Camera view selection

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

common/params.cc

@@ -218,6 +218,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"AlwaysOnLateralMain", PERSISTENT},
     {"ApiCache_DriveStats", PERSISTENT},
     {"AverageCurvature", PERSISTENT},
+    {"CameraView", PERSISTENT},
     {"FrogPilotTogglesUpdated", PERSISTENT},
     {"GasRegenCmd", PERSISTENT},
     {"LateralTune", PERSISTENT},

selfdrive/frogpilot/ui/visual_settings.cc

@@ -3,12 +3,20 @@
 
 FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilotListWidget(parent) {
   const std::vector<std::tuple<QString, QString, QString, QString>> visualToggles {
+    {"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"},
   };
 
   for (const auto &[param, title, desc, icon] : visualToggles) {
     ParamControl *toggle;
 
-    toggle = new ParamControl(param, title, desc, icon, this);
+    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 {
+      toggle = new ParamControl(param, title, desc, icon, this);
+    }
 
     addItem(toggle);
     toggles[param.toStdString()] = toggle;

selfdrive/ui/qt/onroad.cc

@@ -651,11 +651,12 @@ void AnnotatedCameraWidget::paintGL() {
       } else if (v_ego > 15) {
         wide_cam_requested = false;
       }
-      wide_cam_requested = wide_cam_requested && sm["controlsState"].getControlsState().getExperimentalMode();
+      wide_cam_requested = wide_cam_requested && sm["controlsState"].getControlsState().getExperimentalMode() || cameraView == 2;
       // 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 : 
+                                wide_cam_requested && cameraView != 1 ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
 
     s->scene.wide_cam = CameraWidget::getStreamType() == VISION_STREAM_WIDE_ROAD;
     if (s->scene.calibration_valid) {
@@ -740,6 +741,7 @@ void AnnotatedCameraWidget::initializeFrogPilotWidgets() {
 
 void AnnotatedCameraWidget::updateFrogPilotWidgets(QPainter &p) {
   alwaysOnLateral = scene.always_on_lateral_active;
+  cameraView = scene.camera_view;
   experimentalMode = scene.experimental_mode;
 
   if (alwaysOnLateral) {

selfdrive/ui/qt/onroad.h

@@ -119,6 +119,7 @@ private:
 
   bool alwaysOnLateral;
   bool experimentalMode;
+  int cameraView;
 
 protected:
   void paintGL() override;

selfdrive/ui/ui.cc

@@ -249,6 +249,7 @@ void ui_update_params(UIState *s) {
   UIScene &scene = s->scene;
 
   scene.always_on_lateral = params.getBool("AlwaysOnLateral");
+  scene.camera_view = params.getInt("CameraView");
 }
 
 void UIState::updateStatus() {

selfdrive/ui/ui.h

@@ -173,6 +173,7 @@ typedef struct UIScene {
   bool always_on_lateral_active;
   bool enabled;
   bool experimental_mode;
+  int camera_view;
 
 } UIScene;