port startup-related changes from broken tree

Restores the boot/launch chain customizations on top of the freshly-reset
baseline. Driving-model and per-feature changes (dashcamd, telemetry, gpsd,
bench mode, manager wiring) are deliberately left out and will be ported
piecemeal.

Brought in:
- launch_openpilot.sh: kill stale instances, run on_start.sh, background
  vpn-monitor + nice-monitor, BENCH_MODE pass-through
- launch_chffrplus.sh: source build_preflight.sh, kill stale text-error UI
- build_only.sh, build_preflight.sh
- system/clearpilot/on_start.sh: SSH keys, ssh.service enable, git.hanson.xyz
  Host config, WiFi radio on, run provision.sh
- system/clearpilot/provision.sh + provision_wrapper.sh: connectivity wait,
  apt install (openvpn, curl, ccrypt, nodejs), Claude Code installer, git
  remote fix, fast-forward origin/clearpilot, /data/quick_boot
- system/clearpilot/vpn-monitor.sh + vpn.ovpn: OpenVPN tunnel auto-connect
- system/clearpilot/nice-monitor.sh: keep claude processes at nice 19
- system/clearpilot/dev: id_ed25519.{cpt,pub.cpt}, GithubSshKeys, encrypt.sh
  (DongleId-keyed instead of hardware-serial)
- system/clearpilot/tools/{decrypt,encrypt}: switch key source to DongleId
- system/clearpilot/startup_logo/{bg.jpg, generate_logo.sh, set_logo.sh}
- selfdrive/ui/qt/spinner{,.cc,.h}: new spinner with logo

Removed (baseline-only flow superseded by broken's on_start.sh+provision.sh):
- system/clearpilot/dev/on_start.sh
- system/clearpilot/dev/on_start_brian.sh.cpt
- system/clearpilot/dev/provision.sh

build_only.sh

@@ -0,0 +1,38 @@
+#!/usr/bin/bash
+# CLEARPILOT: build-only mode — compile without starting manager.
+# On failure: shows error on screen (non-blocking) and exits nonzero with stderr output.
+# On success: exits 0, does not start manager.
+#
+# Usage: su - comma -c "bash /data/openpilot/build_only.sh"
+
+BASEDIR="/data/openpilot"
+
+# Fix ownership — we edit as root, openpilot builds/runs as comma
+sudo chown -R comma:comma "$BASEDIR"
+
+# Kill stale error displays and any running manager/launch/managed processes
+pkill -9 -f "selfdrive/ui/text" 2>/dev/null
+pkill -9 -f 'launch_openpilot.sh' 2>/dev/null
+pkill -9 -f 'launch_chffrplus.sh' 2>/dev/null
+pkill -9 -f 'python.*manager.py' 2>/dev/null
+pkill -9 -f 'selfdrive\.' 2>/dev/null
+pkill -9 -f 'system\.' 2>/dev/null
+pkill -9 -f './ui' 2>/dev/null
+sleep 1
+
+source "$BASEDIR/launch_env.sh"
+
+ln -sfn "$BASEDIR" /data/pythonpath
+export PYTHONPATH="$BASEDIR"
+
+# Hardware init (GPU perms)
+sudo chgrp gpu /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0 2>/dev/null
+sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0 2>/dev/null
+
+# Preflight: create dirs git can't track
+source "$BASEDIR/build_preflight.sh"
+
+cd "$BASEDIR/selfdrive/manager"
+rm -f "$BASEDIR/prebuilt"
+
+BUILD_ONLY=1 exec ./build.py

build_preflight.sh

@@ -0,0 +1,11 @@
+#!/usr/bin/bash
+# CLEARPILOT: build preflight — create directories and fix state that
+# git cannot track but the build requires.  Called by build_only.sh and
+# launch_chffrplus.sh before scons runs.
+
+BASEDIR="${BASEDIR:-/data/openpilot}"
+
+# SConscript files write generated headers into obj/ directories at
+# parse time — these must exist before scons starts.
+mkdir -p "$BASEDIR/body/board/obj"
+mkdir -p "$BASEDIR/panda/board/obj"

launch_chffrplus.sh

@@ -79,9 +79,15 @@ function launch {
     agnos_init
   fi
 
+  # CLEARPILOT: kill stale error display from previous build/run
+  pkill -f "selfdrive/ui/text" 2>/dev/null
+
   # write tmux scrollback to a file
   tmux capture-pane -pq -S-1000 > /tmp/launch_log
 
