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/CLAUDE.md
+++ b/CLAUDE.md
@@ -57,7 +57,7 @@ chown -R comma:comma /data/openpilot

 ### Testing Changes

-Always use `build_only.sh` to compile, then start the manager separately. Never compile individual targets with scons directly — always use the full build script. Always use full paths with `su - comma` — the login shell drops into `/home/comma` (volatile tmpfs), not `/data/openpilot`.
+Always use `build_only.sh` to compile, then start the manager separately. Never compile individual targets with scons directly — always use the full build script. Always use full paths with `su - comma` — the login shell drops into `/home/comma` (volatile tmpfs), not `/data/openpilot`. **Always start the manager after a successful build** — don't wait for the user to ask.

 ```bash
 # 1. Fix ownership (we edit as root, openpilot runs as comma)
@@ -93,6 +93,65 @@ The params system uses a C++ whitelist. Adding a new param name in `manager.py`
 - OMX encoder object (`omx_encoder.o`) is compiled by the UI build — reference the pre-built `.o` file rather than recompiling (avoids "two environments" scons error)
 - `prebuilt` is recreated after every successful build — always remove it before rebuilding

+## Bench Mode (Onroad UI Testing)
+
+Bench mode allows testing the onroad UI without a car connected. It runs a fake vehicle simulator (`bench_onroad.py`) as a managed process and disables real car processes (pandad, thermald, controlsd, etc.).
+
+### Usage
+
+**IMPORTANT**: Do NOT use `echo` to write bench params — `echo` appends a newline which causes param parsing to fail silently (e.g. gear stays in park). Always use the `bench_cmd.py` tool.
+
+```bash
+# 1. Start in bench mode
+su - comma -c "bash /data/openpilot/launch_openpilot.sh --bench"
+
+# 2. Wait for UI to be ready (polls RPC, up to 10s)
+su - comma -c "PYTHONPATH=/data/openpilot python3 -m selfdrive.clearpilot.bench_cmd wait_ready"
+
+# 3. Control vehicle state
+su - comma -c "PYTHONPATH=/data/openpilot python3 -m selfdrive.clearpilot.bench_cmd gear D"
+su - comma -c "PYTHONPATH=/data/openpilot python3 -m selfdrive.clearpilot.bench_cmd speed 20"
+su - comma -c "PYTHONPATH=/data/openpilot python3 -m selfdrive.clearpilot.bench_cmd speedlimit 45"
+su - comma -c "PYTHONPATH=/data/openpilot python3 -m selfdrive.clearpilot.bench_cmd cruise 55"
+su - comma -c "PYTHONPATH=/data/openpilot python3 -m selfdrive.clearpilot.bench_cmd engaged 1"
+
+# 4. Inspect UI widget tree (RPC call, instant response)
+su - comma -c "PYTHONPATH=/data/openpilot python3 -m selfdrive.clearpilot.bench_cmd dump"
+```
+
+### UI Introspection RPC
+
+The UI process runs a ZMQ REP server at `ipc:///tmp/clearpilot_ui_rpc`. Send `"dump"` to get a recursive widget tree showing class name, visibility, geometry, and stacked layout current indices. This is the primary debugging tool for understanding what the UI is displaying.
+
+- `bench_cmd dump` — queries the RPC and prints the widget tree
+- `bench_cmd wait_ready` — polls the RPC every second until `ReadyWindow` is visible (up to 10s)
+- `ui_dump.py` — standalone dump tool (same as `bench_cmd dump`)
+
+### Architecture
+
+- `launch_openpilot.sh --bench` sets `BENCH_MODE=1` env var
+- `manager.py` reads `BENCH_MODE`, blocks real car processes, enables `bench_onroad` process
+- `bench_onroad.py` publishes fake `deviceState`, `pandaStates`, `carState`, `controlsState` at correct frequencies
+- The UI receives these messages identically to real car data
+- Blocked processes in bench mode: pandad, thermald, controlsd, radard, plannerd, calibrationd, torqued, paramsd, locationd, sensord, ubloxd, pigeond, dmonitoringmodeld, dmonitoringd, modeld, soundd, camerad, loggerd, micd, dashcamd
+
+### Key Files
+
+| File | Role |
+|------|------|
+| `selfdrive/clearpilot/bench_onroad.py` | Fake vehicle state publisher |
+| `selfdrive/clearpilot/bench_cmd.py` | Command tool for setting bench params and querying UI |
+| `selfdrive/clearpilot/ui_dump.py` | Standalone UI widget tree dump |
+| `selfdrive/manager/process_config.py` | Registers bench_onroad as managed process (enabled=BENCH_MODE) |
+| `selfdrive/manager/manager.py` | Blocks conflicting processes in bench mode |
+| `launch_openpilot.sh` | Accepts `--bench` flag, exports BENCH_MODE env var |
+| `selfdrive/ui/qt/window.cc` | UI RPC server (`ipc:///tmp/clearpilot_ui_rpc`), widget tree dump |
+
+### Known Issues
+
+- The UI segfaults (exit code -11) when switching to the onroad camera view without a camera feed. The `CameraWidget` / `AnnotatedCameraWidget` crash on empty VisionIPC buffers. camerad is blocked in bench mode, but the `OnroadWindow` still contains a `CameraWidget` that crashes when made visible. Need to either provide fake VisionIPC frames or make the camera widget gracefully handle missing data.
