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>
2026-04-13 02:33:33 +00:00
parent e3bdae8b5e
commit 4b0d0bb708
15 changed files with 863 additions and 94 deletions
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -5,7 +5,9 @@
 #include <QStackedWidget>
 #include <QVBoxLayout>

+#include "common/swaglog.h"
 #include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/widgets/scrollview.h"

 // HomeWindow: the container for the offroad and onroad UIs

@@ -25,8 +27,17 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
  slayout = new QStackedLayout();
  main_layout->addLayout(slayout);

-  home = new OffroadHome(this);
-  QObject::connect(home, &OffroadHome::openSettings, this, &HomeWindow::openSettings);
+  home = new ClearPilotPanel(this);
+  QObject::connect(home, &ClearPilotPanel::openSettings, this, &HomeWindow::openSettings);
+  QObject::connect(home, &ClearPilotPanel::openStatus, this, &HomeWindow::openStatus);
+  QObject::connect(home, &ClearPilotPanel::closePanel, [=]() {
+    // Return to splash or onroad depending on state
+    if (uiState()->scene.started) {
+      slayout->setCurrentWidget(onroad);
+    } else {
+      slayout->setCurrentWidget(ready);
+    }
+  });
  slayout->addWidget(home);

  onroad = new OnroadWindow(this);
@@ -67,10 +78,10 @@ void HomeWindow::updateState(const UIState &s) {
    // CLEARPILOT: show splash screen when onroad but in park
    bool parked = s.scene.parked;
    if (parked && !was_parked_onroad) {
-      // just shifted into park — show splash
+      LOGW("CLP UI: park transition -> showing splash");
      slayout->setCurrentWidget(ready);
    } else if (!parked && was_parked_onroad) {
-      // just shifted out of park — show onroad camera
+      LOGW("CLP UI: drive transition -> showing onroad");
      slayout->setCurrentWidget(onroad);
    }
    was_parked_onroad = parked;
@@ -90,11 +101,13 @@ void HomeWindow::updateState(const UIState &s) {
 void HomeWindow::offroadTransition(bool offroad) {
  sidebar->setVisible(false);
  if (offroad) {
+    LOGW("CLP UI: offroad transition -> showing splash");
    was_parked_onroad = false;
    slayout->setCurrentWidget(ready);
  } else {
    // CLEARPILOT: start onroad in splash — updateState will switch to
    // camera view once the car shifts out of park
+    LOGW("CLP UI: onroad transition -> showing splash (parked)");
    was_parked_onroad = true;
    slayout->setCurrentWidget(ready);
  }
@@ -102,34 +115,26 @@ void HomeWindow::offroadTransition(bool offroad) {

 void HomeWindow::showDriverView(bool show, bool started) {
  if (show) {
+    LOGW("CLP UI: showDriverView(true) -> driver_view");
    emit closeSettings();
    slayout->setCurrentWidget(driver_view);
-    sidebar->setVisible(show == false);
-  } else {
-    if (started) {
-      slayout->setCurrentWidget(onroad);
-      sidebar->setVisible(params.getBool("Sidebar"));
-    } else {
-      slayout->setCurrentWidget(home);
-      sidebar->setVisible(show == false);
-    }
+    sidebar->setVisible(false);
+  } else if (!started) {
+    // Offroad, not started — show home menu
+    slayout->setCurrentWidget(home);
+    sidebar->setVisible(false);
  }
+  // CLEARPILOT: when started, don't touch slayout here —
+  // updateState handles park->splash and drive->onroad transitions
 }

 void HomeWindow::mousePressEvent(QMouseEvent* e) {
-  // CLEARPILOT todo - tap on main goes straight to settings
-  // Unless we click a debug widget.
-
-  // CLEARPILOT - click ready shows home (no sidebar)
-  if (!onroad->isVisible() && ready->isVisible()) {
+  // CLEARPILOT: tap from any view goes to ClearPilotPanel
+  if (ready->isVisible() || onroad->isVisible()) {
+    LOGW("CLP UI: tap -> showing ClearPilotPanel");
    sidebar->setVisible(false);
    slayout->setCurrentWidget(home);
  }
-
-  // Todo: widgets
-  if (onroad->isVisible()) {
-    emit openSettings();
-  }
 }

 void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) {
@@ -137,59 +142,149 @@ void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) {
  // const SubMaster &sm = *(uiState()->sm);
 }

-// CLEARPILOT: OffroadHome — clean grid launcher
+// CLEARPILOT: ClearPilotPanel — settings-style sidebar menu

-OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
-  QVBoxLayout* main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(80, 80, 80, 80);
-  main_layout->setSpacing(0);
+static const char *clpSidebarBtnStyle = R"(
+  QPushButton {
+    color: grey;
+    border: none;
+    background: none;
+    font-size: 65px;
+    font-weight: 500;
+  }
+  QPushButton:checked {
+    color: white;
+  }
+  QPushButton:pressed {
+    color: #ADADAD;
+  }
+)";

-  // grid of launcher buttons
-  QGridLayout *grid = new QGridLayout();
-  grid->setSpacing(40);
+ClearPilotPanel::ClearPilotPanel(QWidget* parent) : QFrame(parent) {
+  // Sidebar
+  QWidget *sidebar_widget = new QWidget;
+  QVBoxLayout *sidebar_layout = new QVBoxLayout(sidebar_widget);
+  sidebar_layout->setContentsMargins(50, 50, 100, 50);

-  // Dashcam viewer button
-  QPushButton *dashcam_btn = new QPushButton("Dashcam");
-  dashcam_btn->setFixedSize(400, 300);
-  dashcam_btn->setStyleSheet(R"(
+  // Close button
+  QPushButton *close_btn = new QPushButton("← Back");
+  close_btn->setStyleSheet(R"(
    QPushButton {
-      background-color: #333333;
      color: white;
-      border-radius: 20px;
-      font-size: 48px;
-      font-weight: 600;
+      border-radius: 25px;
+      background: #292929;
+      font-size: 50px;
+      font-weight: 500;
    }
    QPushButton:pressed {
-      background-color: #555555;
+      color: #ADADAD;
    }
  )");
-  grid->addWidget(dashcam_btn, 0, 0);
+  close_btn->setFixedSize(300, 125);
+  sidebar_layout->addSpacing(10);
+  sidebar_layout->addWidget(close_btn, 0, Qt::AlignRight);
+  QObject::connect(close_btn, &QPushButton::clicked, [=]() { emit closePanel(); });

-  // Settings button
-  QPushButton *settings_btn = new QPushButton("Settings");
-  settings_btn->setFixedSize(400, 300);
-  settings_btn->setStyleSheet(R"(
+  // Panel content area
+  panel_widget = new QStackedWidget();
+
+  // Define panels: sidebar label -> content widget
+  // Home panel: buttons for Status and System Settings
+  QWidget *home_panel = new QWidget(this);
+  QVBoxLayout *home_layout = new QVBoxLayout(home_panel);
+  home_layout->setContentsMargins(50, 25, 50, 25);
+  home_layout->setSpacing(20);
+
+  QPushButton *status_btn = new QPushButton("Status");
+  status_btn->setFixedHeight(120);
+  status_btn->setStyleSheet(R"(
    QPushButton {
-      background-color: #333333;
+      background-color: #393939;
      color: white;
-      border-radius: 20px;
-      font-size: 48px;
-      font-weight: 600;
-    }
-    QPushButton:pressed {
-      background-color: #555555;
+      border-radius: 15px;
+      font-size: 50px;
+      font-weight: 500;
+      text-align: left;
+      padding-left: 30px;
    }
+    QPushButton:pressed { background-color: #4a4a4a; }
  )");
-  QObject::connect(settings_btn, &QPushButton::clicked, [=]() { emit openSettings(); });
-  grid->addWidget(settings_btn, 0, 1);
+  QObject::connect(status_btn, &QPushButton::clicked, [=]() { emit openStatus(); });
+  home_layout->addWidget(status_btn);

