ui: move road camera view selection to visual settings

openpilot/common/params_keys.h

@@ -242,6 +242,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
 
     // sunnypilot model params
     {"CameraOffset", {PERSISTENT | BACKUP, FLOAT, "0.0"}},
+    {"RoadCameraViewMode", {PERSISTENT | BACKUP, INT, "0"}},
     {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
     {"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}},
     {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},

openpilot/selfdrive/ui/onroad/augmented_road_view.py

@@ -37,8 +37,24 @@ BORDER_COLORS = {
 WIDE_CAM_MAX_SPEED = 5.0  # m/s (11 mph)
 ROAD_CAM_MIN_SPEED = 10.0  # m/s (22 mph)
 INF_POINT = np.array([1000.0, 0.0, 0.0])
-CAMERA_TOGGLE_SIZE = 104
-CAMERA_TOGGLE_MARGIN = 18
+ROAD_CAMERA_VIEW_AUTO = 0
+ROAD_CAMERA_VIEW_WIDE = 1
+ROAD_CAMERA_VIEW_STANDARD = 2
+
+
+def camera_stream_target(mode: int, current_stream: VisionStreamType, v_ego: float,
+                         openpilot_longitudinal_control: bool, available_streams: list[VisionStreamType]) -> VisionStreamType:
+  if mode == ROAD_CAMERA_VIEW_WIDE and WIDE_CAM in available_streams:
+    return WIDE_CAM
+  if mode == ROAD_CAMERA_VIEW_STANDARD:
+    return NARROW_ROAD_CAM
+  if openpilot_longitudinal_control and WIDE_CAM in available_streams:
+    if v_ego < WIDE_CAM_MAX_SPEED:
+      return WIDE_CAM
+    if v_ego > ROAD_CAM_MIN_SPEED:
+      return NARROW_ROAD_CAM
+    return current_stream
+  return NARROW_ROAD_CAM
 
 
 class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
@@ -54,10 +70,6 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
     self._matrix_cache_key = (0, 0.0, 0.0, stream_type)
     self._cached_matrix: np.ndarray | None = None
     self._content_rect = rl.Rectangle()
-    self._manual_stream_type: VisionStreamType | None = None
-    self._camera_toggle_rect = rl.Rectangle()
-    self._camera_toggle_flash_until = 0.0
-    self._camera_toggle_icon = gui_app.texture("icons/eye_open.png", 58, 32)
 
     self.model_renderer = ModelRenderer()
     self._hud_renderer = HudRenderer()
@@ -110,7 +122,6 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
       ))
     self.alert_renderer.render(self._content_rect)
     self.driver_state_renderer.render(self._content_rect)
-    self._draw_camera_toggle(self._content_rect)
 
     # Custom UI extension point - add custom overlays here
     # Use self._content_rect for positioning within camera bounds
@@ -121,10 +132,7 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
     # Draw colored border based on driving state
     self._draw_border(rect)
 
-  def _handle_mouse_press(self, mouse_pos):
-    if self._camera_toggle_rect.width and rl.check_collision_point_rec(mouse_pos, self._camera_toggle_rect):
-      self._toggle_camera_stream()
-      return
+  def _handle_mouse_press(self, _):
     if self._click_callback is not None:
       self._click_callback()
 
@@ -141,77 +149,20 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
     rl.draw_rectangle_rounded_lines_ex(border_rect, border_roundness, 10, UI_BORDER_SIZE, border_color)
 
   def _switch_stream_if_needed(self, sm):
-    if self._manual_stream_type in self.available_streams:
-      target = self._manual_stream_type
-    elif sm['carParams'].openpilotLongitudinalControl and WIDE_CAM in self.available_streams:
-      v_ego = sm['carState'].vEgo
-      if v_ego < WIDE_CAM_MAX_SPEED:
-        target = WIDE_CAM
-      elif v_ego > ROAD_CAM_MIN_SPEED:
-        target = NARROW_ROAD_CAM
-      else:
-        # Hysteresis zone - keep current stream
-        target = self.stream_type
-    else:
-      target = NARROW_ROAD_CAM
-
+    try:
+      mode = int(ui_state.params.get("RoadCameraViewMode", return_default=True))
+    except Exception:
+      mode = ROAD_CAMERA_VIEW_AUTO
+    target = camera_stream_target(
+      mode,
+      self.stream_type,
+      sm['carState'].vEgo,
+      sm['carParams'].openpilotLongitudinalControl,
+      self.available_streams,
+    )
     if self.stream_type != target:
       self.switch_stream(target)
 