+- The `showDriverView` function in `home.cc` was previously overriding park/drive transitions every frame. Fixed to only act when not in started+parked state, but transitions to onroad (drive) view still trigger the camera crash.
+
 ## Session Logging

 Per-process stderr and an aggregate event log are captured in `/data/log2/{session}/`.
--- a/common/params.cc
+++ b/common/params.cc
@@ -193,6 +193,7 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
    {"SshEnabled", PERSISTENT},
    {"TermsVersion", PERSISTENT},
+    {"TelemetryEnabled", PERSISTENT},
    {"Timezone", PERSISTENT},
    {"TrainingVersion", PERSISTENT},
    {"UbloxAvailable", PERSISTENT},
@@ -211,6 +212,12 @@ std::unordered_map<std::string, uint32_t> keys = {

    // FrogPilot parameters
    {"AccelerationPath", PERSISTENT},
+    {"BenchCruiseSpeed", CLEAR_ON_MANAGER_START},
+    {"ClpUiState", CLEAR_ON_MANAGER_START},
+    {"BenchEngaged", CLEAR_ON_MANAGER_START},
+    {"BenchGear", CLEAR_ON_MANAGER_START},
+    {"BenchSpeed", CLEAR_ON_MANAGER_START},
+    {"BenchSpeedLimit", CLEAR_ON_MANAGER_START},
    {"AccelerationProfile", PERSISTENT},
    {"AdjacentPath", PERSISTENT},
    {"AdjacentPathMetrics", PERSISTENT},
--- a/launch_openpilot.sh
+++ b/launch_openpilot.sh
@@ -12,5 +12,10 @@ sleep 1

 bash /data/openpilot/system/clearpilot/on_start.sh

+# CLEARPILOT: pass --bench flag through to manager via env var
+if [ "$1" = "--bench" ]; then
+  export BENCH_MODE=1
+fi
+
 cd /data/openpilot
 exec ./launch_chffrplus.sh
--- a/selfdrive/clearpilot/bench_cmd.py
+++ b/selfdrive/clearpilot/bench_cmd.py
@@ -0,0 +1,122 @@
+#!/usr/bin/env python3
+"""
+ClearPilot bench command tool. Sets bench params and queries UI state.
+
+Usage:
+  python3 -m selfdrive.clearpilot.bench_cmd gear D
+  python3 -m selfdrive.clearpilot.bench_cmd speed 20
+  python3 -m selfdrive.clearpilot.bench_cmd speedlimit 45
+  python3 -m selfdrive.clearpilot.bench_cmd cruise 55
+  python3 -m selfdrive.clearpilot.bench_cmd engaged 1
+  python3 -m selfdrive.clearpilot.bench_cmd dump
+  python3 -m selfdrive.clearpilot.bench_cmd wait_ready
+"""
+import os
+import subprocess
+import sys
+import time
+import zmq
+from openpilot.common.params import Params
+
+
+def check_ui_process():
+  """Check if UI process is running and healthy. Returns error string or None if OK."""
