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/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();
+}