black pink in your area2

selfdrive/ui/mici/layouts/settings/visuals.py

@@ -5,7 +5,7 @@ from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigMultiOption
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.widgets.scroller import NavScroller
 
-CAMERA_VIEW_LABELS = ["Auto", "Driver", "Standard", "Wide"]
+CAMERA_VIEW_LABELS = ["Auto", "Driver", "Standard", "Wide", "None"]
 
 
 class CameraViewBigButton(BigButton):

selfdrive/ui/mici/onroad/augmented_road_view.py

@@ -40,6 +40,7 @@ CAMERA_VIEW_AUTO = 0
 CAMERA_VIEW_DRIVER = 1
 CAMERA_VIEW_STANDARD = 2
 CAMERA_VIEW_WIDE = 3
+CAMERA_VIEW_NONE = 4
 
 
 class BookmarkState(IntEnum):
@@ -420,7 +421,9 @@ class AugmentedRoadView(CameraView):
 
   def _render(self, _):
     start_draw = time.monotonic()
-    self._switch_stream_if_needed(ui_state.sm)
+    camera_view = self._camera_view()
+    camera_view_none = camera_view == CAMERA_VIEW_NONE
+    self._switch_stream_if_needed(ui_state.sm, camera_view)
 
     # Update calibration before rendering
     self._update_calibration()
@@ -443,7 +446,10 @@ class AugmentedRoadView(CameraView):
     )
 
     # Render the base camera view
-    super()._render(self._content_rect)
+    if camera_view_none:
+      rl.draw_rectangle_rec(self._content_rect, rl.BLACK)
+    else:
+      super()._render(self._content_rect)
 
     waiting_for_controls = ui_state.started and not self._controls_ready()
     if waiting_for_controls:
@@ -462,39 +468,41 @@ class AugmentedRoadView(CameraView):
 
     in_reverse = self._is_in_reverse()
     is_driver_stream = self.stream_type == DRIVER_CAM
+    draw_road_overlays = not in_reverse and not is_driver_stream and not camera_view_none
+    draw_hud_controls = camera_view_none or (not in_reverse and not is_driver_stream)
     self._hud_renderer.prepare(self._content_rect)
 
     # Draw all UI overlays
-    if not in_reverse and not is_driver_stream:
+    if draw_road_overlays:
       self._model_renderer.render(self._content_rect)
 
     # Fade out bottom of overlays for looks
     rl.draw_texture_ex(self._fade_texture, rl.Vector2(self._content_rect.x, self._content_rect.y), 0.0, 1.0, rl.WHITE)
-    if not in_reverse and not is_driver_stream:
+    if draw_hud_controls:
       self._hud_renderer.render_background()
 
     alert_to_render, not_animating_out = self._alert_renderer.will_render()
 
     should_draw_dmoji = ui_state.is_onroad() and (
-      is_driver_stream or ((not in_reverse) and (not self._hud_renderer.drawing_top_icons()))
+      is_driver_stream or camera_view_none or ((not in_reverse) and (not self._hud_renderer.drawing_top_icons()))
     )
     self._driver_state_renderer.set_should_draw(should_draw_dmoji)
     self._driver_state_renderer.set_position(self._rect.x + 16, self._rect.y + 10)
-    if is_driver_stream or not in_reverse:
+    if camera_view_none or is_driver_stream or not in_reverse:
       self._driver_state_renderer.render()
 
-    self._hud_renderer.set_can_draw_top_icons((not in_reverse) and (not is_driver_stream) and (alert_to_render is None))
-    self._hud_renderer.set_wheel_critical_icon((not in_reverse) and (not is_driver_stream) and alert_to_render is not None and not not_animating_out and
+    self._hud_renderer.set_can_draw_top_icons(draw_hud_controls and (alert_to_render is None))
+    self._hud_renderer.set_wheel_critical_icon(draw_hud_controls and alert_to_render is not None and not not_animating_out and
                                                alert_to_render.visual_alert == car.CarControl.HUDControl.VisualAlert.steerRequired)
     # TODO: have alert renderer draw offroad mici label below
     if ui_state.started:
       self._alert_renderer.render(self._content_rect)
-    if not in_reverse and not is_driver_stream:
+    if draw_hud_controls:
       self._hud_renderer.render_foreground()
     rendered_standstill_timer = False
-    if not in_reverse and not is_driver_stream:
+    if draw_hud_controls:
       rendered_standstill_timer = self._standstill_timer.render(self._content_rect, in_reverse)
-    if not in_reverse and not is_driver_stream and not rendered_standstill_timer:
+    if draw_hud_controls and not rendered_standstill_timer:
       self._min_steer_speed_banner.render(self._content_rect)
 