+  try:
+    result = subprocess.run(["pgrep", "-a", "-f", "./ui"], capture_output=True, text=True)
+    if result.returncode != 0:
+      return "ERROR: UI process not running"
+    # Get the PID and check its uptime
+    for line in result.stdout.strip().split("\n"):
+      parts = line.split(None, 1)
+      if len(parts) >= 2 and "./ui" in parts[1]:
+        pid = parts[0]
+        try:
+          stat = os.stat(f"/proc/{pid}")
+          uptime = time.time() - stat.st_mtime
+          if uptime < 5:
+            return f"ERROR: UI process (pid {pid}) uptime {uptime:.1f}s — likely crash looping. Check: tail /data/log2/$(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()
--- a/selfdrive/clearpilot/bench_onroad.py
+++ b/selfdrive/clearpilot/bench_onroad.py
@@ -0,0 +1,129 @@
+#!/usr/bin/env python3
+"""
+ClearPilot bench onroad simulator.
+
+Publishes fake messages to make the UI go onroad and display
+configurable vehicle state. Control values via params in /dev/shm/params:
+
+  BenchSpeed         - vehicle speed in mph (default: 0)
+  BenchSpeedLimit    - speed limit in mph (default: 0, 0=hidden)
+  BenchCruiseSpeed   - cruise set speed in mph (default: 0, 0=not set)
+  BenchGear          - P, D, R, N (default: P)
+  BenchEngaged       - 0 or 1, cruise engaged (default: 0)
+
+Usage:
+  su - comma -c "PYTHONPATH=/data/openpilot python3 -m selfdrive.clearpilot.bench_onroad"
+
+To stop: Ctrl+C or kill the process. UI returns to offroad.
+"""
+import time
+
+import cereal.messaging as messaging
+from cereal import log, car
+from openpilot.common.params import Params
+
+MS_PER_MPH = 0.44704
+
+
+def main():
+  params = Params()
+  params_mem = Params("/dev/shm/params")
+
+  # Set defaults
+  params_mem.put("BenchSpeed", "0")
+  params_mem.put("BenchSpeedLimit", "0")
+  params_mem.put("BenchCruiseSpeed", "0")
+  params_mem.put("BenchGear", "P")
+  params_mem.put("BenchEngaged", "0")
+
+  pm = messaging.PubMaster([
+    "deviceState", "pandaStates", "carState", "controlsState",
+    "driverMonitoringState", "liveCalibration",
+  ])
+
+  print("Bench onroad simulator started")
+  print("Set values in /dev/shm/params/d/Bench*")
+  print("  BenchSpeed=0  BenchSpeedLimit=0  BenchCruiseSpeed=0  BenchGear=P  BenchEngaged=0")
+
+  gear_map = {
+    "P": car.CarState.GearShifter.park,
+    "D": car.CarState.GearShifter.drive,
+    "R": car.CarState.GearShifter.reverse,
+    "N": car.CarState.GearShifter.neutral,
+  }
+
+  frame = 0
+  try:
+    while True:
+      # Read bench params
+      speed_mph = float((params_mem.get("BenchSpeed", encoding="utf-8") or "0").strip())
+      speed_limit_mph = float((params_mem.get("BenchSpeedLimit", encoding="utf-8") or "0").strip())
+      cruise_mph = float((params_mem.get("BenchCruiseSpeed", encoding="utf-8") or "0").strip())
+      gear_str = (params_mem.get("BenchGear", encoding="utf-8") or "P").strip().upper()
+      engaged = (params_mem.get("BenchEngaged", encoding="utf-8") or "0").strip() == "1"
+
+      speed_ms = speed_mph * MS_PER_MPH
+      gear = gear_map.get(gear_str, car.CarState.GearShifter.park)
+
+      # deviceState — 2 Hz
+      if frame % 5 == 0:
+        dat = messaging.new_message("deviceState")
+        dat.deviceState.started = True
+        dat.deviceState.freeSpacePercent = 80
+        dat.deviceState.memoryUsagePercent = 30
+        dat.deviceState.cpuTempC = [40.0] * 3
+        dat.deviceState.gpuTempC = [40.0] * 3
+        dat.deviceState.cpuUsagePercent = [20] * 8
+        dat.deviceState.networkType = log.DeviceState.NetworkType.cell4G
+        pm.send("deviceState", dat)
+
+      # pandaStates — 10 Hz
+      if frame % 1 == 0:
+        dat = messaging.new_message("pandaStates", 1)
+        dat.pandaStates[0].ignitionLine = True
+        dat.pandaStates[0].pandaType = log.PandaState.PandaType.tres
+        pm.send("pandaStates", dat)
+
+      # carState — 10 Hz
+      dat = messaging.new_message("carState")