-  def _toggle_camera_stream(self):
-    if WIDE_CAM not in self.available_streams:
-      return
-    current = self._target_stream_type or self._stream_type
-    target = NARROW_ROAD_CAM if current == WIDE_CAM else WIDE_CAM
-    self._manual_stream_type = target
-    self._camera_toggle_flash_until = rl.get_time() + 0.2
-    self.switch_stream(target)
-
-  def _draw_camera_toggle(self, rect: rl.Rectangle):
-    if WIDE_CAM not in self.available_streams:
-      self._camera_toggle_rect = rl.Rectangle()
-      return
-
-    self._camera_toggle_rect = rl.Rectangle(
-      rect.x + rect.width - CAMERA_TOGGLE_SIZE - CAMERA_TOGGLE_MARGIN,
-      rect.y + CAMERA_TOGGLE_MARGIN,
-      CAMERA_TOGGLE_SIZE,
-      CAMERA_TOGGLE_SIZE,
-    )
-    pressed = rl.get_time() < self._camera_toggle_flash_until
-    current = self._target_stream_type or self._stream_type
-    is_wide = current == WIDE_CAM
-
-    center = rl.Vector2(
-      self._camera_toggle_rect.x + self._camera_toggle_rect.width / 2,
-      self._camera_toggle_rect.y + self._camera_toggle_rect.height / 2,
-    )
-    radius = self._camera_toggle_rect.width / 2
-    bg = rl.Color(35, 83, 61, 215) if pressed else rl.Color(4, 10, 14, 150)
-    border = rl.Color(155, 230, 185, 245) if pressed else rl.Color(255, 255, 255, 70)
-    rl.draw_circle_v(center, radius, bg)
-    rl.draw_circle_lines_v(center, radius - 1, border)
-
-    icon_pos = rl.Vector2(center.x - self._camera_toggle_icon.width / 2,
-                          center.y - self._camera_toggle_icon.height / 2)
-    rl.draw_texture_ex(self._camera_toggle_icon, icon_pos, 0.0, 1.0, rl.Color(255, 255, 255, 238))
-
-    inset = 17 if is_wide else 25
-    left = self._camera_toggle_rect.x + inset
-    right = self._camera_toggle_rect.x + self._camera_toggle_rect.width - inset
-    top = self._camera_toggle_rect.y + inset
-    bottom = self._camera_toggle_rect.y + self._camera_toggle_rect.height - inset
-    corner = 9
-    accent = rl.Color(155, 230, 185, 220) if is_wide else rl.Color(255, 255, 255, 180)
-    rl.draw_line_ex(rl.Vector2(left, top), rl.Vector2(left + corner, top), 3, accent)
-    rl.draw_line_ex(rl.Vector2(left, top), rl.Vector2(left, top + corner), 3, accent)
-    rl.draw_line_ex(rl.Vector2(right, top), rl.Vector2(right - corner, top), 3, accent)
-    rl.draw_line_ex(rl.Vector2(right, top), rl.Vector2(right, top + corner), 3, accent)
-    rl.draw_line_ex(rl.Vector2(left, bottom), rl.Vector2(left + corner, bottom), 3, accent)
-    rl.draw_line_ex(rl.Vector2(left, bottom), rl.Vector2(left, bottom - corner), 3, accent)
-    rl.draw_line_ex(rl.Vector2(right, bottom), rl.Vector2(right - corner, bottom), 3, accent)
-    rl.draw_line_ex(rl.Vector2(right, bottom), rl.Vector2(right, bottom - corner), 3, accent)
-
   def _update_calibration(self):
     # Update device camera if not already set
     sm = ui_state.sm

openpilot/selfdrive/ui/sunnypilot/layouts/settings/visuals.py

@@ -17,6 +17,8 @@ CHEVRON_INFO_DESCRIPTION = {
   "disabled": tr_noop("This feature requires sunnypilot longitudinal control to be available.")
 }
 
