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telemetry overlay, memory params fix, nightrider border, GPS logging

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- Telemetry status bar in onroad UI: temp, fan %, model FPS, standstill
- Fix paramsMemory usage: Params("/dev/shm/params") not "/dev/shm/params/d"
- Telemetry/VPN toggles use ToggleControl with manual paramsMemory writes
- TelemetryEnabled/VpnEnabled registered PERSISTENT, written to memory path
- GPS telemetry: telemetryd subscribes to gpsLocation at 1Hz via cereal
- Nightrider: force CameraWidget bg black to eliminate color bleed border
- Suppress "Always On Lateral active" status bar message
- Re-enable gpsd and dashcamd
- CLAUDE.md: document memory params pattern, speed_limit.calculated usage

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
This commit is contained in:
Brian Hanson
2026-04-14 00:36:29 -05:00
parent 698a1647a0
commit 3d9143c41b
9 changed files with 97 additions and 15 deletions
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16
CLAUDE.md
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@@ -92,6 +92,17 @@ The params system uses a C++ whitelist. Adding a new param name in `manager.py`
2. Add the default value in `selfdrive/manager/manager.py` in `manager_init()`
3. Remove `prebuilt`, `common/params.o`, and `common/libcommon.a` to force rebuild
### Memory Params (paramsMemory)
ClearPilot uses memory params (`/dev/shm/params/d/`) for UI toggles that should reset on boot. Key rules:
- **Registration**: Register the key in `common/params.cc` as `PERSISTENT` (same as FrogPilot pattern — the registration flag does NOT control which path the param lives at)
- **C++ access**: Use `Params{"/dev/shm/params"}` — stored as a class member `paramsMemory` in onroad.h. Do NOT use `Params("/dev/shm/params/d")` — the Params class appends `/d/` internally, so that would resolve to `/dev/shm/params/d/d/`
- **Python access**: Use `Params("/dev/shm/params")`
- **Defaults**: Set in `manager_init()` via `Params("/dev/shm/params").put(key, value)`
- **UI toggles**: Use `ToggleControl` with manual `toggleFlipped` lambda that writes via `Params("/dev/shm/params")`. Do NOT use `ParamControl` for memory params — it reads/writes persistent params only
- **Current memory params**: `TelemetryEnabled` (default "0"), `VpnEnabled` (default "1"), `ScreenDisplayMode`
### Building Native (C++) Processes
- SCons is the build system. Static libraries (`common`, `messaging`, `cereal`, `visionipc`) must be imported as SCons objects, not `-l` flags
@@ -482,10 +493,13 @@ Power On
- **Client**: `selfdrive/clearpilot/telemetry.py` — `tlog(group, data)` sends JSON over ZMQ PUSH
- **Collector**: `selfdrive/clearpilot/telemetryd.py` — diffs against previous state, writes changed values to CSV
- **Toggle**: `TelemetryEnabled` param, controlled from Debug panel in ClearPilot menu
- **Toggle**: `TelemetryEnabled` memory param, controlled from Debug panel in ClearPilot menu
- **Auto-disable**: disabled on every manager start; disabled if `/data` free < 5GB
- **Hyundai CAN-FD data**: logged from `selfdrive/car/hyundai/carstate.py` `update_canfd()` — groups: `car`, `cruise`, `speed_limit`, `buttons`
- **GPS data**: logged directly by telemetryd via cereal `gpsLocation` subscription at 1Hz — group: `gps` (latitude, longitude, speed, altitude, bearing, accuracy)
- **CSV location**: `/data/log2/current/telemetry.csv` (or session directory)
- **Onroad overlay**: when telemetry enabled, status bar shows temp, fan %, model FPS, and STANDSTILL indicator
- **Speed limit**: `speed_limit.calculated` is the final computed speed limit value (in vehicle units, MPH when `is_metric=False`). This is the value that will be used for the future speed limit warning chime feature
### Key Dependencies