+  # Preflight: create dirs git can't track
+  source "$DIR/build_preflight.sh"
+
   # start manager
   cd selfdrive/manager
   if [ ! -f $DIR/prebuilt ]; then

launch_openpilot.sh

@@ -1,5 +1,38 @@
 #!/usr/bin/bash
 
+# Kill other instances of this script, launch chain, and all managed processes
+for pid in $(pgrep -f 'launch_openpilot.sh' | grep -v $$); do
+  kill -9 "$pid" 2>/dev/null
+done
+for pid in $(pgrep -f 'launch_chffrplus.sh' | grep -v $$); do
+  kill -9 "$pid" 2>/dev/null
+done
+pkill -9 -f 'python.*manager.py' 2>/dev/null
+# Kill all processes started by the manager (run as comma user, in openpilot tree)
+pkill -9 -f 'selfdrive\.' 2>/dev/null
+pkill -9 -f 'system\.' 2>/dev/null
+pkill -9 -f './ui' 2>/dev/null
+pkill -9 -f 'selfdrive/ui/text' 2>/dev/null
+sleep 1
+
+# CLEARPILOT: ensure params persistence dir is owned by comma:comma. Editing
+# the tree as root leaves files owned by root in /data/params/d_tmp/, and
+# Params writes done as comma will then EACCES on rename. Reset on every
+# launch so this never silently breaks again.
+sudo chown -R comma:comma /data/params
+
 bash /data/openpilot/system/clearpilot/on_start.sh
 
+# CLEARPILOT: start VPN monitor (kills previous instances, runs as root)
+sudo bash -c 'nohup /data/openpilot/system/clearpilot/vpn-monitor.sh >> /tmp/vpn-monitor.log 2>&1 &'
+
+# CLEARPILOT: start nice monitor (keeps claude at nice 19)
+sudo bash -c 'nohup /data/openpilot/system/clearpilot/nice-monitor.sh > /dev/null 2>&1 &'
+
+# 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

selfdrive/ui/qt/spinner.cc

@@ -15,48 +15,24 @@
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/util.h"
 
-TrackWidget::TrackWidget(QWidget *parent) : QWidget(parent) {
+// CLEARPILOT: full-screen boot logo background with progress bar overlay
-  setAttribute(Qt::WA_OpaquePaintEvent);
-  setFixedSize(spinner_size);
-
-  // pre-compute all the track imgs. make this a gif instead?
-  QPixmap comma_img = loadPixmap("../assets/img_spinner_comma.png", spinner_size);
-  QPixmap track_img = loadPixmap("../assets/img_spinner_track.png", spinner_size);
-
-  QTransform transform(1, 0, 0, 1, width() / 2, height() / 2);
-  QPixmap pm(spinner_size);
-  QPainter p(&pm);
-  p.setRenderHint(QPainter::SmoothPixmapTransform);
-  for (int i = 0; i < track_imgs.size(); ++i) {
-    p.resetTransform();
-    p.fillRect(0, 0, spinner_size.width(), spinner_size.height(), Qt::black);
-    p.drawPixmap(0, 0, comma_img);
-    p.setTransform(transform.rotate(360 / spinner_fps));
-    p.drawPixmap(-width() / 2, -height() / 2, track_img);
-    track_imgs[i] = pm.copy();
-  }
-
-  m_anim.setDuration(1000);
-  m_anim.setStartValue(0);
-  m_anim.setEndValue(int(track_imgs.size() -1));
-  m_anim.setLoopCount(-1);
-  m_anim.start();
-  connect(&m_anim, SIGNAL(valueChanged(QVariant)), SLOT(update()));
-}
-
-void TrackWidget::paintEvent(QPaintEvent *event) {
-  QPainter painter(this);
-  painter.drawPixmap(0, 0, track_imgs[m_anim.currentValue().toInt()]);
-}
-
-// Spinner
 
 Spinner::Spinner(QWidget *parent) : QWidget(parent) {
+  // Load boot logo as full-screen background, rotated 90° CCW
+  // (bg.jpg is pre-rotated 90° CW for the raw framebuffer)
+  QPixmap boot_logo("/usr/comma/bg.jpg");
+  if (!boot_logo.isNull()) {
+    QTransform rot;
+    rot.rotate(-90);
+    bg_img = boot_logo.transformed(rot);
+  }
+
   QGridLayout *main_layout = new QGridLayout(this);
   main_layout->setSpacing(0);
-  main_layout->setMargin(200);
+  main_layout->setMargin(0);
 
-  main_layout->addWidget(new TrackWidget(this), 0, 0, Qt::AlignHCenter | Qt::AlignVCenter);
+  // Spacer to push progress bar toward bottom
+  main_layout->setRowStretch(0, 1);
 
   text = new QLabel();
   text->setWordWrap(true);
@@ -69,7 +45,10 @@ Spinner::Spinner(QWidget *parent) : QWidget(parent) {
   progress_bar->setTextVisible(false);
   progress_bar->setVisible(false);
   progress_bar->setFixedHeight(20);
-  main_layout->addWidget(progress_bar, 1, 0, Qt::AlignHCenter);
+  main_layout->addWidget(progress_bar, 2, 0, Qt::AlignHCenter | Qt::AlignBottom);
+
+  // Bottom margin for progress bar
+  main_layout->setContentsMargins(0, 0, 0, 80);
 
   setStyleSheet(R"(
     Spinner {
@@ -88,7 +67,7 @@ Spinner::Spinner(QWidget *parent) : QWidget(parent) {
     }
     QProgressBar::chunk {
       border-radius: 10px;
-      background-color: rgba(23, 134, 68, 255);
+      background-color: white;
     }
   )");
 