+CAMERA_VIEW_DESCRIPTION = tr_noop("Automatic switches between wide and standard views based on vehicle speed. Wide always uses the wide road camera; Standard always uses the narrow road camera.")  # noqa: E501
+
 
 class VisualsLayout(Widget):
   def __init__(self):
@@ -110,6 +112,13 @@ class VisualsLayout(Widget):
       )
       self._toggles[param] = toggle
 
+    self._camera_view = multiple_button_item_sp(
+      title=lambda: tr("Road Camera View"),
+      description=lambda: tr(CAMERA_VIEW_DESCRIPTION),
+      buttons=[lambda: tr("Auto"), lambda: tr("Wide"), lambda: tr("Standard")],
+      callback=self._on_camera_view_changed,
+      inline=False,
+    )
     self._chevron_info = multiple_button_item_sp(
       title=lambda: tr("Display Metrics Below Chevron"),
       description="",
@@ -126,7 +135,7 @@ class VisualsLayout(Widget):
       inline=False
     )
 
-    items = list(self._toggles.values()) + [
+    items = [self._camera_view] + list(self._toggles.values()) + [
       self._chevron_info,
       self._dev_ui_info,
     ]
@@ -139,6 +148,11 @@ class VisualsLayout(Widget):
       self._toggles[param].action_item.set_state(self._params.get_bool(param))
 
     self._dev_ui_info.action_item.set_selected_button(ui_state.params.get("DevUIInfo", return_default=True))
+    try:
+      camera_view_mode = ui_state.params.get("RoadCameraViewMode", return_default=True)
+    except Exception:
+      camera_view_mode = 0
+    self._camera_view.action_item.set_selected_button(camera_view_mode)
 
     if ui_state.has_longitudinal_control:
       self._chevron_info.set_description(tr(CHEVRON_INFO_DESCRIPTION["enabled"]))
@@ -149,6 +163,14 @@ class VisualsLayout(Widget):
       self._chevron_info.action_item.set_enabled(False)
       ui_state.params.put("ChevronInfo", 0)
 
+  def _on_camera_view_changed(self, index: int):
+    if index not in (0, 1, 2):
+      return
+    try:
+      ui_state.params.put("RoadCameraViewMode", index, block=True)
+    except Exception:
+      pass
+
   def _render(self, rect):
     self._scroller.render(rect)
 

openpilot/selfdrive/ui/tests/test_camera_toggle.py

@@ -1,56 +0,0 @@
-import unittest
-from types import SimpleNamespace
-from unittest.mock import Mock
-
-from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView, NARROW_ROAD_CAM, WIDE_CAM
-
-
-class TestView(AugmentedRoadView):
-  def __del__(self):
-    pass
-
-
-class TestOnroadCameraToggle(unittest.TestCase):
-  def _view(self):
-    view = object.__new__(TestView)
-    view.available_streams = [NARROW_ROAD_CAM, WIDE_CAM]
-    view._stream_type = NARROW_ROAD_CAM
-    view._target_stream_type = None
-    view._manual_stream_type = None
-    view._camera_toggle_flash_until = 0.0
-    view.switch_stream = Mock()
-    return view
-
-  def test_toggle_between_wide_and_narrow(self):
-    view = self._view()
-    view._toggle_camera_stream()
-    self.assertEqual(view._manual_stream_type, WIDE_CAM)
-    view.switch_stream.assert_called_once_with(WIDE_CAM)
-
-    view._stream_type = WIDE_CAM
-    view.switch_stream.reset_mock()
-    view._toggle_camera_stream()
-    self.assertEqual(view._manual_stream_type, NARROW_ROAD_CAM)
-    view.switch_stream.assert_called_once_with(NARROW_ROAD_CAM)
-
-  def test_toggle_requires_wide_stream(self):
-    view = self._view()
-    view.available_streams = [NARROW_ROAD_CAM]
-    view._toggle_camera_stream()
-    self.assertIsNone(view._manual_stream_type)
-    view.switch_stream.assert_not_called()
-
-  def test_manual_view_overrides_speed_auto_switch(self):
-    view = self._view()
-    view._stream_type = NARROW_ROAD_CAM
-    view._manual_stream_type = WIDE_CAM
-    sm = {
-      'carParams': SimpleNamespace(openpilotLongitudinalControl=False),
-      'carState': SimpleNamespace(vEgo=30.0),
-    }
-    view._switch_stream_if_needed(sm)
-    view.switch_stream.assert_called_once_with(WIDE_CAM)
-
-
-if __name__ == '__main__':
-  unittest.main()

