From cf070c2aae78fa2c3fd85b970875dc5f8b4952ce Mon Sep 17 00:00:00 2001
From: James <91348155+FrogAi@users.noreply.github.com>
Date: Mon, 1 Dec 2025 12:00:00 -0700
Subject: [PATCH] Show Driver Camera When In Reverse

---
 frogpilot/ui/frogpilot_ui.cc |  1 +
 frogpilot/ui/frogpilot_ui.h  |  1 +
 selfdrive/ui/qt/home.cc      | 19 +++++++++++++++----
 selfdrive/ui/qt/home.h       |  2 +-
 selfdrive/ui/qt/window.cc    |  2 +-
 5 files changed, 19 insertions(+), 6 deletions(-)

diff --git a/frogpilot/ui/frogpilot_ui.cc b/frogpilot/ui/frogpilot_ui.cc
index 4983416df..5cd45c113 100644
--- a/frogpilot/ui/frogpilot_ui.cc
+++ b/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;
 }
diff --git a/frogpilot/ui/frogpilot_ui.h b/frogpilot/ui/frogpilot_ui.h
index c61c0bc85..8bba3446a 100644
--- a/frogpilot/ui/frogpilot_ui.h
+++ b/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;
diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc
index cd45ed1e3..39b83bf1f 100644
--- a/selfdrive/ui/qt/home.cc
+++ b/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);
diff --git a/selfdrive/ui/qt/home.h b/selfdrive/ui/qt/home.h
index 18e981670..79549c6dc 100644
--- a/selfdrive/ui/qt/home.h
+++ b/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:
diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc
index 9cf7d219f..52ab64f82 100644
--- a/selfdrive/ui/qt/window.cc
+++ b/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;
     }