-  main_layout->addStretch();
-  main_layout->addLayout(grid);
-  main_layout->addStretch();
+  QPushButton *sysset_btn = new QPushButton("System Settings");
+  sysset_btn->setFixedHeight(120);
+  sysset_btn->setStyleSheet(status_btn->styleSheet());
+  QObject::connect(sysset_btn, &QPushButton::clicked, [=]() { emit openSettings(); });
+  home_layout->addWidget(sysset_btn);
+
+  home_layout->addStretch();
+
+  // Dashcam panel: placeholder
+  QWidget *dashcam_panel = new QWidget(this);
+  QVBoxLayout *dash_layout = new QVBoxLayout(dashcam_panel);
+  dash_layout->setContentsMargins(50, 25, 50, 25);
+  QLabel *dash_label = new QLabel("Dashcam viewer coming soon");
+  dash_label->setStyleSheet("color: grey; font-size: 40px;");
+  dash_label->setAlignment(Qt::AlignCenter);
+  dash_layout->addWidget(dash_label);
+  dash_layout->addStretch();
+
+  // Debug panel
+  ListWidget *debug_panel = new ListWidget(this);
+  debug_panel->setContentsMargins(50, 25, 50, 25);
+
+  auto *telemetry_toggle = new ParamControl("TelemetryEnabled", "Telemetry Logging",
+    "Record telemetry data to CSV in the session log directory. "
+    "Captures only changed values for efficiency.", "", this);
+  debug_panel->addItem(telemetry_toggle);
+
+  // Register panels with sidebar buttons
+  QList<QPair<QString, QWidget *>> panels = {
+    {"Home", home_panel},
+    {"Dashcam", dashcam_panel},
+    {"Debug", debug_panel},
+  };
+
+  for (auto &[name, panel] : panels) {
+    QPushButton *btn = new QPushButton(name);
+    btn->setCheckable(true);
+    btn->setStyleSheet(clpSidebarBtnStyle);
+    btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
+    sidebar_layout->addWidget(btn, 0, Qt::AlignRight);
+
+    ScrollView *panel_frame = new ScrollView(panel, this);
+    panel_widget->addWidget(panel_frame);
+
+    QObject::connect(btn, &QPushButton::clicked, [=, w = panel_frame]() {
+      btn->setChecked(true);
+      panel_widget->setCurrentWidget(w);
+    });
+  }
+
+  // Select Home by default
+  if (auto *first_btn = sidebar_widget->findChild<QPushButton *>(QString(), Qt::FindDirectChildrenOnly)) {
+    // Skip close_btn, find first sidebar btn
+  }
+  panel_widget->setCurrentIndex(0);
+
+  // Main layout: sidebar + panels
+  QHBoxLayout *main_layout = new QHBoxLayout(this);
+  sidebar_widget->setFixedWidth(500);
+  main_layout->addWidget(sidebar_widget);
+  main_layout->addWidget(panel_widget);

  setStyleSheet(R"(
-    OffroadHome {
+    * {
+      color: white;
+      font-size: 50px;
+    }
+    ClearPilotPanel {
      background-color: black;
    }
+    QStackedWidget, ScrollView {
+      background-color: #292929;
+      border-radius: 30px;
+    }
  )");
 }
--- a/selfdrive/ui/qt/home.h
+++ b/selfdrive/ui/qt/home.h
@@ -4,6 +4,7 @@
 #include <QLabel>
 #include <QPushButton>
 #include <QStackedLayout>
+#include <QStackedWidget>
 #include <QTimer>
 #include <QWidget>

@@ -16,14 +17,19 @@
 #include "selfdrive/ui/qt/widgets/offroad_alerts.h"
 #include "selfdrive/ui/ui.h"

-class OffroadHome : public QFrame {
+class ClearPilotPanel : public QFrame {
  Q_OBJECT

 public:
-  explicit OffroadHome(QWidget* parent = 0);
+  explicit ClearPilotPanel(QWidget* parent = 0);

 signals:
  void openSettings(int index = 0, const QString &param = "");
+  void openStatus();
+  void closePanel();
+
+private:
+  QStackedWidget *panel_widget;
 };

 class HomeWindow : public QWidget {
@@ -35,6 +41,7 @@ public:

 signals:
  void openSettings(int index = 0, const QString &param = "");
+  void openStatus();
  void closeSettings();

 public slots:
@@ -49,7 +56,7 @@ protected:

 private:
  Sidebar *sidebar;
-  OffroadHome *home;
+  ClearPilotPanel *home;
  OnroadWindow *onroad;
  DriverViewWindow *driver_view;
  QStackedLayout *slayout;
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -7,6 +7,7 @@
 #include <sstream>

 #include <QApplication>
+#include <QDateTime>
 #include <QDebug>
 #include <QMouseEvent>

@@ -402,6 +403,17 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
    Hardware::set_display_power(true);
  }

