptr<PubMaster> pm;
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int skip_frame_count = 0;
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bool wide_cam_requested = false;
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protected:
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void paintGL() override;
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void initializeGL() override;
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void showEvent(QShowEvent *event) override;
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void updateFrameMat() override;
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void drawLaneLines(QPainter &painter, const UIState *s);
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void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd);
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void drawHud(QPainter &p);
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void drawDriverState(QPainter &painter, const UIState *s);
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inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); }
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inline QColor whiteColor(int alpha = 255) { return QColor(255, 255, 255, alpha); }
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inline QColor blackColor(int alpha = 255) { return QColor(0, 0, 0, alpha); }
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double prev_draw_t = 0;
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FirstOrderFilter fps_filter;
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};
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// container for all onroad widgets
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class OnroadWindow : public QWidget {
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Q_OBJECT
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public:
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OnroadWindow(QWidget* parent = 0);
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bool isMapVisible() const { return map && map->isVisible(); }
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private:
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void paintEvent(QPaintEvent *event);
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void mousePressEvent(QMouseEvent* e) override;
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OnroadAlerts *alerts;
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AnnotatedCameraWidget *nvg;
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QColor bg = bg_colors[STATUS_DISENGAGED];
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QWidget *map = nullptr;
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QHBoxLayout* split;
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private slots:
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void offroadTransition(bool offroad);
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void updateState(const UIState &s);
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};
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