@@ -96,6 +75,17 @@ Spinner::Spinner(QWidget *parent) : QWidget(parent) {
   QObject::connect(notifier, &QSocketNotifier::activated, this, &Spinner::update);
 }
 
+void Spinner::paintEvent(QPaintEvent *event) {
+  QPainter p(this);
+  p.fillRect(rect(), Qt::black);
+  if (!bg_img.isNull()) {
+    QPixmap scaled = bg_img.scaled(size(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
+    int x = (width() - scaled.width()) / 2;
+    int y = (height() - scaled.height()) / 2;
+    p.drawPixmap(x, y, scaled);
+  }
+}
+
 void Spinner::update(int n) {
   std::string line;
   std::getline(std::cin, line);

selfdrive/ui/qt/spinner.h

@@ -1,36 +1,23 @@
-#include <array>
-
 #include <QLabel>
 #include <QPixmap>
 #include <QProgressBar>
 #include <QSocketNotifier>
-#include <QVariantAnimation>
 #include <QWidget>
 
-constexpr int spinner_fps = 30;
-constexpr QSize spinner_size = QSize(360, 360);
-
-class TrackWidget : public QWidget  {
-  Q_OBJECT
-public:
-  TrackWidget(QWidget *parent = nullptr);
-
-private:
-  void paintEvent(QPaintEvent *event) override;
-  std::array<QPixmap, spinner_fps> track_imgs;
-  QVariantAnimation m_anim;
-};
-
 class Spinner : public QWidget {
   Q_OBJECT
 
 public:
   explicit Spinner(QWidget *parent = 0);
 
+protected:
+  void paintEvent(QPaintEvent *event) override;
+
 private:
   QLabel *text;
   QProgressBar *progress_bar;
   QSocketNotifier *notifier;
+  QPixmap bg_img;
 
 public slots:
   void update(int n);

system/clearpilot/dev/GithubSshKeys

@@ -1,3 +1,5 @@
 ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABgQDQtHTzkeRlOXDWyK/IvO2RgjSdoq6V81u3YtcyIxBZVX2zCj1xzE9zWcUcVxloe63rB/DBasChODIRBtp1vGnWb/EkLWAuOqS2V5rzhlcSfM103++TI81e04A7HDspWSNUXRh5OD/mUvwtYIH7S4QAkBiCro5lAgSToXNAOR4b4cXgNQecf+RhPc0Nm3K8Is1wEeQajmlC1E22YWBDDV+uoB3Uagl90e58Psbp8PunCdbeY9EfqQsymyloiTeqzKwHnmHnMXSlZluh7A+ifoKgohDsarT1FixAgxT0LSIxxINORhE4P6em/7y3xpgubPhNpbuQSzDlb3op3fwMoFcAEEYKWg+d9OGOrdiWa13aV0g7UNdW/XmmF/BAaBdSOZeomVNnxmftmmJWfu3jtFdwTDRQpZn7nDYC+aZ1R3Q0Xd4lLuqkA/9smUXLZuiBDJXwM5nDyWQR9tESIwlTLcdKAUpj0gQqpcozVehksNksTekZBAg/mYb6DKyYCTY0ti0=
 ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQCm/Vq50kqf94allqGq9luBGjDh2Do/rOCA719CRlDOErCvdY+ZaYNumQZ5AbFfU5KcPZwirJLBvhEoH/G0lEAg9TUaUgH/VvqBBztlpcmA1eplZHzEFLnTDn0oO4Tk46bXwjL0anOZfNaUGhbaO4Th7m+9+o16WUduEabPiyVbnqD6P44CANsvBJNKlyUDBzsdkE9z5gULp06i1+JqqXiGV81HoFWZe5YCFv4j4QUPvfmFhcBHViVrOFs87hS4Eu0gWNxQmQBhh6R1ZbjaBlGdE5GyDZQZwlofjfuO06e0HvCDuIAELSYqlGFCmUhlM/LZ6YkF79/HFrg5sS3gsuY5
 ssh-ed25519 AAAAC3NzaC1lZDI1NTE5AAAAIHbrOZrByUb2Ci21DdJkhWv/4Bz4oghL9joraQYFq4Om
+ssh-ed25519 AAAAC3NzaC1lZDI1NTE5AAAAIOkbLtbZ6jRwmvYiAtXDp7JZ+IBVJIrxY3ZPJ93aQCha root@concordia
+ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABgQCWTdewQ+jCUj9+ZJfte5h0meZhXayd7owIGyXHV0ELCeRAyQrurBPsdTTr7QhcugVuibI+Tr8L3BNuCN8nID5DH+BFAUejulGyMEmQ4Vh22p6Nt0niJHkfiJ2stfayPqe3qGRScVCcY3TpQqlzjyBWOvtwI9/118Gq/lKsjN7DYVwVMHhe1Yzh4SDHOKpsnmDfguRvCSzsg3ZeR1AduaqqM2y0sLZ09Cjpj/vJC/QQ2q2EWtzfmQPejFtjdbqvgoDEQ1OttD5dBgwCMOTPmPMmJ5ns6YJ4L+bi6hynO4/xn3efSHS2mSC6ACwiD/LtTMpsjbUVQsJ4pM/5GY08UoIdnH7P1N+6DA/hah+KAJe8U3WznT6OSXdwWXnYyV+hx4VHBz+/3MnbB1CwtoZoJDnQVpnT3IxBK+pnLHzZJh/g+bFrFbbAC50MRDsoV8nbYvHG3HJQ5GvK96S5NvllGTC/6zo/39ARvfrGtK/2NgNU+NZRjNN67cXjgcUIRdu6eJs= root@concordia