+  // CLEARPILOT: blinking red circle when telemetry is recording
+  if (Params().get("TelemetryEnabled") == "1") {
+    // Blink: visible for 500ms, hidden for 500ms
+    int phase = (QDateTime::currentMSecsSinceEpoch() / 500) % 2;
+    if (phase == 0) {
+      p.setPen(Qt::NoPen);
+      p.setBrush(QColor(220, 30, 30));
+      p.drawEllipse(width() - 150, 50, 100, 100);
+    }
+  }
+
  // Header gradient
  QLinearGradient bg(0, UI_HEADER_HEIGHT - (UI_HEADER_HEIGHT / 2.5), 0, UI_HEADER_HEIGHT);
  bg.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.45));
--- a/selfdrive/ui/qt/spinner
+++ b/selfdrive/ui/qt/spinner
--- a/selfdrive/ui/qt/window.cc
+++ b/selfdrive/ui/qt/window.cc
@@ -1,6 +1,9 @@
 #include "selfdrive/ui/qt/window.h"

 #include <QFontDatabase>
+#include <QMouseEvent>
+
+#include <zmq.h>

 #include "system/hardware/hw.h"

@@ -11,6 +14,7 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
  homeWindow = new HomeWindow(this);
  main_layout->addWidget(homeWindow);
  QObject::connect(homeWindow, &HomeWindow::openSettings, this, &MainWindow::openSettings);
+  QObject::connect(homeWindow, &HomeWindow::openStatus, this, &MainWindow::openStatus);
  QObject::connect(homeWindow, &HomeWindow::closeSettings, this, &MainWindow::closeSettings);

  settingsWindow = new SettingsWindow(this);
@@ -24,6 +28,11 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
    homeWindow->showDriverView(true);
  });

+  // CLEARPILOT: Status window
+  statusWindow = new StatusWindow(this);
+  main_layout->addWidget(statusWindow);
+  QObject::connect(statusWindow, &StatusWindow::closeStatus, this, &MainWindow::closeSettings);
+
  onboardingWindow = new OnboardingWindow(this);
  main_layout->addWidget(onboardingWindow);
  QObject::connect(onboardingWindow, &OnboardingWindow::onboardingDone, [=]() {
@@ -35,11 +44,14 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {

  QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
    if (!offroad) {
-      closeSettings();
+      // CLEARPILOT: just switch to homeWindow, don't show sidebar
+      // HomeWindow::offroadTransition handles the internal view
+      main_layout->setCurrentWidget(homeWindow);
    }
  });
  QObject::connect(device(), &Device::interactiveTimeout, [=]() {
-    if (main_layout->currentWidget() == settingsWindow) {
+    if (main_layout->currentWidget() == settingsWindow ||
+        main_layout->currentWidget() == statusWindow) {
      closeSettings();
    }
  });
@@ -63,6 +75,74 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
    }
  )");
  setAttribute(Qt::WA_NoSystemBackground);
+
+  // CLEARPILOT: UI introspection RPC server
+  zmq_ctx = zmq_ctx_new();
+  zmq_sock = zmq_socket(zmq_ctx, ZMQ_REP);
+  zmq_bind(zmq_sock, "ipc:///tmp/clearpilot_ui_rpc");
+  int fd;
+  size_t fd_sz = sizeof(fd);
+  zmq_getsockopt(zmq_sock, ZMQ_FD, &fd, &fd_sz);
+  rpc_notifier = new QSocketNotifier(fd, QSocketNotifier::Read, this);
+  connect(rpc_notifier, &QSocketNotifier::activated, this, &MainWindow::handleRpcRequest);
+}
+
+void MainWindow::handleRpcRequest() {
+  int events = 0;
+  size_t events_sz = sizeof(events);
+  zmq_getsockopt(zmq_sock, ZMQ_EVENTS, &events, &events_sz);
+  if (!(events & ZMQ_POLLIN)) return;
+
+  char buf[256];
+  int rc = zmq_recv(zmq_sock, buf, sizeof(buf) - 1, ZMQ_DONTWAIT);
+  if (rc < 0) return;
+  buf[rc] = 0;
+
+  QString response;
+  if (strcmp(buf, "dump") == 0) {
+    response = dumpWidgetTree(this);
+  } else {
+    response = "unknown command";
+  }
+
+  QByteArray resp = response.toUtf8();
+  zmq_send(zmq_sock, resp.data(), resp.size(), 0);
+}
+
+QString MainWindow::dumpWidgetTree(QWidget *w, int depth) {
+  QString result;
+  QString indent(depth * 2, ' ');
+  QString className = w->metaObject()->className();
+  QString name = w->objectName().isEmpty() ? "(no name)" : w->objectName();
+  bool visible = w->isVisible();
+  QRect geo = w->geometry();
+
+  result += QString("%1%2 [%3] vis=%4 geo=%5,%6 %7x%8")
+    .arg(indent, className, name)
+    .arg(visible ? "Y" : "N")
+    .arg(geo.x()).arg(geo.y()).arg(geo.width()).arg(geo.height());
+
+  // Show stacked layout/widget current index
+  if (auto *sl = w->findChild<QStackedLayout *>(QString(), Qt::FindDirectChildrenOnly)) {
+    QWidget *cur = sl->currentWidget();
+    QString curClass = cur ? cur->metaObject()->className() : "null";
+    result += QString(" stack_cur=%1/%2(%3)").arg(sl->currentIndex()).arg(sl->count()).arg(curClass);
+  }
+  if (auto *sw = qobject_cast<QStackedWidget *>(w)) {
+    QWidget *cur = sw->currentWidget();
+    QString curClass = cur ? cur->metaObject()->className() : "null";
+    result += QString(" stack_cur=%1/%2(%3)").arg(sw->currentIndex()).arg(sw->count()).arg(curClass);
+  }
+
+  result += "\n";
+
+  for (QObject *child : w->children()) {
+    QWidget *cw = qobject_cast<QWidget *>(child);
+    if (cw && depth < 4) {
+      result += dumpWidgetTree(cw, depth + 1);
+    }
+  }
+  return result;
 }