openpilot/selfdrive/ui/tests/test_camera_view.py

@@ -0,0 +1,41 @@
+import unittest
+
+from openpilot.selfdrive.ui.onroad.augmented_road_view import (
+  NARROW_ROAD_CAM,
+  ROAD_CAMERA_VIEW_AUTO,
+  ROAD_CAMERA_VIEW_STANDARD,
+  ROAD_CAMERA_VIEW_WIDE,
+  WIDE_CAM,
+  camera_stream_target,
+)
+
+
+class TestRoadCameraViewMode(unittest.TestCase):
+  def test_auto_switches_by_speed(self):
+    available = [NARROW_ROAD_CAM, WIDE_CAM]
+    self.assertEqual(camera_stream_target(ROAD_CAMERA_VIEW_AUTO, NARROW_ROAD_CAM, 2.0, True, available), WIDE_CAM)
+    self.assertEqual(camera_stream_target(ROAD_CAMERA_VIEW_AUTO, WIDE_CAM, 12.0, True, available), NARROW_ROAD_CAM)
+    self.assertEqual(camera_stream_target(ROAD_CAMERA_VIEW_AUTO, WIDE_CAM, 7.5, True, available), WIDE_CAM)
+    self.assertEqual(camera_stream_target(ROAD_CAMERA_VIEW_AUTO, NARROW_ROAD_CAM, 7.5, True, available), NARROW_ROAD_CAM)
+
+  def test_wide_mode_overrides_speed(self):
+    self.assertEqual(
+      camera_stream_target(ROAD_CAMERA_VIEW_WIDE, NARROW_ROAD_CAM, 30.0, False, [NARROW_ROAD_CAM, WIDE_CAM]),
+      WIDE_CAM,
+    )
+
+  def test_standard_mode_overrides_speed(self):
+    self.assertEqual(
+      camera_stream_target(ROAD_CAMERA_VIEW_STANDARD, WIDE_CAM, 0.0, True, [NARROW_ROAD_CAM, WIDE_CAM]),
+      NARROW_ROAD_CAM,
+    )
+
+  def test_missing_wide_stream_falls_back_to_standard(self):
+    self.assertEqual(
+      camera_stream_target(ROAD_CAMERA_VIEW_WIDE, NARROW_ROAD_CAM, 0.0, True, [NARROW_ROAD_CAM]),
+      NARROW_ROAD_CAM,
+    )
+
+
+if __name__ == '__main__':
+  unittest.main()

openpilot/selfdrive/ui/translations/app.pot

@@ -434,6 +434,7 @@ msgid "Aggressive"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/visuals.py
 msgid "Standard"
 msgstr ""
 
@@ -1064,6 +1065,10 @@ msgstr ""
 msgid "Neural Network Lateral Control (NNLC)"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/visuals.py
+msgid "Automatic switches between wide and standard views based on vehicle speed. Wide always uses the wide road camera; Standard always uses the narrow road camera."
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/visuals.py
 msgid "This feature requires sunnypilot longitudinal control to be available."
 msgstr ""
@@ -1140,6 +1145,10 @@ msgstr ""
 msgid "Real-time Acceleration Bar"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/visuals.py
+msgid "Road Camera View"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/visuals.py
 msgid "Display Metrics Below Chevron"
 msgstr ""
@@ -1152,6 +1161,14 @@ msgstr ""
 msgid "Display real-time parameters and metrics from various sources."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/visuals.py
+msgid "Auto"
+msgstr ""
+
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/visuals.py
+msgid "Wide"
+msgstr ""
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_settings.py
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/hyundai.py

