dashcamd v2: native C++ process with direct camera capture

- New dashcamd: connects to camerad via VisionIPC, feeds raw NV12
  frames directly to OMX H.264 encoder. Full 1928x1208 resolution,
  4Mbps, 3-minute MP4 segments. Works regardless of UI state.
- Added encode_frame_nv12() to OmxEncoder — skips RGBA->NV12 conversion
- Suspends recording after 10 minutes of standstill
- Disabled old screen recorder timer in onroad.cc
- Suppress debug button alert (clpDebug event still fires for screen toggle)
- launch_openpilot.sh self-cleans other instances before starting
- Register DashcamDebug param in params.cc and manager.py
- Add dashcamd to build system (SConscript) and process_config
- Updated CLAUDE.md with all session changes
- Added GOALS.md feature roadmap

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

GOALS.md

@@ -0,0 +1,46 @@
+# ClearPilot — Feature Goals
+
+Each goal below will be discussed in detail before implementation. Background and specifics to be provided by Brian when we get to each item.
+
+## Dashcam
+
+- [ ] **Dashcam viewer** — on-screen Qt widget for browsing and playing back recorded footage from the offroad home screen (Dashcam button already placed). See `DASHCAM_PROJECT.md` for architecture notes.
+- [ ] **Dashcam uploader** — upload footage to a remote server or cloud storage
+- [ ] **GPS + speed overlay on dashcam footage** — embed GPS coordinates and vehicle speed into the video stream or as metadata
+- [ ] **Dashcam footage archive** — option to mark a trip's footage as archived (kept in storage but hidden from the main UI)
+- [ ] **Suspend dashcam / route recording** — on-screen setting to pause recording for a trip and delete footage of the current trip so far (privacy mode)
+
+## Driving Alerts & Safety
+
+- [ ] **Chirp on speed change and over speed limit** — audible alert when speed limit changes or vehicle exceeds the limit
+- [ ] **Warn on traffic standstill ahead** — alert when approaching cars ahead too quickly (closing distance warning)
+- [ ] **On-screen current speed limit** — display the speed limit as reported by the car's CAN data
+- [ ] **Fix on-screen speed value for MPH** — correct the speed display to use the proper value for MPH conversion
+
+## Cruise Control & Driving State
+
+- [ ] **Auto-set speed via CAN bus** — simulate pressing speed up/down buttons on CAN bus to automatically set cruise to the correct speed via UI interaction (stretch goal)
+- [ ] **Fix engaged-while-braking state sync** — if openpilot is engaged while brakes are pressed, the system thinks it's active but the car isn't actually in cruise control, causing a sync error that should be recoverable
+- [ ] **Fix resume-cruise lateral mode bug** — pressing resume cruise control (rather than enable) causes the car to enter a state where it thinks it's in always-on lateral mode and disables driver monitoring
+- [ ] **Lateral assist in turn lanes** — keep lateral assist active when using turn signal in a turn lane (at low/turning speeds) as opposed to cruising speeds, where lateral currently disengages
+
+## Driver Monitoring
+
+- [ ] **Disable driver monitoring on demand** — add a technique to disable DM for 2 minutes via a button or gesture
+- [ ] **Hands-on-wheel mode** — add a setting requiring the driver to keep hands on the wheel (configurable via settings)
+
+## UI Modes & Display
+
+- [ ] **Curves-only UI mode** — show only on-screen curve/path depictions without the camera feed (reduces visual clutter, saves processing)
+- [ ] **Night mode auto-display-off** — turn off display if device starts at night (determine sunset for current location/datetime or use ambient light levels from car sensors)
+- [ ] **Update boot/offroad splash logos** — replace the red pac-man ghost with a blue pac-man ghost for boot and offroad full-screen splash
+- [ ] **Dashcam-only reboot mode** — on-screen option to reboot into a mode that provides no driver assist (reverts to stock OEM lane assist) but keeps dashcam running. For lending the car to friends who shouldn't use comma's driving features.
+
+## Connectivity & Data
+
+- [ ] **Offroad weather report screen** — weather display accessible from the offroad home grid (depends on internet connection)
+- [ ] **Fix GPS tracking** — GPS tracking feature currently broken, processes commented out in process_config
+
+## Vehicle-Specific (Hyundai Tucson HDA2)
+
+- [ ] **Warn if panoramic roof is open** — if possible to intercept window/roof state from CAN bus, warn when the top roof is left open when the car is turned off