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/manager/manager.py

@@ -79,6 +79,9 @@ def manager_init(frogpilot_functions) -> None:
   params = Params()
   params_storage = Params("/persist/params")
   params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
+
+  # CLEARPILOT: always start with telemetry disabled
+  params.put("TelemetryEnabled", "0")
   params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
   params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
   if is_release_branch():
@@ -155,6 +158,7 @@ def manager_init(frogpilot_functions) -> None:
     ("DisableVTSCSmoothing", "0"),
     ("DisengageVolume", "100"),
     ("DashcamDebug", "1"),
+    ("TelemetryEnabled", "0"),
     ("DragonPilotTune", "0"),
     ("DriverCamera", "0"),
     ("DynamicPathWidth", "0"),
@@ -396,6 +400,14 @@ def manager_thread(frogpilot_functions) -> None:
     ignore += ["manage_athenad", "uploader"]
   if os.getenv("NOBOARD") is not None:
     ignore.append("pandad")
+  # CLEARPILOT: bench mode — disable real car processes, enable bench simulator
+  if os.getenv("BENCH_MODE") is not None:
+    ignore += ["pandad", "thermald", "controlsd", "radard", "plannerd",
+               "calibrationd", "torqued", "paramsd", "locationd", "sensord",
+               "ubloxd", "pigeond", "dmonitoringmodeld", "dmonitoringd",
+               "modeld", "soundd", "camerad", "loggerd", "micd",
+               "dashcamd"]
+    session_log.info("bench mode enabled")
   ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0]
 
   sm = messaging.SubMaster(['deviceState', 'carParams'], poll='deviceState')