Camera view selection

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

common/params.cc

@@ -218,6 +218,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"ApiCache_DriveStats", PERSISTENT},
     {"AutomaticUpdates", PERSISTENT},
     {"BlindSpotPath", PERSISTENT},
+    {"CameraView", PERSISTENT},
+    {"CameraViewReset", PERSISTENT},
     {"CustomAlerts", PERSISTENT},
     {"CustomPaths", PERSISTENT},
     {"CustomUI", PERSISTENT},

selfdrive/frogpilot/ui/qt/offroad/visual_settings.cc

@@ -17,6 +17,7 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
     {"CustomPaths", tr("Paths"), tr("Show your projected acceleration on the driving path, detected adjacent lanes, or when a vehicle is detected in your blindspot."), ""},
 
     {"QOLVisuals", tr("Quality of Life"), tr("Miscellaneous quality of life changes to improve your overall openpilot experience."), "../frogpilot/assets/toggle_icons/quality_of_life.png"},
+    {"CameraView", tr("Camera View"), tr("Choose your preferred camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives."), ""},
   };
 
   for (const auto &[param, title, desc, icon] : visualToggles) {
@@ -75,6 +76,10 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
         }
       });
       toggle = qolToggle;
+    } else if (param == "CameraView") {
+      std::vector<QString> cameraOptions{tr("Auto"), tr("Driver"), tr("Standard"), tr("Wide")};
+      FrogPilotButtonParamControl *preferredCamera = new FrogPilotButtonParamControl(param, title, desc, icon, cameraOptions);
+      toggle = preferredCamera;
 
     } else {
       toggle = new ParamControl(param, title, desc, icon, this);

selfdrive/frogpilot/ui/qt/offroad/visual_settings.h

@@ -27,7 +27,7 @@ private:
   std::set<QString> customOnroadUIKeys = {"CustomPaths"};
   std::set<QString> customThemeKeys = {};
   std::set<QString> modelUIKeys = {};
-  std::set<QString> qolKeys = {};
+  std::set<QString> qolKeys = {"CameraView"};
   std::set<QString> screenKeys = {};
 
   std::map<std::string, ParamControl*> toggles;

selfdrive/manager/manager.py

@@ -62,6 +62,10 @@ def manager_init(frogpilot_functions) -> None:
   if is_release_branch():
     params.clear_all(ParamKeyType.DEVELOPMENT_ONLY)
 
+  if not params.get_bool("CameraViewReset"):
+    params.remove("CameraView")
+    params.put_bool("CameraViewReset", True)
+
   default_params: list[tuple[str, str | bytes]] = [
     ("CarParamsPersistent", ""),
     ("CompletedTrainingVersion", "0"),

selfdrive/ui/qt/onroad.cc

@@ -658,7 +658,7 @@ 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;
@@ -669,7 +669,9 @@ 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 == 1 ? VISION_STREAM_DRIVER :
+                                cameraView == 3 || 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) {
@@ -756,6 +758,8 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets() {
   blindSpotLeft = scene.blind_spot_left;
   blindSpotRight = scene.blind_spot_right;
 
+  cameraView = scene.camera_view;
+
   experimentalMode = scene.experimental_mode;
 
   mapOpen = scene.map_open;

selfdrive/ui/qt/onroad.h

@@ -126,6 +126,7 @@ private:
   bool showAlwaysOnLateralStatusBar;
 
   int alertSize;
+  int cameraView;
 
 protected:
   void paintGL() override;

selfdrive/ui/ui.cc

@@ -271,6 +271,7 @@ void ui_update_frogpilot_params(UIState *s) {
   bool quality_of_life_controls = params.getBool("QOLControls");
 
   bool quality_of_life_visuals = params.getBool("QOLVisuals");
+  scene.camera_view = quality_of_life_visuals ? params.getInt("CameraView") : 0;
 }
 
 void UIState::updateStatus() {

selfdrive/ui/ui.h

@@ -187,6 +187,7 @@ typedef struct UIScene {
   float lane_width_right;
 
   int alert_size;
+  int camera_view;
 
   QPolygonF track_adjacent_vertices[6];