 void MainWindow::openSettings(int index, const QString &param) {
@@ -70,6 +150,10 @@ void MainWindow::openSettings(int index, const QString &param) {
  settingsWindow->setCurrentPanel(index, param);
 }

+void MainWindow::openStatus() {
+  main_layout->setCurrentWidget(statusWindow);
+}
+
 void MainWindow::closeSettings() {
  main_layout->setCurrentWidget(homeWindow);

@@ -96,3 +180,138 @@ bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
  }
  return ignore;
 }
+
+// CLEARPILOT: Status window — live system stats, refreshed every second
+
+#include <QFile>
+#include <QProcess>
+#include <QDateTime>
+
+static QString readFile(const QString &path) {
+  QFile f(path);
+  if (f.open(QIODevice::ReadOnly)) return QString(f.readAll()).trimmed();
+  return "";
+}
+
+static QString shellCmd(const QString &cmd) {
+  QProcess p;
+  p.start("bash", QStringList() << "-c" << cmd);
+  p.waitForFinished(1000);
+  return QString(p.readAllStandardOutput()).trimmed();
+}
+
+StatusWindow::StatusWindow(QWidget *parent) : QFrame(parent) {
+  QVBoxLayout *layout = new QVBoxLayout(this);
+  layout->setContentsMargins(50, 60, 50, 40);
+  layout->setSpacing(0);
+
+  // Status rows
+  auto makeRow = [&](const QString &label) -> QLabel* {
+    QHBoxLayout *row = new QHBoxLayout();
+    row->setContentsMargins(20, 0, 20, 0);
+
+    QLabel *name = new QLabel(label);
+    name->setStyleSheet("color: grey; font-size: 38px;");
+    name->setFixedWidth(350);
+    row->addWidget(name);
+
+    QLabel *value = new QLabel("—");
+    value->setStyleSheet("color: white; font-size: 38px;");
+    row->addWidget(value);
+    row->addStretch();
+
+    layout->addLayout(row);
+    layout->addSpacing(12);
+    return value;
+  };
+
+  time_label = makeRow("Time");
+  storage_label = makeRow("Storage");
+  ram_label = makeRow("Memory");
+  load_label = makeRow("Load");
+  ip_label = makeRow("IP Address");
+  wifi_label = makeRow("WiFi");
+  vpn_label = makeRow("VPN");
+  gps_label = makeRow("GPS");
+  telemetry_label = makeRow("Telemetry");
+
+  layout->addStretch();
+
+  setStyleSheet("StatusWindow { background-color: black; }");
+
+  // Refresh every second
+  QTimer *timer = new QTimer(this);
+  connect(timer, &QTimer::timeout, this, &StatusWindow::refresh);
+  timer->start(1000);
+  refresh();
+}
+
+void StatusWindow::refresh() {
+  // Time
+  time_label->setText(QDateTime::currentDateTime().toString("yyyy-MM-dd hh:mm:ss"));
+
+  // Storage
+  QString df = shellCmd("df -h /data | tail -1 | awk '{print $3 \" / \" $2 \" (\" $5 \" used)\"}'");
+  storage_label->setText(df);
+
+  // RAM
+  QString meminfo = readFile("/proc/meminfo");
+  long total = 0, avail = 0;
+  for (const QString &line : meminfo.split('\n')) {
+    if (line.startsWith("MemTotal:")) total = line.split(QRegExp("\\s+"))[1].toLong();
+    if (line.startsWith("MemAvailable:")) avail = line.split(QRegExp("\\s+"))[1].toLong();
+  }
+  if (total > 0) {
+    long used = total - avail;
+    ram_label->setText(QString("%1 / %2 MB").arg(used / 1024).arg(total / 1024));
+  }
+
+  // Load
+  QString loadavg = readFile("/proc/loadavg");
+  QStringList parts = loadavg.split(' ');
+  if (parts.size() >= 3) {
+    load_label->setText(QString("%1  %2  %3").arg(parts[0], parts[1], parts[2]));
+  }
+
+  // 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);
+
+  QString essid = shellCmd("iwconfig wlan0 2>/dev/null | grep -oP 'ESSID:\"\\K[^\"]*'");
+  wifi_label->setText(essid.isEmpty() ? "Not connected" : essid);
+
+  // VPN
+  QString tun = shellCmd("ip link show tun0 2>/dev/null | head -1");
+  if (tun.contains("UP")) {
+    QString vpn_ip = shellCmd("ip addr show tun0 2>/dev/null | grep 'inet ' | awk '{print $2}'");
+    vpn_label->setText("Connected (" + vpn_ip + ")");
+    vpn_label->setStyleSheet("color: #17c44d; font-size: 38px;");
+  } else {
+    vpn_label->setText("Not connected");
+    vpn_label->setStyleSheet("color: #ff4444; font-size: 38px;");
+  }
+
+  // GPS
+  QString gps_raw = shellCmd("cat /data/params/d/LastGPSPosition 2>/dev/null");
+  if (gps_raw.isEmpty()) {
+    gps_label->setText("No fix");
+    gps_label->setStyleSheet("color: #ff4444; font-size: 38px;");
+  } else {
+    gps_label->setText(gps_raw);
+    gps_label->setStyleSheet("color: white; font-size: 38px;");
+  }
+
+  // Telemetry
+  QString telem = shellCmd("cat /data/params/d/TelemetryEnabled 2>/dev/null");
+  if (telem == "1") {
+    telemetry_label->setText("Enabled");
+    telemetry_label->setStyleSheet("color: #17c44d; font-size: 38px;");
+  } else {
+    telemetry_label->setText("Disabled");
+    telemetry_label->setStyleSheet("color: grey; font-size: 38px;");
+  }
+}
+
+void StatusWindow::mousePressEvent(QMouseEvent *e) {
+  emit closeStatus();
+}
--- a/selfdrive/ui/qt/window.h
+++ b/selfdrive/ui/qt/window.h
@@ -1,12 +1,42 @@
 #pragma once

