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https://github.com/firestar5683/StarPilot.git
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FrogAi
90 lines
2.4 KiB
C++
90 lines
2.4 KiB
C++
#pragma once
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#include <QVBoxLayout>
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#include <memory>
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#include "selfdrive/ui/qt/onroad/buttons.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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MapSettingsButton *map_settings_btn;
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MapSettingsButton *map_settings_btn_bottom;
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private:
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void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
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QVBoxLayout *main_layout;
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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 hideBottomIcons = 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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// FrogPilot widgets
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void initializeFrogPilotWidgets();
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void paintFrogPilotWidgets(QPainter &painter, const UIScene &scene);
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void drawStatusBar(QPainter &p);
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// FrogPilot variables
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Params paramsMemory{"/dev/shm/params"};
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QHBoxLayout *bottom_layout;
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bool alwaysOnLateralActive;
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bool experimentalMode;
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bool mapOpen;
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bool showAlwaysOnLateralStatusBar;
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bool showConditionalExperimentalStatusBar;
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float accelerationConversion;
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float distanceConversion;
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float speedConversion;
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int alertSize;
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int conditionalSpeed;
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int conditionalSpeedLead;
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int conditionalStatus;
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QString accelerationUnit;
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QString leadDistanceUnit;
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QString leadSpeedUnit;
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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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