openpilot/selfdrive/ui/translations/app_en.po

@@ -192,6 +192,10 @@ msgstr ""
 msgid "Assist: Adjusts the vehicle's cruise speed based on the current road's speed limit when operating the +/- buttons."
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/visuals.py
+msgid "Auto"
+msgstr "Auto"
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/display.py
 msgid "Auto (Dark)"
 msgstr ""
@@ -208,6 +212,10 @@ msgstr ""
 msgid "Auto Lane Change: Delay with Blind Spot"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/visuals.py
+msgid "Automatic switches between wide and standard views based on vehicle speed. Wide always uses the wide road camera; Standard always uses the narrow road camera."
+msgstr "Automatic switches between wide and standard views based on vehicle speed. Wide always uses the wide road camera; Standard always uses the narrow road camera."
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py
 msgid "Avoid EPS Lockout"
 msgstr ""
@@ -1611,6 +1619,10 @@ msgstr ""
 msgid "Right & Bottom"
 msgstr ""
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/visuals.py
+msgid "Road Camera View"
+msgstr "Road Camera View"
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/osm.py
@@ -1796,6 +1808,7 @@ msgid "Speedometer: Hide from Onroad Screen"
 msgstr ""
 
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/visuals.py
 msgid "Standard"
 msgstr "Standard"
 
@@ -2200,6 +2213,10 @@ msgstr "Wi-Fi"
 msgid "Wi-Fi Network Metered"
 msgstr "Wi-Fi Network Metered"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/visuals.py
+msgid "Wide"
+msgstr "Wide"
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/developer.py
 msgid "Would you like to delete this log?"
 msgstr ""

openpilot/selfdrive/ui/translations/app_zh-CHS.po

@@ -192,6 +192,10 @@ msgstr "辅助"
 msgid "Assist: Adjusts the vehicle's cruise speed based on the current road's speed limit when operating the +/- buttons."
 msgstr "辅助：操作 +/- 按钮时，根据当前道路限速调整车辆巡航速度。"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/visuals.py
+msgid "Auto"
+msgstr "自动"
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/display.py
 msgid "Auto (Dark)"
 msgstr "自动（暗）"
@@ -208,6 +212,10 @@ msgstr "转向灯自动变道"
 msgid "Auto Lane Change: Delay with Blind Spot"
 msgstr "自动变道：盲区延迟"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/visuals.py
+msgid "Automatic switches between wide and standard views based on vehicle speed. Wide always uses the wide road camera; Standard always uses the narrow road camera."
+msgstr "自动模式会根据车速在广角和标准视野之间切换。广角模式固定使用广角相机；标准模式固定使用窄角相机。"
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/vehicle/brands/volkswagen.py
 msgid "Avoid EPS Lockout"
 msgstr "避免EPS锁定"
@@ -1613,6 +1621,10 @@ msgstr "右侧"
 msgid "Right & Bottom"
 msgstr "右侧和底部"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/visuals.py
+msgid "Road Camera View"
+msgstr "道路相机视野"
+
 #: openpilot/selfdrive/ui/layouts/settings/software.py
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/models.py
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/osm.py
@@ -1798,6 +1810,7 @@ msgid "Speedometer: Hide from Onroad Screen"
 msgstr "速度表：从行车屏幕隐藏"
 
 #: openpilot/selfdrive/ui/layouts/settings/toggles.py
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/visuals.py
 msgid "Standard"
 msgstr "标准"
 
@@ -2205,6 +2218,10 @@ msgstr "Wi‑Fi"
 msgid "Wi-Fi Network Metered"
 msgstr "Wi‑Fi 计量网络"
 
+#: openpilot/selfdrive/ui/sunnypilot/layouts/settings/visuals.py
+msgid "Wide"
+msgstr "广角"
+
 #: openpilot/selfdrive/ui/sunnypilot/layouts/settings/developer.py
 msgid "Would you like to delete this log?"
 msgstr "您要删除此日志吗？"