Add PIPPreviewInvert parameter and update related functionality

common/params_keys.h

@@ -517,6 +517,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"PIPPreviewMask", {PERSISTENT, JSON, "{\"width\":1928,\"height\":1208,\"center_left\":[315,548],\"center_right\":[1571,539],\"crop_size\":580}", "{\"width\":1928,\"height\":1208,\"center_left\":[315,548],\"center_right\":[1571,539],\"crop_size\":580}", 2}},
     {"PIPPreviewShowOnBlinker", {PERSISTENT, BOOL, "0", "0", 1}},
     {"PIPPreviewShowOnBSM", {PERSISTENT, BOOL, "0", "0", 1}},
+    {"PIPPreviewInvert", {PERSISTENT, BOOL, "0", "0", 1}},
     {"GalaxyPaired", {PERSISTENT, BOOL, "0", "0", 0}},
     {"GalaxyUploadPending", {PERSISTENT, BOOL, "0", "0", 0}},
     {"PreferredSchedule", {PERSISTENT, INT, "2", "0", 0}},

selfdrive/ui/onroad/starpilot/pip_sidecam.py

@@ -266,6 +266,7 @@ class PipSideCamera(Widget):
     self._enabled = self._params.get_bool("PIPPreviewEnabled") and self._params.get_bool("GalaxyDeveloperMode")
     self._show_on_blinker = self._params.get_bool("PIPPreviewShowOnBlinker")
     self._show_on_bsm = self._params.get_bool("PIPPreviewShowOnBSM")
+    self._flip_x_value[0] = 1 if self._params.get_bool("PIPPreviewInvert") else 0
     try:
       raw = self._params.get("PIPPreviewMask")
       if isinstance(raw, (bytes, str)):

selfdrive/ui/tests/test_pip_sidecam.py

@@ -29,6 +29,36 @@ def test_pip_driver_camera_shader_mirrors_the_crop():
   assert "cropCoord.x = 1.0 - cropCoord.x" in PIP_FRAGMENT_SHADER
 
 
+class _FakeParams:
+  def __init__(self, invert: bool = False):
+    self._invert = invert
+
+  def get_bool(self, key: str) -> bool:
+    if key == "PIPPreviewInvert":
+      return self._invert
+    if key == "GalaxyDeveloperMode":
+      return True
+    return False
+
+  def get(self, key: str):
+    return None
+
+
+def test_pip_flip_value_follows_invert_param():
+  camera = PipSideCamera.__new__(PipSideCamera)
+  camera._closed = True
+  camera._last_param_refresh = 0.0
+  camera._flip_x_value = __import__("pyray").ffi.new("int[1]", [1])
+  camera._params = _FakeParams(invert=False)
+  camera._mask = {}
+  camera._refresh_config(force=True)
+  assert camera._flip_x_value[0] == 0
+
+  camera._params = _FakeParams(invert=True)
+  camera._refresh_config(force=True)
+  assert camera._flip_x_value[0] == 1
+
+
 def test_pip_driver_camera_shader_masks_before_sampling_and_keeps_two_texture_reads():
   assert "fwidth(radius)" in PIP_FRAGMENT_SHADER
   assert "if (radius > 1.0 + aa)" in PIP_FRAGMENT_SHADER