system/clearpilot/dev/encrypt.sh

@@ -1,17 +1,19 @@
 #!/bin/bash
 
-dongle_id=$(cat /data/params/d/DongleId)
+# Uses hardware serial as identity check and encryption key
-if [[ ! $dongle_id == 90bb71* ]]; then
+serial=$(sed 's/.*androidboot.serialno=\([^ ]*\).*/\1/' /proc/cmdline)
+if [[ $serial != 3889765b ]]; then
+    echo "Wrong device (serial=$serial)"
     exit 1
 fi
 
 # Encrypt SSH keys if source files exist using the custom encrypt tool
-if [ -f /data/openpilot/system/clearpilot/dev/id_rsa.pub ]; then
+if [ -f /data/openpilot/system/clearpilot/dev/id_ed25519.pub ]; then
-   bash /data/openpilot/system/clearpilot/tools/encrypt /data/openpilot/system/clearpilot/dev/id_rsa.pub /data/openpilot/system/clearpilot/dev/id_rsa.pub.cpt
+   bash /data/openpilot/system/clearpilot/tools/encrypt /data/openpilot/system/clearpilot/dev/id_ed25519.pub /data/openpilot/system/clearpilot/dev/id_ed25519.pub.cpt
 fi
 
-if [ -f /data/openpilot/system/clearpilot/dev/id_rsa ]; then
+if [ -f /data/openpilot/system/clearpilot/dev/id_ed25519 ]; then
-   bash /data/openpilot/system/clearpilot/tools/encrypt /data/openpilot/system/clearpilot/dev/id_rsa /data/openpilot/system/clearpilot/dev/id_rsa.cpt
+   bash /data/openpilot/system/clearpilot/tools/encrypt /data/openpilot/system/clearpilot/dev/id_ed25519 /data/openpilot/system/clearpilot/dev/id_ed25519.cpt
 fi
 
 if [ -f /data/openpilot/system/clearpilot/dev/reverse_ssh ]; then

system/clearpilot/dev/id_ed25519.pub.cpt

@@ -0,0 +1,2 @@
+•í-À‘-j¦ñqã	A†3ä"|}ôÚÁñžš.\ñ`þQ¥¶ßA^´­Ð×~LìbýÊ	ÞÔm!Òzï[®�Wí(¯«rýfo¼À˜¦Miê[&ÄoúÏV=�ˆQ�"2�A“i8ÐpÀ­"Á!þ1­“æ–G:š4ïá<-Ý
+#

system/clearpilot/dev/on_start.sh

@@ -1,17 +0,0 @@
-#!/bin/bash
-
-# tmp for debugging
-date >> /tmp/dongles
-echo check dongle >> /tmp/dongles
-cat /data/params/d/DongleId >> /tmp/dongles
-echo done >> /tmp/dongles
-
-dongle_id=$(cat /data/params/d/DongleId)
-if [[ ! $dongle_id == 90bb71* ]]; then
-    exit 1
-fi
-
-echo Bringing up brian dev environment
-
-bash /data/openpilot/system/clearpilot/dev/provision.sh
-bash /data/openpilot/system/clearpilot/dev/on_start_brian.sh

system/clearpilot/dev/on_start_brian.sh.cpt

@@ -1,2 +0,0 @@
-•Í’T4üoŠd¿á¹³€å–³!qús^§‘1E�Œ½—ðÓÉQ¯Åe|0b.7ša|Þ¶$Âï)x‰ ÷9‘Sü8BÌQÛ÷øÃ;TÝ`~?Q!hj2ÔŒwqô/[´ Xðt¬Ç5‡ü,«Ë�ñm¾^v�¯$vf‚ÇH°)J½A
-²W°n`<@’‹.¬ç&>­�&}m8˜‰àÃ;½\$^`Aª›Œ