     # End clipping region
@@ -502,9 +510,9 @@ class AugmentedRoadView(CameraView):
 
     # Custom UI extension point - add custom overlays here
     # Use self._content_rect for positioning within camera bounds
-    if not in_reverse and not is_driver_stream:
+    if draw_road_overlays:
       self._confidence_ball.render(self.rect)
-    if is_driver_stream or not in_reverse:
+    if camera_view_none or is_driver_stream or not in_reverse:
       self._draw_border()
 
     self._bookmark_icon.render(self.rect)
@@ -555,17 +563,25 @@ class AugmentedRoadView(CameraView):
   def is_in_reverse(self) -> bool:
     return self._is_in_reverse()
 
-  def _switch_stream_if_needed(self, sm):
+  @staticmethod
+  def _camera_view() -> int:
+    camera_view = ui_state.params.get_int("CameraView", return_default=True, default=CAMERA_VIEW_WIDE)
+    if camera_view not in (CAMERA_VIEW_AUTO, CAMERA_VIEW_DRIVER, CAMERA_VIEW_STANDARD, CAMERA_VIEW_WIDE, CAMERA_VIEW_NONE):
+      return CAMERA_VIEW_WIDE
+    return camera_view
+
+  def _switch_stream_if_needed(self, sm, camera_view: int):
+    if camera_view == CAMERA_VIEW_NONE:
+      self._reverse_driver_camera_frames = 0
+      self._reverse_driver_camera_active = False
+      return
+
     if self._update_reverse_driver_camera_state():
       target = DRIVER_CAM
       if self.stream_type != target:
         self.switch_stream(target)
       return
 
-    camera_view = ui_state.params.get_int("CameraView", return_default=True, default=CAMERA_VIEW_WIDE)
-    if camera_view not in (CAMERA_VIEW_AUTO, CAMERA_VIEW_DRIVER, CAMERA_VIEW_STANDARD, CAMERA_VIEW_WIDE):
-      camera_view = CAMERA_VIEW_WIDE
-
     if camera_view == CAMERA_VIEW_DRIVER:
       target = DRIVER_CAM
     elif camera_view == CAMERA_VIEW_STANDARD:

selfdrive/ui/qt/onroad/annotated_camera.cc

@@ -4,11 +4,15 @@
 #include <QPainter>
 #include <algorithm>
 #include <cmath>
+#include <exception>
+#include <string>
 
 #include "common/params.h"
 #include "common/swaglog.h"
 #include "selfdrive/ui/qt/util.h"
 
+constexpr int CAMERA_VIEW_NONE = 4;
+
 // Window that shows camera view and variety of info drawn on top
 AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget *parent)
     : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, parent) {
@@ -139,9 +143,22 @@ void AnnotatedCameraWidget::paintEvent(QPaintEvent *event) {
   const double start_draw_t = millis_since_boot();
 
   QPainter painter(this);
+  static Params params;
+  const std::string camera_view_param = params.get("CameraView");
+  int camera_view = starpilot_toggles.value("camera_view").toInt();
+  if (!camera_view_param.empty()) {
+    try {
+      camera_view = std::stoi(camera_view_param);
+    } catch (const std::exception &) {
+      LOGW("invalid CameraView param: %s", camera_view_param.c_str());
+    }
+  }
+  const bool camera_view_none = camera_view == CAMERA_VIEW_NONE;
 