+      cs = dat.carState
+      cs.vEgo = speed_ms
+      cs.vEgoCluster = speed_ms
+      cs.gearShifter = gear
+      cs.standstill = speed_ms < 0.1
+      cs.cruiseState.available = True
+      cs.cruiseState.enabled = engaged
+      cs.cruiseState.speed = cruise_mph * MS_PER_MPH if cruise_mph > 0 else 0
+      pm.send("carState", dat)
+
+      # controlsState — 10 Hz
+      dat = messaging.new_message("controlsState")
+      ctl = dat.controlsState
+      ctl.vCruise = cruise_mph * 1.60934 if cruise_mph > 0 else 255  # km/h or 255=not set
+      ctl.vCruiseCluster = ctl.vCruise
+      ctl.enabled = engaged
+      ctl.active = engaged
+      pm.send("controlsState", dat)
+
+      # driverMonitoringState — low freq
+      if frame % 10 == 0:
+        dat = messaging.new_message("driverMonitoringState")
+        dat.driverMonitoringState.isActiveMode = True
+        pm.send("driverMonitoringState", dat)
+
+      # liveCalibration — low freq
+      if frame % 50 == 0:
+        dat = messaging.new_message("liveCalibration")
+        dat.liveCalibration.calStatus = log.LiveCalibrationData.Status.calibrated
+        dat.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
+        pm.send("liveCalibration", dat)
+
+      frame += 1
+      time.sleep(0.1)  # 10 Hz base loop
+
+  except KeyboardInterrupt:
+    print("\nBench simulator stopped")
+
+
+if __name__ == "__main__":
+  main()
--- a/selfdrive/clearpilot/telemetryd.py
+++ b/selfdrive/clearpilot/telemetryd.py
@@ -5,18 +5,28 @@ ClearPilot telemetry collector.
 Receives telemetry packets from any process via ZMQ, diffs against previous
 state per group, and writes only changed values to CSV.

+Controlled by TelemetryEnabled param — when toggled on, the first packet
+from each group writes all values (full dump). When toggled off, stops writing.
+
 CSV format: timestamp,group,key,value
 """
 import csv
 import json
 import os
+import shutil
+import time
 import zmq

+from openpilot.common.params import Params
 from openpilot.selfdrive.clearpilot.telemetry import TELEMETRY_SOCK
-from openpilot.selfdrive.manager.process import _log_dir
+from openpilot.selfdrive.manager.process import _log_dir, session_log
+
+MIN_DISK_FREE_GB = 5
+DISK_CHECK_INTERVAL = 10  # seconds


 def main():
+  params = Params()
  ctx = zmq.Context.instance()
  sock = ctx.socket(zmq.PULL)
  sock.setsockopt(zmq.RCVHWM, 1000)
@@ -24,16 +34,54 @@ def main():

  csv_path = os.path.join(_log_dir, "telemetry.csv")
  state: dict[str, dict] = {}  # group -> {key: last_value}
-
-  with open(csv_path, "w", newline="") as f:
-    writer = csv.writer(f)
-    writer.writerow(["timestamp", "group", "key", "value"])
-    f.flush()
+  was_enabled = False
+  writer = None
+  f = None
+  last_disk_check = 0

  while True:
+    # Check enable state every iteration (cheap param read)
+    enabled = params.get("TelemetryEnabled") == b"1"
+
+    # Check disk space every 10 seconds while enabled
+    if enabled and (time.monotonic() - last_disk_check) > DISK_CHECK_INTERVAL:
+      last_disk_check = time.monotonic()
+      disk = shutil.disk_usage("/data")
+      free_gb = disk.free / (1024 ** 3)
+      if free_gb < MIN_DISK_FREE_GB:
+        session_log.warning("telemetry disabled: disk free %.1f GB < %d GB", free_gb, MIN_DISK_FREE_GB)
+        params.put("TelemetryEnabled", "0")
+        enabled = False
+
+    # Toggled on: open CSV, clear state so first packet is a full dump
+    if enabled and not was_enabled:
+      f = open(csv_path, "a", newline="")
+      writer = csv.writer(f)
+      if os.path.getsize(csv_path) == 0:
+        writer.writerow(["timestamp", "group", "key", "value"])
+      state.clear()  # force full dump on first packet per group
+      f.flush()
+
+    # Toggled off: close file
+    if not enabled and was_enabled:
+      if f:
+        f.close()
+        f = None
+        writer = None
+
+    was_enabled = enabled
+
+    # Always drain the socket (even when disabled) to avoid backpressure