starpilot/common/assets/device_settings_layout.json

@@ -2279,7 +2279,7 @@
       {
         "key": "PIPPreviewShowOnBlinker",
         "label": "Show on Turn Signal",
-        "description": "Display the side preview bubble while the corresponding turn signal is engaged.",
+        "description": "Display the side preview while the corresponding turn signal is engaged.",
         "picker_description": "Shows the side preview while a turn signal is on.",
         "data_type": "bool",
         "ui_type": "toggle",
@@ -2289,13 +2289,23 @@
       {
         "key": "PIPPreviewShowOnBSM",
         "label": "Show on Blind Spot Detection",
-        "description": "Display the side preview bubble when a vehicle is detected in the blind spot, whether from factory BSM, V-ASM, or both.",
+        "description": "Display the side preview when a vehicle is detected in the blind spot, whether from factory BSM, V-ASM, or both.",
         "picker_description": "Shows the side preview when a blind spot is detected.",
         "data_type": "bool",
         "ui_type": "toggle",
         "parent_key": "PIPPreviewEnabled",
         "settings_tier": "advanced"
       },
+      {
+        "key": "PIPPreviewInvert",
+        "label": "Invert Side View Orientation",
+        "description": "Flips the camera horizontally to switch whether your car's body appears on the inner/left or outer/right edge of the preview.",
+        "picker_description": "Keep off for the default view with the car body along the inside edge.",
+        "data_type": "bool",
+        "ui_type": "toggle",
+        "parent_key": "PIPPreviewEnabled",
+        "settings_tier": "advanced"
+      },
       {
         "key": "Compass",
         "label": "Compass",

starpilot/system/the_galaxy/tests/test_device_settings_layout.py

@@ -279,17 +279,20 @@ def test_pip_preview_is_under_driving_screen_widgets_and_configured_only_in_gala
   sections = _params_by_section(_layout())
   visual = sections["Visual (Display & UI)"]
 
-  assert {"PIPPreviewEnabled", "PIPPreviewShowOnBlinker", "PIPPreviewShowOnBSM"} <= visual.keys()
+  assert {"PIPPreviewEnabled", "PIPPreviewShowOnBlinker", "PIPPreviewShowOnBSM", "PIPPreviewInvert"} <= visual.keys()
   assert visual["PIPPreviewEnabled"]["parent_key"] == "CustomUI"
   assert visual["PIPPreviewShowOnBlinker"]["parent_key"] == "PIPPreviewEnabled"
   assert visual["PIPPreviewShowOnBSM"]["parent_key"] == "PIPPreviewEnabled"
+  assert visual["PIPPreviewInvert"]["parent_key"] == "PIPPreviewEnabled"
   assert visual["PIPPreviewEnabled"]["settings_tier"] == "advanced"
   assert visual["PIPPreviewShowOnBlinker"]["settings_tier"] == "advanced"
   assert visual["PIPPreviewShowOnBSM"]["settings_tier"] == "advanced"
+  assert visual["PIPPreviewInvert"]["settings_tier"] == "advanced"
 
   assert _declared_default("PIPPreviewEnabled") == "0"
   assert _declared_default("PIPPreviewShowOnBlinker") == "0"
   assert _declared_default("PIPPreviewShowOnBSM") == "0"
+  assert _declared_default("PIPPreviewInvert") == "0"
   assert '"{\\"width\\":1928,\\"height\\":1208,\\"center_left\\":[315,548],\\"center_right\\":[1571,539],\\"crop_size\\":580}"' in PARAM_KEYS_PATH.read_text(encoding="utf-8")
 
   physical_settings = (

starpilot/system/the_galaxy/the_galaxy.py

@@ -111,7 +111,7 @@ GITLAB_SUBMISSIONS_PROJECT_ID = "71992109"
 GITLAB_TOKEN = os.environ.get("GITLAB_TOKEN", "")
 LEGACY_LATERAL_METHOD_API_PREFIX = "/api/" + "".join(("f", "t", "m"))
 VASM_CONFIGURATION_KEYS = {"VASMEnabled", "VASMConfidenceThreshold", "VASMSmoothSeconds", "VASMAnnotationConfig"}
-PIP_PREVIEW_CONFIGURATION_KEYS = {"PIPPreviewEnabled", "PIPPreviewMask", "PIPPreviewShowOnBlinker", "PIPPreviewShowOnBSM"}
+PIP_PREVIEW_CONFIGURATION_KEYS = {"PIPPreviewEnabled", "PIPPreviewMask", "PIPPreviewShowOnBlinker", "PIPPreviewShowOnBSM", "PIPPreviewInvert"}
 MODEL_SMOOTHING_KEYS = {"LatSmoothSeconds", "LongSmoothSeconds"}
 GALAXY_DEVELOPER_ONLY_KEYS = {"TurnSteeringLimitMuteSpeed"}
 PULSE_GLIDE_BUTTON_KEYS = {