Driver camera view when in reverse

Added toggle to show the driver camera when in the reverse gear.

common/params.cc

@@ -251,6 +251,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DisableOpenpilotLongitudinal", PERSISTENT},
     {"DisengageVolume", PERSISTENT},
     {"DragonPilotTune", PERSISTENT},
+    {"DriverCamera", PERSISTENT},
     {"DriveStats", PERSISTENT},
     {"DynamicPathWidth", PERSISTENT},
     {"EngageVolume", PERSISTENT},

selfdrive/frogpilot/ui/visual_settings.cc

@@ -27,6 +27,8 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
     {"BlindSpotPath", "Blind Spot Path", "Visualize your blind spots with a red path when another vehicle is detected nearby.", ""},
     {"LeadInfo", "Lead Info and Logics", "Get detailed information about the vehicle ahead, including speed and distance, and the logic behind your following distance.", ""},
 
+    {"DriverCamera", "Driver Camera On Reverse", "Show the driver's camera feed when you shift to reverse.", "../assets/img_driver_face_static.png"},
+
     {"ModelUI", "Model UI", "Personalize how the model's visualizations appear on your screen.", "../assets/offroad/icon_calibration.png"},
     {"DynamicPathWidth", "Dynamic Path Width", "Have the path width dynamically adjust based on the current engagement state of openpilot.", ""},
     {"LaneLinesWidth", "Lane Lines", "Adjust the visual thickness of lane lines on your display.\n\nDefault matches the MUTCD average of 4 inches.", ""},

selfdrive/ui/qt/onroad.cc

@@ -163,7 +163,7 @@ void OnroadAlerts::updateAlert(const Alert &a) {
 }
 
 void OnroadAlerts::paintEvent(QPaintEvent *event) {
-  if (alert.size == cereal::ControlsState::AlertSize::NONE) {
+  if (alert.size == cereal::ControlsState::AlertSize::NONE || scene.show_driver_camera && alert.status != cereal::ControlsState::AlertStatus::CRITICAL) {
     return;
   }
   static std::map<cereal::ControlsState::AlertSize, const int> alert_heights = {
@@ -256,7 +256,10 @@ void ExperimentalButton::updateState(const UIState &s, bool leadInfo) {
 void ExperimentalButton::paintEvent(QPaintEvent *event) {
   QPainter p(this);
   QPixmap img = experimental_mode ? experimental_img : engage_img;
+
+  if (!scene.show_driver_camera) {
     drawIcon(p, QPoint(btn_size / 2, btn_size / 2 + y_offset), img, QColor(0, 0, 0, 166), (isDown() || !(engageable || scene.always_on_lateral_active)) ? 0.6 : 1.0);
+  }
 }
 
 
@@ -328,7 +331,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   has_eu_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA);
   is_metric = s.scene.is_metric;
   speedUnit =  s.scene.is_metric ? tr("km/h") : tr("mph");
-  hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE || customSignals && (turnSignalLeft || turnSignalRight));
+  hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE || customSignals && (turnSignalLeft || turnSignalRight)) || showDriverCamera;
   status = s.status;
 
   // update engageability/experimental mode button
@@ -361,6 +364,7 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
   QString speedStr = QString::number(std::nearbyint(speed));
   QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed)) : "–";
 
+  if (!showDriverCamera) {
     // Draw outer box + border to contain set speed and speed limit
     const int sign_margin = 12;
     const int us_sign_height = 186;
@@ -436,12 +440,15 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
       p.setPen(blackColor());
       p.drawText(sign_rect, Qt::AlignCenter, speedLimitStr);
     }
+  }
 
