In case the OP doesn't come back on for some time...one can see the dinette table and the support for the leg under the mattress. I would use the word "semi-permanent" for such a configuration as it would not be easy to remove the mattress every morning to set up the dinette. I certainly wouldn't want to do it on a daily basis but your requirements may be different.
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Karen Hulford
2013 Escape 15A, "Egbert"
'93 Ford 150 XLT or
'22 GMC Acadia Denali