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>

selfdrive/manager/process_config.py

@@ -51,6 +51,10 @@ def allow_uploads(started, params, CP: car.CarParams) -> bool:
   allow_uploads = not (params.get_bool("DeviceManagement") and params.get_bool("NoUploads"))
   return allow_uploads
 
+# ClearPilot functions
+def dashcam_should_run(started, params, CP: car.CarParams) -> bool:
+  return started or params.get_bool("DashcamDebug")
+
 procs = [
   DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
 
@@ -102,6 +106,9 @@ procs = [
   # FrogPilot processes
   PythonProcess("fleet_manager", "selfdrive.frogpilot.fleetmanager.fleet_manager", always_run),
   PythonProcess("frogpilot_process", "selfdrive.frogpilot.frogpilot_process", always_run),
+
+  # ClearPilot processes
+  NativeProcess("dashcamd", "selfdrive/clearpilot", ["./dashcamd"], dashcam_should_run),
 ]
 
 managed_processes = {p.name: p for p in procs}