   // current speed
+  if (!showDriverCamera) {
     p.setFont(InterFont(176, QFont::Bold));
     drawText(p, rect().center().x(), 210, speedStr);
     p.setFont(InterFont(66));
     drawText(p, rect().center().x(), 290, speedUnit, 200);
+  }
 
   p.restore();
 }
@@ -807,7 +814,7 @@ 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(cameraView == 3 ? VISION_STREAM_DRIVER :
+    CameraWidget::setStreamType(cameraView == 3 || showDriverCamera ? VISION_STREAM_DRIVER :
                                 cameraView == 2 || wide_cam_requested ? VISION_STREAM_WIDE_ROAD :
                                 VISION_STREAM_ROAD);
 
@@ -826,7 +833,7 @@ void AnnotatedCameraWidget::paintGL() {
   painter.setRenderHint(QPainter::Antialiasing);
   painter.setPen(Qt::NoPen);
 
-  if (s->scene.world_objects_visible) {
+  if (s->scene.world_objects_visible && !showDriverCamera) {
     update_model(s, model, sm["uiPlan"].getUiPlan());
     drawLaneLines(painter, s);
 
@@ -936,9 +943,12 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
 
   mapOpen = scene.map_open;
 
+  showDriverCamera = scene.show_driver_camera;
+
   turnSignalLeft = scene.turn_signal_left;
   turnSignalRight = scene.turn_signal_right;
 
+  if (!showDriverCamera) {
     if (leadInfo) {
       drawLeadInfo(p);
     }
@@ -955,6 +965,7 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
     } else if (animationTimer->isActive()) {
       animationTimer->stop();
     }
+  }
 
   map_settings_btn_bottom->setEnabled(map_settings_btn->isEnabled());
   if (map_settings_btn_bottom->isEnabled()) {

selfdrive/ui/qt/onroad.h

@@ -130,6 +130,7 @@ private:
   bool experimentalMode;
   bool leadInfo;
   bool mapOpen;
+  bool showDriverCamera;
   bool turnSignalLeft;
   bool turnSignalRight;
 

selfdrive/ui/qt/widgets/cameraview.cc

@@ -217,6 +217,9 @@ void CameraWidget::updateFrameMat() {
     if (active_stream_type == VISION_STREAM_DRIVER) {
       if (stream_width > 0 && stream_height > 0) {
         frame_mat = get_driver_view_transform(w, h, stream_width, stream_height);
+        if (uiState()->scene.show_driver_camera) {
+          frame_mat.v[0] *= -1.0;
+        }
       }
     } else {
       // Project point at "infinity" to compute x and y offsets

selfdrive/ui/ui.cc

@@ -228,6 +228,9 @@ static void update_state(UIState *s) {
       scene.turn_signal_left = carState.getLeftBlinker();
       scene.turn_signal_right = carState.getRightBlinker();
     }
+    if (scene.driver_camera) {
+      scene.show_driver_camera = carState.getGearShifter() == cereal::CarState::GearShifter::REVERSE;
+    }
   }
   if (sm.updated("controlsState")) {
     auto controlsState = sm["controlsState"].getControlsState();
@@ -302,6 +305,8 @@ void ui_update_frogpilot_params(UIState *s) {
   scene.custom_icons = custom_theme ? params.getInt("CustomIcons") : 0;
   scene.custom_signals = custom_theme ? params.getInt("CustomSignals") : 0;
 
+  scene.driver_camera = params.getBool("DriverCamera");
+
   scene.model_ui = params.getBool("ModelUI");
   scene.dynamic_path_width = scene.model_ui && params.getBool("DynamicPathWidth");
   scene.lane_line_width = params.getInt("LaneLinesWidth") * (scene.is_metric ? 1.0f : INCH_TO_CM) / 200.0f;

selfdrive/ui/ui.h

@@ -178,12 +178,14 @@ typedef struct UIScene {
   bool blind_spot_path;
   bool blind_spot_right;
   bool conditional_experimental;
+  bool driver_camera;
   bool dynamic_path_width;
   bool enabled;
   bool experimental_mode;
   bool lead_info;
   bool map_open;
   bool model_ui;
+  bool show_driver_camera;
   bool turn_signal_left;
   bool turn_signal_right;
   bool unlimited_road_ui_length;