   // draw camera frame
-  {
+  if (camera_view_none) {
+    painter.fillRect(rect(), Qt::black);
+  } else {
     std::lock_guard lk(frame_lock);
 
     if (frames.empty()) {
@@ -166,9 +183,8 @@ void AnnotatedCameraWidget::paintEvent(QPaintEvent *event) {
       } else if (v_ego > 15) {
         wide_cam_requested = false;
       }
-      wide_cam_requested = wide_cam_requested && sm["selfdriveState"].getSelfdriveState().getExperimentalMode() && starpilot_toggles.value("camera_view").toInt() == 0;
+      wide_cam_requested = wide_cam_requested && sm["selfdriveState"].getSelfdriveState().getExperimentalMode() && camera_view == 0;
     }
-    int camera_view = starpilot_toggles.value("camera_view").toInt();
     CameraWidget::setStreamType(camera_view == 1 ? VISION_STREAM_DRIVER :
                                 ((camera_view == 3 && has_wide_cam) || wide_cam_requested) ? VISION_STREAM_WIDE_ROAD :
                                 VISION_STREAM_ROAD);
@@ -194,12 +210,14 @@ void AnnotatedCameraWidget::paintEvent(QPaintEvent *event) {
   hud.starpilot_toggles = starpilot_toggles;
   model.starpilot_toggles = starpilot_toggles;
 
-  model.draw(painter, rect());
+  if (!camera_view_none) {
+    model.draw(painter, rect());
+  }
   dmon.draw(painter, rect());
   hud.updateState(*s);
   hud.draw(painter, rect());
 
-  starpilot_nvg->paintStarPilotWidgets(painter, *s);
+  starpilot_nvg->paintStarPilotWidgets(painter, *s, camera_view_none);
 
   double cur_draw_t = millis_since_boot();
   double dt = cur_draw_t - prev_draw_t;

starpilot/ui/qt/offroad/visual_settings.cc

@@ -135,7 +135,7 @@ StarPilotVisualsPanel::StarPilotVisualsPanel(StarPilotSettingsWindow *parent, bo
       });
       visualToggle = qolToggle;
     } else if (param == "CameraView") {
-      std::vector<QString> cameraOptions{tr("Auto"), tr("Driver"), tr("Standard"), tr("Wide")};
+      std::vector<QString> cameraOptions{tr("Auto"), tr("Driver"), tr("Standard"), tr("Wide"), tr("None")};
       ButtonParamControl *cameraSelection = new ButtonParamControl(param, title, desc, icon, cameraOptions);
       visualToggle = cameraSelection;
 

starpilot/ui/qt/onroad/starpilot_annotated_camera.cc

@@ -297,7 +297,7 @@ void StarPilotAnnotatedCameraWidget::mousePressEvent(QMouseEvent *mouseEvent) {
   mouseEvent->ignore();
 }
 
-void StarPilotAnnotatedCameraWidget::paintStarPilotWidgets(QPainter &p, UIState &s) {
+void StarPilotAnnotatedCameraWidget::paintStarPilotWidgets(QPainter &p, UIState &s, bool hideCameraOverlays) {
   if (cachedSimpleMode) {
     cemStatusPosition = QPoint(0, 0);
     compassPosition = QPoint(0, 0);
@@ -345,7 +345,7 @@ void StarPilotAnnotatedCameraWidget::paintStarPilotWidgets(QPainter &p, UIState
     paintPedalIcons(p);
   }
 
-  if (cachedRadarTracks) {
+  if (!hideCameraOverlays && cachedRadarTracks) {
     paintRadarTracks(p);
   }
 
@@ -368,7 +368,7 @@ void StarPilotAnnotatedCameraWidget::paintStarPilotWidgets(QPainter &p, UIState
     paintStandstillTimer(p);
   }
 
-  if (track_vertices.length() >= 1 && redLight && cachedShowStoppingPoint) {
+  if (!hideCameraOverlays && track_vertices.length() >= 1 && redLight && cachedShowStoppingPoint) {
     paintStoppingPoint(p);
   }
 

starpilot/ui/qt/onroad/starpilot_annotated_camera.h

@@ -14,7 +14,7 @@ public:
   void mousePressEvent(QMouseEvent *mouseEvent) override;
   void paintAdjacentPaths(QPainter &p);
   void paintBlindSpotPath(QPainter &p);
-  void paintStarPilotWidgets(QPainter &p, UIState &s);
+  void paintStarPilotWidgets(QPainter &p, UIState &s, bool hideCameraOverlays = false);
   void paintLeadMetrics(QPainter &p, bool adjacent, QPointF *chevron, const cereal::RadarState::LeadData::Reader &lead_data);
   void paintPathEdges(QPainter &p, int height);
   void paintRainbowPath(QPainter &p, QLinearGradient &bg, float lin_grad_point);