system/clearpilot/dev/provision.sh

@@ -1,48 +0,0 @@
-#!/bin/bash
-
-# Provision script for BrianBot
-# These actions only occur on BrianBot's comma device.
-
-# 1. Check the string in /data/params/d/DongleId
-dongle_id=$(cat /data/params/d/DongleId)
-if [[ ! $dongle_id == 90bb71* ]]; then
-    exit 1
-fi
-
-echo "BrianBot dongle ID detected."
-
-# 2. Check if ccrypt is installed, install if not
-if ! command -v ccrypt >/dev/null 2>&1; then
-    echo "Installing ccrypt..."
-    sudo apt-get update
-    sudo apt-get install -y ccrypt
-fi
-
-# 3. Decrypt SSH keys if they have not been decrypted yet
-if [ ! -f /data/openpilot/system/clearpilot/dev/id_rsa.pub ]; then
-   echo "Decrypting SSH keys..."
-   bash /data/openpilot/system/clearpilot/tools/decrypt /data/openpilot/system/clearpilot/dev/id_rsa.pub.cpt /data/openpilot/system/clearpilot/dev/id_rsa.pub
-   bash /data/openpilot/system/clearpilot/tools/decrypt /data/openpilot/system/clearpilot/dev/id_rsa.cpt /data/openpilot/system/clearpilot/dev/id_rsa
-   bash /data/openpilot/system/clearpilot/tools/decrypt /data/openpilot/system/clearpilot/dev/on_start_brian.sh.cpt /data/openpilot/system/clearpilot/dev/on_start_brian.sh
-fi
-
-# 4. Ensure .ssh directory and keys exist
-ssh_dir="/data/ssh/.ssh"
-if [[ ! -f "$ssh_dir/id_rsa" || ! -f "$ssh_dir/id_rsa.pub" ]]; then
-    echo "Setting up SSH directory and keys..."
-    mkdir -p "$ssh_dir"
-    cp /data/openpilot/system/clearpilot/dev/id_rsa /data/openpilot/system/clearpilot/dev/id_rsa.pub "$ssh_dir"
-    chmod 700 "$ssh_dir"
-    chmod 600 "$ssh_dir/id_rsa" "$ssh_dir/id_rsa.pub"
-    echo hansonxyz > /data/params/d/GithubUsername
-    cat /data/openpilot/system/clearpilot/dev/GithubSshKeys > /data/params/d/GithubSshKeys
-    echo 1 > /data/params/d/SshEnabled
-    sudo systemctl restart ssh
-    cd /data/openpilot
-    git remote remove origin
-    git remote add origin git@privategit.hanson.xyz:brianhansonxyz/clearpilot.git
-fi
-
-echo "Script execution complete."
-
-

system/clearpilot/nice-monitor.sh

@@ -0,0 +1,19 @@
+#!/usr/bin/bash
+
+# Nice monitor — ensures claude processes run at lowest CPU priority.
+# Checks every 30 seconds and renices any claude process not already at nice 19.
+
+# Kill other instances of this script
+for pid in $(pgrep -f 'nice-monitor.sh' | grep -v $$); do
+  kill "$pid" 2>/dev/null
+done
+
+while true; do
+  for pid in $(pgrep -f 'claude' 2>/dev/null); do
+    cur=$(awk '{print $19}' /proc/$pid/stat 2>/dev/null)
+    if [ -n "$cur" ] && [ "$cur" != "19" ]; then
+      renice 19 -p "$pid" > /dev/null 2>&1
+    fi
+  done
+  sleep 30
+done

system/clearpilot/on_start.sh

@@ -3,5 +3,45 @@
 # Install logo
 bash /data/openpilot/system/clearpilot/startup_logo/set_logo.sh
 
-# Reverse ssh if brianbot dongle id
+# SSH — always, unconditionally, first thing
-bash /data/openpilot/system/clearpilot/dev/on_start.sh
+cat /data/openpilot/system/clearpilot/dev/GithubSshKeys > /data/params/d/GithubSshKeys
+echo -n 1 > /data/params/d/SshEnabled
+sudo systemctl enable ssh 2>/dev/null
+sudo systemctl start ssh
+
+# Decrypt and install SSH identity keys for root (git auth)
+serial=$(sed 's/.*androidboot.serialno=\([^ ]*\).*/\1/' /proc/cmdline)
+ssh_dir="/root/.ssh"
+if [[ $serial == 3889765b ]] && [[ ! -f "$ssh_dir/id_ed25519" || ! -f "$ssh_dir/id_ed25519.pub" ]]; then
+    echo "Decrypting SSH identity keys for root (serial=$serial)..."
+    tmpdir=$(mktemp -d)
+    bash /data/openpilot/system/clearpilot/tools/decrypt /data/openpilot/system/clearpilot/dev/id_ed25519.cpt "$tmpdir/id_ed25519"
+    bash /data/openpilot/system/clearpilot/tools/decrypt /data/openpilot/system/clearpilot/dev/id_ed25519.pub.cpt "$tmpdir/id_ed25519.pub"
+    sudo mkdir -p "$ssh_dir"
+    sudo cp "$tmpdir/id_ed25519" "$tmpdir/id_ed25519.pub" "$ssh_dir/"
+    rm -rf "$tmpdir"
+    sudo chmod 700 "$ssh_dir"
+    sudo chmod 600 "$ssh_dir/id_ed25519"
+    sudo chmod 644 "$ssh_dir/id_ed25519.pub"
+    echo "SSH identity keys installed to $ssh_dir"
+fi
+
+# Ensure root SSH config has git.hanson.xyz entry
+if ! grep -q "Host git.hanson.xyz" "$ssh_dir/config" 2>/dev/null; then
+    sudo tee -a "$ssh_dir/config" > /dev/null <<'SSHCFG'
+
+Host git.hanson.xyz
+    IdentityFile /root/.ssh/id_ed25519
+    StrictHostKeyChecking no
+SSHCFG
+    sudo chmod 600 "$ssh_dir/config"
+    echo "SSH config updated for git.hanson.xyz"
+fi
+
+# Always ensure WiFi radio is on
+nmcli radio wifi on 2>/dev/null
+
+# Provision (packages, git pull, build) if no quick_boot flag
+if [ ! -f /data/quick_boot ]; then
+    sudo bash /data/openpilot/system/clearpilot/provision.sh
+fi

