Driver camera view when in reverse

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

common/params.cc

@@ -256,6 +256,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DisableOpenpilotLongitudinal", PERSISTENT},
     {"DisengageVolume", PERSISTENT},
     {"DragonPilotTune", PERSISTENT},
+    {"DriverCamera", PERSISTENT},
     {"DynamicPathWidth", PERSISTENT},
     {"EngageVolume", PERSISTENT},
     {"FrogPilotTogglesUpdated", PERSISTENT},

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

@@ -38,6 +38,7 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(SettingsWindow *parent) : FrogPilot
 
     {"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."), ""},
+    {"DriverCamera", tr("Driver Camera On Reverse"), tr("Show the driver camera feed when in reverse."), ""},
   };
 
   for (const auto &[param, title, desc, icon] : visualToggles) {

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

@@ -28,7 +28,7 @@ private:
   std::set<QString> customOnroadUIKeys = {"CustomPaths", "DeveloperUI", "LeadInfo"};
   std::set<QString> customThemeKeys = {"CustomColors", "CustomIcons", "CustomSignals", "CustomSounds"};
   std::set<QString> modelUIKeys = {"DynamicPathWidth", "HideLeadMarker", "LaneLinesWidth", "PathEdgeWidth", "PathWidth", "RoadEdgesWidth", "UnlimitedLength"};
-  std::set<QString> qolKeys = {"CameraView"};
+  std::set<QString> qolKeys = {"CameraView", "DriverCamera"};
   std::set<QString> screenKeys = {};
 
   std::map<std::string, ParamControl*> toggles;

selfdrive/ui/qt/home.cc

@@ -66,6 +66,10 @@ void HomeWindow::updateState(const UIState &s) {
     body->setEnabled(true);
     slayout->setCurrentWidget(body);
   }
+
+  if (s.scene.started) {
+    showDriverView(s.scene.driver_camera_timer >= 10, true);
+  }
 }
 
 void HomeWindow::offroadTransition(bool offroad) {
@@ -79,14 +83,19 @@ void HomeWindow::offroadTransition(bool offroad) {
   }
 }
 
-void HomeWindow::showDriverView(bool show) {
+void HomeWindow::showDriverView(bool show, bool started) {
   if (show) {
     emit closeSettings();
     slayout->setCurrentWidget(driver_view);
+    sidebar->setVisible(show == false);
   } else {
-    slayout->setCurrentWidget(home);
+    if (started) {
+      slayout->setCurrentWidget(onroad);
+    } else {
+      slayout->setCurrentWidget(home);
+      sidebar->setVisible(show == false);
+    }
   }
-  sidebar->setVisible(show == false);
 }
 
 void HomeWindow::mousePressEvent(QMouseEvent* e) {

selfdrive/ui/qt/home.h

@@ -56,7 +56,7 @@ signals:
 
 public slots:
   void offroadTransition(bool offroad);
-  void showDriverView(bool show);
+  void showDriverView(bool show, bool started=false);
   void showSidebar(bool show);
   void showMapPanel(bool show);
 

selfdrive/ui/ui.cc

@@ -226,6 +226,7 @@ static void update_state(UIState *s) {
     scene.acceleration = carState.getAEgo();
     scene.blind_spot_left = carState.getLeftBlindspot();
     scene.blind_spot_right = carState.getRightBlindspot();
+    scene.reverse = carState.getGearShifter() == cereal::CarState::GearShifter::REVERSE;
     scene.turn_signal_left = carState.getLeftBlinker();
     scene.turn_signal_right = carState.getRightBlinker();
   }
@@ -329,6 +330,7 @@ void ui_update_frogpilot_params(UIState *s) {
 
   bool quality_of_life_visuals = params.getBool("QOLVisuals");
   scene.camera_view = quality_of_life_visuals ? params.getInt("CameraView") : 0;
+  scene.driver_camera = quality_of_life_visuals && params.getBool("DriverCamera");
 }
 
 void UIState::updateStatus() {
@@ -398,6 +400,7 @@ void UIState::update() {
 
   // FrogPilot live variables that need to be constantly checked
   scene.conditional_status = scene.conditional_experimental ? paramsMemory.getInt("CEStatus") : 0;
+  scene.driver_camera_timer = (scene.driver_camera && scene.reverse) ? scene.driver_camera_timer + 1 : 0;
 }
 
 void UIState::setPrimeType(PrimeType type) {

selfdrive/ui/ui.h

@@ -179,6 +179,7 @@ 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;
@@ -188,6 +189,7 @@ typedef struct UIScene {
   bool live_valid;
   bool map_open;
   bool model_ui;
+  bool reverse;
   bool right_hand_drive;
   bool show_aol_status_bar;
   bool show_cem_status_bar;
@@ -221,6 +223,7 @@ typedef struct UIScene {
   int custom_icons;
   int custom_signals;
   int desired_follow;
+  int driver_camera_timer;
   int obstacle_distance;
   int obstacle_distance_stock;
   int stopped_equivalence;