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								#include "selfdrive/ui/qt/widgets/controls.h"
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								#include <QPainter>
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								#include <QStyleOption>
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								AbstractControl::AbstractControl(const QString &title, const QString &desc, const QString &icon, QWidget *parent) : QFrame(parent) {
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								  QVBoxLayout *main_layout = new QVBoxLayout(this);
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								  main_layout->setMargin(0);
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								  hlayout = new QHBoxLayout;
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								  hlayout->setMargin(0);
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								  hlayout->setSpacing(20);
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								  // left icon
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								  icon_label = new QLabel(this);
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								  hlayout->addWidget(icon_label);
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								  if (!icon.isEmpty()) {
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								    icon_pixmap = QPixmap(icon).scaledToWidth(80, Qt::SmoothTransformation);
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								    icon_label->setPixmap(icon_pixmap);
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								    icon_label->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
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								  }
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								  icon_label->setVisible(!icon.isEmpty());
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								  // title
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								  title_label = new QPushButton(title);
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								  title_label->setFixedHeight(120);
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								  title_label->setStyleSheet("font-size: 50px; font-weight: 400; text-align: left; border: none;");
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								  hlayout->addWidget(title_label, 1);
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								  // value next to control button
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								  value = new ElidedLabel();
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								  value->setAlignment(Qt::AlignRight | Qt::AlignVCenter);
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								  value->setStyleSheet("color: #aaaaaa");
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								  hlayout->addWidget(value);
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								  main_layout->addLayout(hlayout);
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								  // description
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								  description = new QLabel(desc);
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								  description->setContentsMargins(40, 20, 40, 20);
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								  description->setStyleSheet("font-size: 40px; color: grey");
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								  description->setWordWrap(true);
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								  description->setVisible(false);
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								  main_layout->addWidget(description);
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								  connect(title_label, &QPushButton::clicked, [=]() {
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								    if (!description->isVisible()) {
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								      emit showDescriptionEvent();
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								    }
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								    if (!description->text().isEmpty()) {
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								      description->setVisible(!description->isVisible());
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								    }
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								  });
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								  main_layout->addStretch();
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								}
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								void AbstractControl::hideEvent(QHideEvent *e) {
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								  if (description != nullptr) {
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								    description->hide();
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								  }
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								}
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								// controls
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								ButtonControl::ButtonControl(const QString &title, const QString &text, const QString &desc, QWidget *parent) : AbstractControl(title, desc, "", parent) {
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								  btn.setText(text);
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								  btn.setStyleSheet(R"(
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								    QPushButton {
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								      padding: 0;
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								      border-radius: 50px;
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								      font-size: 35px;
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								      font-weight: 500;
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								      color: #E4E4E4;
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								      background-color: #393939;
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								    }
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								    QPushButton:pressed {
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								      background-color: #4a4a4a;
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								    }
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								    QPushButton:disabled {
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								      color: #33E4E4E4;
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								    }
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								  )");
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								  btn.setFixedSize(250, 100);
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								  QObject::connect(&btn, &QPushButton::clicked, this, &ButtonControl::clicked);
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								  hlayout->addWidget(&btn);
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								}
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								// ElidedLabel
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								ElidedLabel::ElidedLabel(QWidget *parent) : ElidedLabel({}, parent) {}
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								ElidedLabel::ElidedLabel(const QString &text, QWidget *parent) : QLabel(text.trimmed(), parent) {
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								  setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
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								  setMinimumWidth(1);
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								}
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								void ElidedLabel::resizeEvent(QResizeEvent* event) {
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								  QLabel::resizeEvent(event);
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								  lastText_ = elidedText_ = "";
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								}
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								void ElidedLabel::paintEvent(QPaintEvent *event) {
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								  const QString curText = text();
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								  if (curText != lastText_) {
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								    elidedText_ = fontMetrics().elidedText(curText, Qt::ElideRight, contentsRect().width());
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								    lastText_ = curText;
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								  }
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								  QPainter painter(this);
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								  drawFrame(&painter);
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								  QStyleOption opt;
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								  opt.initFrom(this);
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								  style()->drawItemText(&painter, contentsRect(), alignment(), opt.palette, isEnabled(), elidedText_, foregroundRole());
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								}
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