Show Driver Camera When In Reverse

frogpilot/ui/frogpilot_ui.cc

@@ -56,4 +56,5 @@ void FrogPilotUIState::update() {
   update_state(this);
 
   frogpilot_scene.conditional_status = frogpilot_scene.enabled ? params_memory.getInt("CEStatus") : 0;
+  frogpilot_scene.driver_camera_timer = frogpilot_scene.reverse && frogpilot_scene.frogpilot_toggles.value("driver_camera_in_reverse").toBool() ? frogpilot_scene.driver_camera_timer + 1 : 0;
 }

frogpilot/ui/frogpilot_ui.h

@@ -17,6 +17,7 @@ struct FrogPilotUIScene {
   bool standstill;
 
   int conditional_status;
+  int driver_camera_timer;
   int started_timer;
 
   QJsonObject frogpilot_toggles;

selfdrive/monitoring/dmonitoringd.py

@@ -1,9 +1,12 @@
 #!/usr/bin/env python3
 import cereal.messaging as messaging
+from opendbc.car import structs
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process
 from openpilot.selfdrive.monitoring.helpers import DriverMonitoring
 
+GearShifter = structs.CarState.GearShifter
+
 
 def dmonitoringd_thread():
   config_realtime_process([0, 1, 2, 3], 5)
@@ -43,7 +46,7 @@ def dmonitoringd_thread():
     # load live always-on toggle
     if sm['driverStateV2'].frameId % 40 == 1:
       DM.always_on = params.get_bool("AlwaysOnDM")
-      demo_mode = params.get_bool("IsDriverViewEnabled")
+      demo_mode = params.get_bool("IsDriverViewEnabled") and sm["carState"].gearShifter != GearShifter.reverse
 
     # save rhd virtual toggle every 5 mins
     if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and

selfdrive/ui/qt/home.cc

@@ -70,9 +70,18 @@ void HomeWindow::updateState(const UIState &s, const FrogPilotUIState &fs) {
   const QJsonObject &frogpilot_toggles = frogpilot_scene.frogpilot_toggles;
 
   if (s.scene.started) {
-    developer_sidebar->setVisible(frogpilot_toggles.value("developer_sidebar").toBool());
+    if (frogpilot_scene.driver_camera_timer >= UI_FREQ / 2) {
+      showDriverView(true, true);
+    } else {
+      if (driver_view->isVisible()) {
+        sidebar->setVisible(params.getBool("Sidebar") || frogpilot_toggles.value("debug_mode").toBool());
+        slayout->setCurrentWidget(onroad);
+      }
 
-    frogpilotUIState()->frogpilot_scene.sidebars_open = developer_sidebar->isVisible() && sidebar->isVisible();
+      developer_sidebar->setVisible(frogpilot_toggles.value("developer_sidebar").toBool());
+
+      frogpilotUIState()->frogpilot_scene.sidebars_open = developer_sidebar->isVisible() && sidebar->isVisible();
+    }
   }
 }
 
@@ -94,9 +103,11 @@ void HomeWindow::offroadTransition(bool offroad) {
   }
 }
 
-void HomeWindow::showDriverView(bool show) {
+void HomeWindow::showDriverView(bool show, bool started) {
   if (show) {
-    emit closeSettings();
+    if (!started) {
+      emit closeSettings();
+    }
     slayout->setCurrentWidget(driver_view);
   } else {
     slayout->setCurrentWidget(home);

selfdrive/ui/qt/home.h

@@ -58,7 +58,7 @@ signals:
 
 public slots:
   void offroadTransition(bool offroad);
-  void showDriverView(bool show);
+  void showDriverView(bool show, bool started=false);
   void showSidebar(bool show);
 
 protected:

selfdrive/ui/qt/window.cc

@@ -92,7 +92,7 @@ bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
     case QEvent::MouseButtonPress:
     case QEvent::MouseMove: {
       // ignore events when device is awakened by resetInteractiveTimeout
-      ignore = !device()->isAwake();
+      ignore = !device()->isAwake() || frogpilot_scene.driver_camera_timer >= UI_FREQ / 2;
       device()->resetInteractiveTimeout(frogpilot_toggles.value("screen_timeout").toInt(), frogpilot_toggles.value("screen_timeout_onroad").toInt());
       break;
     }