    try:
-        raw = sock.recv_string()
+      raw = sock.recv_string(zmq.NOBLOCK)
+    except zmq.Again:
+      time.sleep(0.01)
+      continue
    except zmq.ZMQError:
+      time.sleep(0.01)
+      continue
+
+    if not enabled or writer is None:
      continue

    try:
@@ -52,7 +100,6 @@ def main():
    changed = False

    for key, value in data.items():
-        # Convert to string for comparison so floats/ints/bools all diff correctly
      str_val = str(value)
      if key not in prev or prev[key] != str_val:
        writer.writerow([f"{ts:.6f}", group, key, str_val])
--- a/selfdrive/clearpilot/ui_dump.py
+++ b/selfdrive/clearpilot/ui_dump.py
@@ -0,0 +1,12 @@
+#!/usr/bin/env python3
+"""Query the UI process for its current widget tree. Usage: python3 -m selfdrive.clearpilot.ui_dump"""
+import zmq
+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:
+  print(sock.recv_string())
+except zmq.Again:
+  print("ERROR: UI not responding (timeout)")
--- a/selfdrive/manager/manager.py
+++ b/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')
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@@ -7,6 +7,7 @@ from openpilot.selfdrive.manager.process import PythonProcess, NativeProcess, Da


 WEBCAM = os.getenv("USE_WEBCAM") is not None
+BENCH_MODE = os.getenv("BENCH_MODE") is not None

 def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
  return started or params.get_bool("IsDriverViewEnabled")
@@ -110,6 +111,7 @@ procs = [
  # ClearPilot processes
  NativeProcess("dashcamd", "selfdrive/clearpilot", ["./dashcamd"], dashcam_should_run),
  PythonProcess("telemetryd", "selfdrive.clearpilot.telemetryd", always_run),
+  PythonProcess("bench_onroad", "selfdrive.clearpilot.bench_onroad", always_run, enabled=BENCH_MODE),
 ]

 managed_processes = {p.name: p for p in procs}
--- 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 {
+    sidebar->setVisible(false);
+  } else if (!started) {
+    // Offroad, not started — show home menu
    slayout->setCurrentWidget(home);
-      sidebar->setVisible(show == false);
-    }
+    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);
-
-  // grid of launcher buttons
-  QGridLayout *grid = new QGridLayout();
-  grid->setSpacing(40);
-
-  // Dashcam viewer button
-  QPushButton *dashcam_btn = new QPushButton("Dashcam");
-  dashcam_btn->setFixedSize(400, 300);
-  dashcam_btn->setStyleSheet(R"(
+static const char *clpSidebarBtnStyle = R"(
  QPushButton {
-      background-color: #333333;
+    color: grey;
+    border: none;
+    background: none;
+    font-size: 65px;
+    font-weight: 500;
+  }
+  QPushButton:checked {
    color: white;
-      border-radius: 20px;
-      font-size: 48px;
-      font-weight: 600;
  }
  QPushButton:pressed {
-      background-color: #555555;
+    color: #ADADAD;
  }
-  )");
-  grid->addWidget(dashcam_btn, 0, 0);
+)";

-  // Settings button
-  QPushButton *settings_btn = new QPushButton("Settings");
-  settings_btn->setFixedSize(400, 300);
-  settings_btn->setStyleSheet(R"(
+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);
+
+  // 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;
    }
  )");
-  QObject::connect(settings_btn, &QPushButton::clicked, [=]() { emit openSettings(); });
-  grid->addWidget(settings_btn, 0, 1);
+  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(); });

-  main_layout->addStretch();
-  main_layout->addLayout(grid);
-  main_layout->addStretch();
+  // 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: #393939;
+      color: white;
+      border-radius: 15px;
+      font-size: 50px;
+      font-weight: 500;
+      text-align: left;
+      padding-left: 30px;
+    }
+    QPushButton:pressed { background-color: #4a4a4a; }
+  )");
+  QObject::connect(status_btn, &QPushButton::clicked, [=]() { emit openStatus(); });
+  home_layout->addWidget(status_btn);
+
+  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();
 };