Camera view selection

Added toggle to select the preferred camera view between "auto", "standard", "wide", and "driver".

common/params.cc

@@ -217,6 +217,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"AlwaysOnLateralMain", PERSISTENT},
     {"ApiCache_DriveStats", PERSISTENT},
     {"BlindSpotPath", PERSISTENT},
+    {"CameraView", PERSISTENT},
     {"CustomAlerts", PERSISTENT},
     {"CustomUI", PERSISTENT},
     {"DecelerationProfile", PERSISTENT},

selfdrive/frogpilot/ui/visual_settings.cc

@@ -11,6 +11,8 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
     {"WarningSoftVolume", "Warning Soft Volume", "Related alerts:\n\nBRAKE!, Risk of Collision\nTAKE CONTROL IMMEDIATELY", ""},
     {"WarningImmediateVolume", "Warning Immediate Volume", "Related alerts:\n\nDISENGAGE IMMEDIATELY, Driver Distracted\nDISENGAGE IMMEDIATELY, Driver Unresponsive", ""},
 
+    {"CameraView", "Camera View", "Choose your preferred camera view for the onroad UI. This is a visual change only and doesn't impact openpilot.", "../frogpilot/assets/toggle_icons/icon_camera.png"},
+
     {"CustomAlerts", "Custom Alerts", "Enable custom alerts for various logic or situational changes.", "../frogpilot/assets/toggle_icons/icon_green_light.png"},
 
     {"CustomUI", "Custom Onroad UI", "Customize the Onroad UI with some additional visual functions.", "../assets/offroad/icon_road.png"},
@@ -40,6 +42,11 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
         toggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 100, std::map<int, QString>(), this, false, "%");
       }
 
+    } else if (param == "CameraView") {
+      std::vector<QString> cameraOptions{tr("Auto"), tr("Standard"), tr("Wide"), tr("Driver")};
+      FrogPilotButtonParamControl *preferredCamera = new FrogPilotButtonParamControl(param, title, desc, icon, cameraOptions);
+      toggle = preferredCamera;
+
     } else if (param == "CustomAlerts") {
       FrogPilotParamManageControl *customAlertsToggle = new FrogPilotParamManageControl(param, title, desc, icon, this);
       QObject::connect(customAlertsToggle, &FrogPilotParamManageControl::manageButtonClicked, this, [this]() {

selfdrive/ui/qt/onroad.cc

@@ -659,7 +659,7 @@ void AnnotatedCameraWidget::paintGL() {
 
     // Wide or narrow cam dependent on speed
     bool has_wide_cam = available_streams.count(VISION_STREAM_WIDE_ROAD);
-    if (has_wide_cam) {
+    if (has_wide_cam && cameraView == 0) {
       float v_ego = sm["carState"].getCarState().getVEgo();
       if ((v_ego < 10) || available_streams.size() == 1) {
         wide_cam_requested = true;
@@ -670,7 +670,9 @@ void AnnotatedCameraWidget::paintGL() {
       // for replay of old routes, never go to widecam
       wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid;
     }
-    CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
+    CameraWidget::setStreamType(cameraView == 3 ? VISION_STREAM_DRIVER :
+                                cameraView == 2 || wide_cam_requested ? VISION_STREAM_WIDE_ROAD :
+                                VISION_STREAM_ROAD);
 
     s->scene.wide_cam = CameraWidget::getStreamType() == VISION_STREAM_WIDE_ROAD;
     if (s->scene.calibration_valid) {
@@ -758,6 +760,8 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
   blindSpotLeft = scene.blind_spot_left;
   blindSpotRight = scene.blind_spot_right;
 
+  cameraView = scene.camera_view;
+
   experimentalMode = scene.experimental_mode;
 
   if (alwaysOnLateral) {

selfdrive/ui/qt/onroad.h

@@ -124,6 +124,8 @@ private:
   bool blindSpotRight;
   bool experimentalMode;
 
+  int cameraView;
+
 protected:
   void paintGL() override;
   void initializeGL() override;

selfdrive/ui/ui.cc

@@ -260,6 +260,7 @@ void ui_update_frogpilot_params(UIState *s) {
   UIScene &scene = s->scene;
 
   scene.always_on_lateral = params.getBool("AlwaysOnLateral");
+  scene.camera_view = params.getInt("CameraView");
 
   bool custom_onroad_ui = params.getBool("CustomUI");
   scene.acceleration_path = custom_onroad_ui && params.getBool("AccelerationPath");

selfdrive/ui/ui.h

@@ -181,6 +181,8 @@ typedef struct UIScene {
   float lane_width_left;
   float lane_width_right;
 
+  int camera_view;
+
   QPolygonF track_adjacent_vertices[6];
 
 } UIScene;