bench mode, ClearPilot menu, status window, UI introspection RPC

Bench mode (--bench flag):
- bench_onroad.py publishes fake vehicle state as managed process
- manager blocks real car processes (pandad, thermald, controlsd, etc.)
- bench_cmd.py for setting params and querying UI state
- BLOCKER: UI segfaults (SIGSEGV) when OnroadWindow becomes visible
  without camera frames — need to make CameraWidget handle missing
  VisionIPC gracefully before bench drive mode works

ClearPilot menu:
- Replaced grid launcher with sidebar settings panel (ClearPilotPanel)
- Sidebar: Home, Dashcam, Debug
- Home panel: Status and System Settings buttons
- Debug panel: telemetry logging toggle (ParamControl)
- Tap from any view (splash, onroad) opens ClearPilotPanel
- Back button returns to splash/onroad

Status window:
- Live system stats refreshing every 1 second
- Storage, RAM, load, IP, WiFi, VPN, GPS, time, telemetry status
- Tap anywhere to close, returns to previous view
- Honors interactive timeout

UI introspection RPC:
- ZMQ REP server at ipc:///tmp/clearpilot_ui_rpc
- Dumps full widget tree with visibility, geometry, stacked indices
- bench_cmd dump queries it, detects crash loops via process uptime
- ui_dump.py standalone tool

Other:
- Telemetry toggle wired to TelemetryEnabled param with disk space guard
- Telemetry disabled on every manager start
- Blinking red circle on onroad UI when telemetry recording
- Fixed showDriverView overriding park/drive transitions every frame
- Fixed offroadTransition sidebar visibility race in MainWindow
- launch_openpilot.sh: cd to /data/openpilot, --bench flag support

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

selfdrive/clearpilot/bench_cmd.py

@@ -0,0 +1,122 @@
+#!/usr/bin/env python3
+"""
+ClearPilot bench command tool. Sets bench params and queries UI state.
+
+Usage:
+  python3 -m selfdrive.clearpilot.bench_cmd gear D
+  python3 -m selfdrive.clearpilot.bench_cmd speed 20
+  python3 -m selfdrive.clearpilot.bench_cmd speedlimit 45
+  python3 -m selfdrive.clearpilot.bench_cmd cruise 55
+  python3 -m selfdrive.clearpilot.bench_cmd engaged 1
+  python3 -m selfdrive.clearpilot.bench_cmd dump
+  python3 -m selfdrive.clearpilot.bench_cmd wait_ready
+"""
+import os
+import subprocess
+import sys
+import time
+import zmq
+from openpilot.common.params import Params
+
+
+def check_ui_process():
+  """Check if UI process is running and healthy. Returns error string or None if OK."""
+  try:
+    result = subprocess.run(["pgrep", "-a", "-f", "./ui"], capture_output=True, text=True)
+    if result.returncode != 0:
+      return "ERROR: UI process not running"
+    # Get the PID and check its uptime
+    for line in result.stdout.strip().split("\n"):
+      parts = line.split(None, 1)
+      if len(parts) >= 2 and "./ui" in parts[1]:
+        pid = parts[0]
+        try:
+          stat = os.stat(f"/proc/{pid}")
+          uptime = time.time() - stat.st_mtime
+          if uptime < 5:
+            return f"ERROR: UI process (pid {pid}) uptime {uptime:.1f}s — likely crash looping. Check: tail /data/log2/$(ls -t /data/log2/ | head -1)/session.log"
+        except FileNotFoundError:
+          return "ERROR: UI process disappeared"
+  except Exception:
+    pass
+  return None
+
+
+def ui_dump():
+  ctx = zmq.Context()
+  sock = ctx.socket(zmq.REQ)
+  sock.setsockopt(zmq.RCVTIMEO, 2000)
+  sock.connect("ipc:///tmp/clearpilot_ui_rpc")
+  sock.send_string("dump")
+  try:
+    return sock.recv_string()
+  except zmq.Again:
+    return None
+  finally:
+    sock.close()
+    ctx.term()
+
+
+def wait_ready(timeout=10):
+  """Wait until the UI shows ReadyWindow, up to timeout seconds."""
+  start = time.time()
+  while time.time() - start < timeout:
+    dump = ui_dump()
+    if dump and "ReadyWindow" in dump:
+      # Check it's actually visible
+      for line in dump.split("\n"):
+        if "ReadyWindow" in line and "vis=Y" in line:
+          print("UI ready (ReadyWindow visible)")
+          return True
+    time.sleep(1)
+  print(f"ERROR: UI not ready after {timeout}s")
+  if dump:
+    print(dump)
+  return False
+
+
+def main():
+  if len(sys.argv) < 2:
+    print(__doc__)
+    return
+
+  cmd = sys.argv[1].lower()
+  params = Params("/dev/shm/params")
+
+  param_map = {
+    "gear": "BenchGear",
+    "speed": "BenchSpeed",
+    "speedlimit": "BenchSpeedLimit",
+    "cruise": "BenchCruiseSpeed",
+    "engaged": "BenchEngaged",
+  }
+
+  if cmd == "dump":
+    ui_status = check_ui_process()
+    if ui_status:
+      print(ui_status)
+    else:
+      result = ui_dump()
+      if result:
+        print(result)
+      else:
+        print("ERROR: UI not responding")
+
+  elif cmd == "wait_ready":
+    wait_ready()
+
+  elif cmd in param_map:
+    if len(sys.argv) < 3:
+      print(f"Usage: bench_cmd {cmd} <value>")
+      return
+    value = sys.argv[2]
+    params.put(param_map[cmd], value)
+    print(f"{param_map[cmd]} = {value}")
+
+  else:
+    print(f"Unknown command: {cmd}")
+    print(__doc__)
+
+
+if __name__ == "__main__":
+  main()