 #include <QStackedLayout>
+#include <QLabel>
+#include <QSocketNotifier>
+#include <QTimer>
 #include <QWidget>

 #include "selfdrive/ui/qt/home.h"
 #include "selfdrive/ui/qt/offroad/onboarding.h"
 #include "selfdrive/ui/qt/offroad/settings.h"

+class StatusWindow : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit StatusWindow(QWidget *parent = 0);
+
+protected:
+  void mousePressEvent(QMouseEvent *e) override;
+
+signals:
+  void closeStatus();
+
+private slots:
+  void refresh();
+
+private:
+  QLabel *storage_label;
+  QLabel *ram_label;
+  QLabel *load_label;
+  QLabel *ip_label;
+  QLabel *wifi_label;
+  QLabel *vpn_label;
+  QLabel *gps_label;
+  QLabel *time_label;
+  QLabel *telemetry_label;
+};
+
 class MainWindow : public QWidget {
  Q_OBJECT

@@ -16,13 +46,24 @@ public:
 private:
  bool eventFilter(QObject *obj, QEvent *event) override;
  void openSettings(int index = 0, const QString &param = "");
+  void openStatus();
  void closeSettings();
+  QString dumpWidgetTree(QWidget *w, int depth = 0);

  QStackedLayout *main_layout;
  HomeWindow *homeWindow;
  SettingsWindow *settingsWindow;
+  StatusWindow *statusWindow;
  OnboardingWindow *onboardingWindow;

+  // CLEARPILOT: UI introspection RPC
+  void *zmq_ctx = nullptr;
+  void *zmq_sock = nullptr;
+  QSocketNotifier *rpc_notifier = nullptr;
+
  // FrogPilot variables
  Params params;
+
+private slots:
+  void handleRpcRequest();
 };