system/clearpilot/provision.sh

@@ -0,0 +1,77 @@
+#!/bin/bash
+
+# ClearPilot provision script
+# Runs on first boot (no /data/quick_boot) when internet is available.
+# Installs packages, pulls latest code, and builds.
+# SSH is handled by on_start.sh before this runs.
+# Output is displayed on screen via qt_shell.
+
+mount -o rw,remount /
+
+# 1. Wait for internet connectivity
+echo "Waiting for internet connectivity (up to 30s)..."
+ONLINE=0
+for i in $(seq 1 30); do
+    if nmcli networking connectivity check 2>/dev/null | grep -q "full"; then
+        echo "Online after ${i}s"
+        ONLINE=1
+        break
+    fi
+    sleep 1
+done
+
+if [ "$ONLINE" -eq 0 ]; then
+    echo "No internet after 30s, skipping packages and updates"
+    sleep 3
+    exit 0
+fi
+
+# 3. Install packages
+echo "Remounting / read-write..."
+sudo mount -o remount,rw /
+echo "Installing packages..."
+sudo apt-get update -qq
+sudo apt-get install -y openvpn curl ccrypt
+#echo "Installing Node.js 20..."
+#curl -fsSL https://deb.nodesource.com/setup_20.x | sudo -E bash -
+sudo apt-get install -y nodejs
+mount -o rw,remount /
+echo "Installing Claude Code..."
+curl -fsSL https://claude.ai/install.sh | bash
+cat > /usr/local/bin/claude <<'WRAPPER'
+#!/bin/bash
+sudo mount -o rw,remount /
+exec /root/.local/bin/claude "$@"
+WRAPPER
+chmod +x /usr/local/bin/claude
+echo "Packages installed"
+# 4. Ensure git remote uses SSH (not HTTPS)
+cd /data/openpilot
+EXPECTED_REMOTE="git@git.hanson.xyz:brianhansonxyz/clearpilot.git"
+CURRENT_REMOTE=$(git remote get-url origin 2>/dev/null)
+if [ "$CURRENT_REMOTE" != "$EXPECTED_REMOTE" ]; then
+    echo "Fixing git remote: $CURRENT_REMOTE -> $EXPECTED_REMOTE"
+    git remote set-url origin "$EXPECTED_REMOTE"
+fi
+
+# 5. Pull latest from remote (remote always wins)
+echo "Checking for updates..."
+git fetch origin clearpilot
+LOCAL=$(git rev-parse HEAD)
+REMOTE=$(git rev-parse origin/clearpilot)
+if [ "$LOCAL" != "$REMOTE" ]; then
+    echo "Updating: $(git log --oneline -1 HEAD) -> $(git log --oneline -1 origin/clearpilot)"
+    git reset --hard origin/clearpilot
+    sudo chown -R comma:comma /data/openpilot
+    echo "Update complete"
+else
+    echo "Already up to date"
+fi
+
+# 5. Build
+echo ""
+sudo chown -R comma:comma /data/openpilot
+touch /data/quick_boot
+
+echo "Provision complete"
+sleep 2

system/clearpilot/provision_wrapper.sh

@@ -0,0 +1,2 @@
+#!/bin/bash
+exec bash /data/openpilot/system/clearpilot/provision.sh 2>&1

system/clearpilot/startup_logo/generate_logo.sh

@@ -3,8 +3,9 @@
 # Create a 2160x1080 true color bitmap canvas with black background
 convert -size 2160x1080 canvas:black /tmp/black_canvas.png
 
-# Place the image in the center of the canvas, blending the transparent background
+# Scale logo 140% then center on canvas
-composite -gravity center /data/openpilot/selfdrive/clearpilot/theme/clearpilot/images/boot_logo.png /tmp/black_canvas.png /tmp/centered_image.png
+convert /data/openpilot/selfdrive/clearpilot/theme/clearpilot/images/boot_logo.png -resize 140% /tmp/scaled_logo.png
+composite -gravity center /tmp/scaled_logo.png /tmp/black_canvas.png /tmp/centered_image.png
 
 # Rotate the image clockwise 90 degrees
 convert /tmp/centered_image.png -rotate 90 /tmp/rotated_image.png
@@ -13,4 +14,4 @@ convert /tmp/centered_image.png -rotate 90 /tmp/rotated_image.png
 convert /tmp/rotated_image.png -quality 95 /data/openpilot/system/clearpilot/startup_logo/bg.jpg
 
