implement driver camera preview in settings

rebase master

Author: deanlee

selfdrive/ui/layouts/settings/device.py

@@ -1,7 +1,10 @@
 from openpilot.system.ui.lib.application import Widget
 from openpilot.system.ui.lib.list_view import ListView, text_item, button_item
+from openpilot.selfdrive.ui.onroad.driver_camera_view import DriverCameraView
 from openpilot.common.params import Params
 from openpilot.system.hardware import TICI
+from openpilot.system.ui.lib.application import gui_app
+
 
 # Description constants
 DESCRIPTIONS = {
@@ -26,7 +29,7 @@ def __init__(self):
       text_item("Dongle ID", dongle_id),
       text_item("Serial", serial),
       button_item("Pair Device", "PAIR", DESCRIPTIONS['pair_device'], self._on_pair_device),
-      button_item("Driver Camera", "PREVIEW", DESCRIPTIONS['driver_camera'], self._on_driver_camera),
+      button_item("Driver Camera", "PREVIEW", DESCRIPTIONS['driver_camera'], callback=self._on_driver_camera),
       button_item("Reset Calibration", "RESET", DESCRIPTIONS['reset_calibration'], self._on_reset_calibration),
       button_item("Review Training Guide", "REVIEW", DESCRIPTIONS['review_guide'], self._on_review_training_guide),
     ]
@@ -37,12 +40,18 @@ def __init__(self):
     items.append(button_item("Change Language", "CHANGE", callback=self._on_change_language))
 
     self._list_widget = ListView(items)
+    self._driver_camera = DriverCameraView()
 
   def _render(self, rect):
     self._list_widget.render(rect)
 
+  def _on_driver_camera(self):
+    if not self._driver_camera:
+      self._driver_camera = DriverCameraView()
+
+    gui_app.set_modal_overlay(self._driver_camera, callback=lambda result: setattr(self, '_driver_camera', None))
+
   def _on_pair_device(self): pass
-  def _on_driver_camera(self): pass
   def _on_reset_calibration(self): pass
   def _on_review_training_guide(self): pass
   def _on_regulatory(self): pass

selfdrive/ui/onroad/driver_camera_view.py

@@ -9,13 +9,16 @@
 
 
 class DriverCameraView(CameraView):
-  def __init__(self, stream_type: VisionStreamType):
-    super().__init__("camerad", stream_type)
+  def __init__(self):
+    super().__init__("camerad", VisionStreamType.VISION_STREAM_DRIVER)
     self.driver_state_renderer = DriverStateRenderer()
 
   def _render(self, rect):
     super()._render(rect)
 
+    if rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT):
+      return 1
+
     if not self.frame:
       gui_label(
         rect,
@@ -24,13 +27,15 @@ def _render(self, rect):
         font_weight=FontWeight.BOLD,
         alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
       )
-      return
+      return -1
+
+    self._draw_face_detection(rect)
+    self.driver_state_renderer.draw(rect)
 
-    self._draw_face_detection(rect, ui_state.sm)
-    self.driver_state_renderer.draw(rect, ui_state.sm)
+    return -1
 
-  def _draw_face_detection(self, rect: rl.Rectangle, sm) -> None:
-    driver_state = sm["driverStateV2"]
+  def _draw_face_detection(self, rect: rl.Rectangle) -> None:
+    driver_state = ui_state.sm["driverStateV2"]
     is_rhd = driver_state.wheelOnRightProb > 0.5
     driver_data = driver_state.rightDriverData if is_rhd else driver_state.leftDriverData
     face_detect = driver_data.faceProb > 0.7
@@ -84,7 +89,7 @@ def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
 if __name__ == "__main__":
   gui_app.init_window("Driver Camera View")
 
-  driver_camera_view = DriverCameraView(VisionStreamType.VISION_STREAM_DRIVER)
+  driver_camera_view = DriverCameraView()
   try:
     for _ in gui_app.render():
       ui_state.update()