Driver camera view when in reverse

bug fix: use of undeclared identifier carState

common/params.cc

@@ -214,6 +214,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LQR", PERSISTENT},
     {"ScreenOffTimer", PERSISTENT},
     {"CruiseSpeedRewrite", PERSISTENT},
+    {"DriverCamera", PERSISTENT},
 };
 
 } // namespace

selfdrive/ui/qt/offroad/settings.cc

@@ -88,6 +88,13 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
          "openpilot will set its maximum speed to the vehicle's current speed."),
       "../assets/offroad/icon_cruise_speed_rewrite.png",
     },
+    // DriverCamera, stolen from FrogPilot
+    {
+      "DriverCamera",
+      tr("Driver Camera On Reverse"),
+      tr("Displays the driver camera when in reverse."),
+      "../assets/img_driver_face_static.png",
+    },
     {
       "IsMetric",
       tr("Use Metric System"),

selfdrive/ui/qt/onroad.cc

@@ -189,7 +189,7 @@ 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) {
     return;
   }
   static std::map<cereal::ControlsState::AlertSize, const int> alert_heights = {
@@ -275,8 +275,10 @@ void ExperimentalButton::updateState(const UIState &s) {
 void ExperimentalButton::paintEvent(QPaintEvent *event) {
   QPainter p(this);
   QPixmap img = experimental_mode ? experimental_img : engage_img;
-  drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0);
-}
+  if (!scene.show_driver_camera) {
+    drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0);
+  }
+} scene.show_driver_camera
 
 
 // MapSettingsButton
@@ -351,7 +353,7 @@ 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);
+  hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE || showDriverCamera);
   status = s.status;
 
   // update engageability/experimental mode button
@@ -363,7 +365,10 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   rightHandDM = dm_state.getIsRHD();
   // DM icon transition
   dm_fade_state = std::clamp(dm_fade_state+0.2*(0.5-dmActive), 0.0, 1.0);
-
+
+  // FrogPilot variables
+  showDriverCamera = scene.show_driver_camera;
+
   // FrogPilot properties
   setProperty("drivingPersonalitiesUIWheel", s.scene.driving_personalities_ui_wheel);
   setProperty("personalityProfile", s.scene.personality_profile);
@@ -688,7 +693,7 @@ 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(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
+    CameraWidget::setStreamType(showDriverCamera ? VISION_STREAM_DRIVER : 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) {
@@ -705,36 +710,37 @@ void AnnotatedCameraWidget::paintGL() {
   painter.setRenderHint(QPainter::Antialiasing);
   painter.setPen(Qt::NoPen);
 
-  if (s->worldObjectsVisible()) {
-    if (sm.rcv_frame("modelV2") > s->scene.started_frame) {
-      update_model(s, model, sm["uiPlan"].getUiPlan());
-      if (sm.rcv_frame("radarState") > s->scene.started_frame) {
-        update_leads(s, radar_state, model.getPosition());
+  if (!showDriverCamera) {
+    if (s->worldObjectsVisible()) {
+      if (sm.rcv_frame("modelV2") > s->scene.started_frame) {
+        update_model(s, model, sm["uiPlan"].getUiPlan());
+        if (sm.rcv_frame("radarState") > s->scene.started_frame) {
+          update_leads(s, radar_state, model.getPosition());
+        }
       }
-    }
 
-    drawLaneLines(painter, s);
-
-    if (s->scene.longitudinal_control) {
-      auto lead_one = radar_state.getLeadOne();
-      auto lead_two = radar_state.getLeadTwo();
-      if (lead_one.getStatus()) {
-        drawLead(painter, lead_one, s->scene.lead_vertices[0]);
-      }
-      if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) {
-        drawLead(painter, lead_two, s->scene.lead_vertices[1]);
+      drawLaneLines(painter, s);
+
+      if (s->scene.longitudinal_control) {
+        auto lead_one = radar_state.getLeadOne();
+        auto lead_two = radar_state.getLeadTwo();
+        if (lead_one.getStatus()) {
+          drawLead(painter, lead_one, s->scene.lead_vertices[0]);
+        }
+        if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) {
+          drawLead(painter, lead_two, s->scene.lead_vertices[1]);
+        }
       }
+
+    // DMoji
+    if (!hideBottomIcons && (sm.rcv_frame("driverStateV2") > s->scene.started_frame)) {
+      update_dmonitoring(s, sm["driverStateV2"].getDriverStateV2(), dm_fade_state, rightHandDM);
+      drawDriverState(painter, s);
     }
-  }
 
-  // DMoji
-  if (!hideBottomIcons && (sm.rcv_frame("driverStateV2") > s->scene.started_frame)) {
-    update_dmonitoring(s, sm["driverStateV2"].getDriverStateV2(), dm_fade_state, rightHandDM);
-    drawDriverState(painter, s);
+    drawHud(painter);
   }
 
-  drawHud(painter);
-
   double cur_draw_t = millis_since_boot();
   double dt = cur_draw_t - prev_draw_t;
   double fps = fps_filter.update(1. / dt * 1000);

selfdrive/ui/qt/onroad.h

@@ -108,6 +108,7 @@ class AnnotatedCameraWidget : public CameraWidget {
   // FrogPilot variables
   bool drivingPersonalitiesUIWheel;
   int personalityProfile;
+  bool showDriverCamera;
   QVector<std::pair<QPixmap, QString>> profile_data;
 
 protected:

selfdrive/ui/qt/widgets/cameraview.cc

@@ -207,6 +207,7 @@ 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);
+        frame_mat.v[0] *= -1.0;
       }
     } else {
       // Project point at "infinity" to compute x and y offsets

selfdrive/ui/ui.cc

@@ -201,6 +201,12 @@ static void update_state(UIState *s) {
   if (sm.updated("carParams")) {
     scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
   }
+  if (sm.updated("carState")) {
+    const auto carState = sm["carState"].getCarState();
+    if (scene.driver_camera) {
+      scene.show_driver_camera = carState.getGearShifter() == cereal::CarState::GearShifter::REVERSE;
+    }
+  }
   if (sm.updated("wideRoadCameraState")) {
     auto cam_state = sm["wideRoadCameraState"].getWideRoadCameraState();
     float scale = (cam_state.getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f;
@@ -218,6 +224,7 @@ void ui_update_params(UIState *s) {
   // FrogPilot variables
   UIScene &scene = s->scene;
   scene.driving_personalities_ui_wheel = params.getBool("DrivingPersonalitiesUIWheel");
+  scene.driver_camera = params.getBool("DriverCamera");
 }
 
 void ui_live_update_params(UIState *s) {

selfdrive/ui/ui.h

@@ -155,6 +155,8 @@ typedef struct UIScene {
   // FrogPilot variables
   int personality_profile;
   bool driving_personalities_ui_wheel;
+  bool driver_camera;
+  bool show_driver_camera;
 
 } UIScene;