 # Clean up temporary files
-rm /tmp/black_canvas.png /tmp/centered_image.png /tmp/rotated_image.png
+rm /tmp/black_canvas.png /tmp/scaled_logo.png /tmp/centered_image.png /tmp/rotated_image.png

system/clearpilot/startup_logo/set_logo.sh

@@ -3,6 +3,13 @@
 set -x   
 
 
+# CLEARPILOT: regenerate bg.jpg if boot_logo.png is newer (handles logo changes)
+BOOT_LOGO="/data/openpilot/selfdrive/clearpilot/theme/clearpilot/images/boot_logo.png"
+GENERATED_BG="/data/openpilot/system/clearpilot/startup_logo/bg.jpg"
+if [ "$BOOT_LOGO" -nt "$GENERATED_BG" ] 2>/dev/null; then
+    bash /data/openpilot/system/clearpilot/startup_logo/generate_logo.sh
+fi
+
 # Check if md5sum of /usr/comma/bg.jpg is not equal to md5sum of /data/openpilot/system/clearpilot/startup_logo/bg.jpg
 if [ "$(md5sum /usr/comma/bg.jpg | awk '{print $1}')" != "$(md5sum /data/openpilot/system/clearpilot/startup_logo/bg.jpg | awk '{print $1}')" ]; then
     bash /data/openpilot/system/clearpilot/startup_logo/generate_logo.sh

system/clearpilot/tools/decrypt

@@ -10,8 +10,11 @@ fi
 src="$1"
 dest="$2"
 
-# Read DongleId for decryption key
+# Use hardware serial as decryption key
-dongle_id=/data/params/d/DongleId
+serial=$(sed 's/.*androidboot.serialno=\([^ ]*\).*/\1/' /proc/cmdline)
+keyfile=$(mktemp)
+echo -n "$serial" > "$keyfile"
 
 # Decrypt the file
-cat "$src" | ccrypt -d -k "$dongle_id" > "$dest"
+cat "$src" | ccrypt -d -k "$keyfile" > "$dest"
+rm -f "$keyfile"

system/clearpilot/tools/encrypt

@@ -10,8 +10,11 @@ fi
 src="$1"
 dest="$2"
 
-# Read DongleId for encryption key
+# Use hardware serial as encryption key
-dongle_id=/data/params/d/DongleId
+serial=$(sed 's/.*androidboot.serialno=\([^ ]*\).*/\1/' /proc/cmdline)
+keyfile=$(mktemp)
+echo -n "$serial" > "$keyfile"
 
 # Encrypt the file
-cat "$src" | ccrypt -e -k "$dongle_id" > "$dest"
+cat "$src" | ccrypt -e -k "$keyfile" > "$dest"
+rm -f "$keyfile"

