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#pragma once
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#include <QVBoxLayout>
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#include <memory>
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#include "selfdrive/ui/qt/onroad/hud.h"
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#include "selfdrive/ui/qt/onroad/buttons.h"
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#include "selfdrive/ui/qt/onroad/driver_monitoring.h"
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#include "selfdrive/ui/qt/widgets/cameraview.h"
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class AnnotatedCameraWidget : public CameraWidget {
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Q_OBJECT
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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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QVBoxLayout *main_layout;
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ExperimentalButton *experimental_btn;
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DriverMonitorRenderer dmon;
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HudRenderer hud;
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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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mat4 calcFrameMatrix() 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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inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, 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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