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crash handler, model guard, status temp/fan, timeout fix

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- SIGSEGV/SIGABRT crash handler in ui/main.cc prints stack trace to stderr
- Fixed onroad crash: guard update_model() against empty model position data
  (was dereferencing end()-1 on empty list when modeld not running in bench)
- Status window: added device temperature and fan speed
- Interactive timeout returns to splash/onroad (not ClearPilotPanel)
- bench_cmd dump detects crash loops via UI process uptime check
- bench_cmd wait_ready timeout increased to 20s
- Restored camerad to bench ignore list (not needed for UI testing)
- Updated CLAUDE.md with crash debugging procedures

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
This commit is contained in:
Brian Hanson
2026-04-13 02:46:08 +00:00
parent 4b0d0bb708
commit 3edc1972c8
6 changed files with 82 additions and 11 deletions
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34
CLAUDE.md
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@@ -102,23 +102,42 @@ Bench mode allows testing the onroad UI without a car connected. It runs a fake
**IMPORTANT**: Do NOT use `echo` to write bench params — `echo` appends a newline which causes param parsing to fail silently (e.g. gear stays in park). Always use the `bench_cmd.py` tool.
```bash
# 1. Start in bench mode
# 1. Build first
chown -R comma:comma /data/openpilot
su - comma -c "bash /data/openpilot/build_only.sh"
# 2. Start in bench mode
su - comma -c "bash /data/openpilot/launch_openpilot.sh --bench"
# 2. Wait for UI to be ready (polls RPC, up to 10s)
# 3. Wait for UI to be ready (polls RPC every 1s, up to 20s)
su - comma -c "PYTHONPATH=/data/openpilot python3 -m selfdrive.clearpilot.bench_cmd wait_ready"
# 3. Control vehicle state
# 4. Control vehicle state
su - comma -c "PYTHONPATH=/data/openpilot python3 -m selfdrive.clearpilot.bench_cmd gear D"
su - comma -c "PYTHONPATH=/data/openpilot python3 -m selfdrive.clearpilot.bench_cmd speed 20"
su - comma -c "PYTHONPATH=/data/openpilot python3 -m selfdrive.clearpilot.bench_cmd speedlimit 45"
su - comma -c "PYTHONPATH=/data/openpilot python3 -m selfdrive.clearpilot.bench_cmd cruise 55"
su - comma -c "PYTHONPATH=/data/openpilot python3 -m selfdrive.clearpilot.bench_cmd engaged 1"
# 4. Inspect UI widget tree (RPC call, instant response)
# 5. Inspect UI widget tree (RPC call, instant response)
su - comma -c "PYTHONPATH=/data/openpilot python3 -m selfdrive.clearpilot.bench_cmd dump"
```
### Debugging Crashes
The UI has a SIGSEGV/SIGABRT crash handler (`selfdrive/ui/main.cc`) that prints a stack trace to stderr, captured in the per-process log:
```bash
# Check for crash traces
grep -A 30 "CRASH" /data/log2/$(ls -t /data/log2/ | head -1)/ui.log
# Resolve addresses to source lines
addr2line -e /data/openpilot/selfdrive/ui/ui -f 0xADDRESS
# bench_cmd dump detects crash loops automatically:
# if UI process uptime < 5s, it reports "likely crash looping"
```
### UI Introspection RPC
The UI process runs a ZMQ REP server at `ipc:///tmp/clearpilot_ui_rpc`. Send `"dump"` to get a recursive widget tree showing class name, visibility, geometry, and stacked layout current indices. This is the primary debugging tool for understanding what the UI is displaying.
@@ -147,10 +166,11 @@ The UI process runs a ZMQ REP server at `ipc:///tmp/clearpilot_ui_rpc`. Send `"d
| `launch_openpilot.sh` | Accepts `--bench` flag, exports BENCH_MODE env var |
| `selfdrive/ui/qt/window.cc` | UI RPC server (`ipc:///tmp/clearpilot_ui_rpc`), widget tree dump |
### Known Issues
### Resolved Issues
- The UI segfaults (exit code -11) when switching to the onroad camera view without a camera feed. The `CameraWidget` / `AnnotatedCameraWidget` crash on empty VisionIPC buffers. camerad is blocked in bench mode, but the `OnroadWindow` still contains a `CameraWidget` that crashes when made visible. Need to either provide fake VisionIPC frames or make the camera widget gracefully handle missing data.
- The `showDriverView` function in `home.cc` was previously overriding park/drive transitions every frame. Fixed to only act when not in started+parked state, but transitions to onroad (drive) view still trigger the camera crash.
- **SIGSEGV in onroad view (fixed)**: `update_model()` in `ui.cc` dereferenced empty model position data when modeld wasn't running. Fixed by guarding against empty `plan_position.getX()`. The root cause was found using the crash handler + `addr2line`.
- **`showDriverView` overriding transitions (fixed)**: was forcing `slayout` to onroad/home every frame at 20Hz, overriding park/drive logic. Fixed to only act when not in started state.
- **Sidebar appearing during onroad transition (fixed)**: `MainWindow::closeSettings()` was re-enabling the sidebar. Fixed by not calling `closeSettings` during `offroadTransition`.
## Session Logging