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

- 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>

selfdrive/clearpilot/bench_cmd.py

@@ -57,7 +57,7 @@ def ui_dump():
     ctx.term()
 
 
-def wait_ready(timeout=10):
+def wait_ready(timeout=20):
   """Wait until the UI shows ReadyWindow, up to timeout seconds."""
   start = time.time()
   while time.time() - start < timeout:

selfdrive/ui/main.cc

@@ -1,4 +1,9 @@
 #include <sys/resource.h>
+#include <csignal>
+#include <cstdio>
+#include <cstdlib>
+#include <execinfo.h>
+#include <unistd.h>
 
 #include <QApplication>
 #include <QTranslator>
@@ -8,7 +13,27 @@
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/window.h"
 
+// CLEARPILOT: crash handler — prints stack trace to stderr on SIGSEGV/SIGABRT
+static void crash_handler(int sig) {
+  const char *sig_name = (sig == SIGSEGV) ? "SIGSEGV" : (sig == SIGABRT) ? "SIGABRT" : "SIGNAL";
+  fprintf(stderr, "\n=== CRASH: %s (signal %d) ===\n", sig_name, sig);
+
+  void *frames[64];
+  int count = backtrace(frames, 64);
+  fprintf(stderr, "Backtrace (%d frames):\n", count);
+  backtrace_symbols_fd(frames, count, STDERR_FILENO);
+  fprintf(stderr, "=== END CRASH ===\n");
+  fflush(stderr);
+
+  // Re-raise to get default behavior (core dump / exit)
+  signal(sig, SIG_DFL);
+  raise(sig);
+}
+
 int main(int argc, char *argv[]) {
+  signal(SIGSEGV, crash_handler);
+  signal(SIGABRT, crash_handler);
+
   setpriority(PRIO_PROCESS, 0, -20);
 
   qInstallMessageHandler(swagLogMessageHandler);

selfdrive/ui/qt/window.cc

@@ -50,10 +50,11 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
     }
   });
   QObject::connect(device(), &Device::interactiveTimeout, [=]() {
-    if (main_layout->currentWidget() == settingsWindow ||
-        main_layout->currentWidget() == statusWindow) {
-      closeSettings();
+    // CLEARPILOT: on timeout, return to splash/onroad (not ClearPilotPanel)
+    if (main_layout->currentWidget() != homeWindow) {
+      main_layout->setCurrentWidget(homeWindow);
     }
+    homeWindow->offroadTransition(!uiState()->scene.started);
   });
 
   // load fonts
@@ -229,6 +230,8 @@ StatusWindow::StatusWindow(QWidget *parent) : QFrame(parent) {
   storage_label = makeRow("Storage");
   ram_label = makeRow("Memory");
   load_label = makeRow("Load");
+  temp_label = makeRow("Temperature");
+  fan_label = makeRow("Fan Speed");
   ip_label = makeRow("IP Address");
   wifi_label = makeRow("WiFi");
   vpn_label = makeRow("VPN");
@@ -273,6 +276,24 @@ void StatusWindow::refresh() {
     load_label->setText(QString("%1  %2  %3").arg(parts[0], parts[1], parts[2]));
   }
 
+  // Temperature
+  QString temps = shellCmd("cat /sys/class/thermal/thermal_zone*/temp 2>/dev/null | sort -rn | head -1");
+  if (!temps.isEmpty()) {
+    float temp_c = temps.toLong() / 1000.0;
+    temp_label->setText(QString("%1°C").arg(temp_c, 0, 'f', 1));
+    temp_label->setStyleSheet(temp_c > 70 ? "color: #ff4444; font-size: 38px;" :
+                              temp_c > 55 ? "color: #ffaa00; font-size: 38px;" :
+                                            "color: white; font-size: 38px;");
+  }
+
+  // Fan speed
+  QString fan = shellCmd("cat /sys/class/hwmon/hwmon*/fan1_input 2>/dev/null | head -1");
+  if (fan.isEmpty()) {
+    // Try reading from deviceState param as fallback
+    fan = shellCmd("cat /dev/shm/params/d/LastFanSpeed 2>/dev/null");
+  }
+  fan_label->setText(fan.isEmpty() ? "—" : fan + " RPM");
+
   // IP + WiFi
   QString ip = shellCmd("ip route get 1.1.1.1 2>/dev/null | head -1 | awk '{print $7}'");
   ip_label->setText(ip.isEmpty() ? "No connection" : ip);

selfdrive/ui/qt/window.h

@@ -29,6 +29,8 @@ private:
   QLabel *storage_label;
   QLabel *ram_label;
   QLabel *load_label;
+  QLabel *temp_label;
+  QLabel *fan_label;
   QLabel *ip_label;
   QLabel *wifi_label;
   QLabel *vpn_label;

selfdrive/ui/ui.cc

@@ -93,6 +93,9 @@ void update_model(UIState *s,
   if (plan_position.getX().size() < model.getPosition().getX().size()) {
     plan_position = model.getPosition();
   }
+  // CLEARPILOT: guard against empty model data (bench mode, no modeld running)
+  if (plan_position.getX().size() == 0) return;
+
   float max_distance = scene.unlimited_road_ui_length ? *(plan_position.getX().end() - 1) :
                        std::clamp(*(plan_position.getX().end() - 1),
                                   MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);