system/clearpilot/vpn-monitor.sh

@@ -0,0 +1,153 @@
+#!/usr/bin/bash
+
+# VPN monitor — connects OpenVPN when internet is up, disconnects when down.
+# Drops and reconnects when WiFi SSID changes (stale tunnel prevention).
+# On non-home networks, resolves VPN hostname via 8.8.8.8 and passes IP directly.
+# Keepalive: pings gateway through tunnel, two failures 10s apart = reconnect.
+# SIGTERM: gracefully stops tunnel and exits.
+
+SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+CONF="$SCRIPT_DIR/vpn.ovpn"
+VPN_HOST="vpn.hanson.xyz"
+VPN_PORT="1194"
+HOME_SSID="risa"
+VPN_GW="192.168.69.1"
+CHECK_HOST="1.1.1.1"
+INTERVAL=30
+CONNECT_TIMEOUT=30
+MAX_FAILURES=3
+PREV_SSID=""
+FAIL_COUNT=0
+ACTIVE_VPN_IP=""
+
+kill_vpn() {
+  killall openvpn 2>/dev/null
+  # Clean up host route to VPN server
+  if [ -n "$ACTIVE_VPN_IP" ]; then
+    ip route del "$ACTIVE_VPN_IP/32" 2>/dev/null
+    ACTIVE_VPN_IP=""
+  fi
+}
+
+get_default_gw() {
+  ip route show default | awk '/via/ {print $3; exit}'
+}
+
+resolve_vpn() {
+  if [ "$CURR_SSID" != "$HOME_SSID" ]; then
+    dig +short @8.8.8.8 "$VPN_HOST" 2>/dev/null | tail -1
+  else
+    dig +short "$VPN_HOST" 2>/dev/null | tail -1
+  fi
+}
+
+# Graceful shutdown on SIGTERM
+shutdown() {
+  echo "$(date): SIGTERM received, stopping vpn and exiting"
+  kill_vpn
+  exit 0
+}
+trap shutdown SIGTERM SIGINT
+
+# Kill other instances of this script and wait for graceful shutdown
+for pid in $(pgrep -f 'vpn-monitor.sh' | grep -v $$); do
+  kill "$pid" 2>/dev/null
+done
+sleep 5
+# Force kill any that didn't exit
+for pid in $(pgrep -f 'vpn-monitor.sh' | grep -v $$); do
+  kill -9 "$pid" 2>/dev/null
+done
+
+# Kill any existing VPN and clean up
+kill_vpn
+sleep 1
+
+while true; do
+  CURR_SSID="$(iwgetid -r 2>/dev/null)"
+
+  # Detect SSID change (only when switching between two known networks)
+  if [ -n "$PREV_SSID" ] && [ -n "$CURR_SSID" ] && [ "$PREV_SSID" != "$CURR_SSID" ]; then
+    echo "$(date): wifi changed from '$PREV_SSID' to '$CURR_SSID', dropping vpn"
+    kill_vpn
+    FAIL_COUNT=0
+    sleep 5
+  fi
+  PREV_SSID="$CURR_SSID"
+
+  if ping -c 1 -W 3 "$CHECK_HOST" > /dev/null 2>&1; then
+    # Internet is up — check tunnel health if connected
+    if ip link show tun0 > /dev/null 2>&1; then
+      # Keepalive: ping gateway through tunnel, two failures 10s apart = dead
+      if ! ping -c 1 -W 3 -I tun0 "$VPN_GW" > /dev/null 2>&1; then
+        sleep 10
+        if ! ping -c 1 -W 3 -I tun0 "$VPN_GW" > /dev/null 2>&1; then
+          echo "$(date): keepalive failed twice, dropping vpn"
+          kill_vpn
+          sleep 5
+          continue
+        fi
+      fi
+    fi
+
+    # Start VPN if not running
+    if ! ip link show tun0 > /dev/null 2>&1; then
+      if [ "$FAIL_COUNT" -ge "$MAX_FAILURES" ]; then
+        # Back off after repeated failures — just wait for next interval
+        sleep "$INTERVAL"
+        continue
+      fi
+
+      # Resolve VPN server IP (via 8.8.8.8 on non-home networks)
+      RESOLVED_IP="$(resolve_vpn)"
+      if [ -z "$RESOLVED_IP" ]; then
+        echo "$(date): failed to resolve $VPN_HOST (ssid=$CURR_SSID)"
+        FAIL_COUNT=$((FAIL_COUNT + 1))
+        sleep "$INTERVAL"
+        continue
+      fi
+
+      # Add host route to VPN server via current default gateway
+      # so VPN traffic survives tun0 coming up
+      GW="$(get_default_gw)"
+      if [ -n "$GW" ]; then
+        ip route replace "$RESOLVED_IP/32" via "$GW"
+        echo "$(date): host route $RESOLVED_IP via $GW"
+      fi
+      ACTIVE_VPN_IP="$RESOLVED_IP"
+
+      echo "$(date): starting openvpn -> $RESOLVED_IP (attempt $((FAIL_COUNT + 1))/$MAX_FAILURES, ssid=$CURR_SSID)"
+      nice -n 19 openvpn --config "$CONF" --remote "$RESOLVED_IP" "$VPN_PORT" --daemon --log-append /tmp/openvpn.log
+
+      # Wait for tunnel to come up
+      CONNECTED=0
+      for i in $(seq 1 "$CONNECT_TIMEOUT"); do
+        if ip link show tun0 > /dev/null 2>&1; then
+          CONNECTED=1
+          break
+        fi
+        sleep 1
+      done
+
+      if [ "$CONNECTED" -eq 1 ]; then
+        echo "$(date): vpn connected (took ${i}s)"
+        FAIL_COUNT=0
+      else
+        echo "$(date): vpn failed to connect within ${CONNECT_TIMEOUT}s, killing"
+        kill_vpn
+        FAIL_COUNT=$((FAIL_COUNT + 1))
+        if [ "$FAIL_COUNT" -ge "$MAX_FAILURES" ]; then
+          echo "$(date): $MAX_FAILURES consecutive failures, backing off"
+        fi
+      fi
+    fi
+  else
+    # Internet is down — kill VPN if running
+    if ip link show tun0 > /dev/null 2>&1; then
+      echo "$(date): internet down, stopping openvpn"
+      kill_vpn
+    fi
+    FAIL_COUNT=0
+  fi
+  sleep "$INTERVAL"
+done

system/clearpilot/vpn.ovpn

@@ -0,0 +1,76 @@
+client
+dev tun
+proto udp
+remote vpn.hanson.xyz 1194
+resolv-retry infinite
+nobind
+persist-key
+persist-tun
+remote-cert-tls server
+cipher AES-256-GCM
+auth SHA256
+verb 3
+pull-filter ignore "redirect-gateway"
+# pull-filter ignore "route "
+
+<ca>
+-----BEGIN CERTIFICATE-----
+MIIB2jCCAX+gAwIBAgIUFVGjbK1Qb5d3RkkoNPMsXeI/xVAwCgYIKoZIzj0EAwIw
+HjEcMBoGA1UEAwwTT3BlblZQTi1JbnRlcm5hbC1DQTAgFw0yNjAyMDcwODQ3Mzda
+GA8yMTI2MDExNDA4NDczN1owHjEcMBoGA1UEAwwTT3BlblZQTi1JbnRlcm5hbC1D
+QTBZMBMGByqGSM49AgEGCCqGSM49AwEHA0IABGb6RWOFnCJ9t7X5q6fqpv0y3Hg/
+dTU3ky+MAjfPRYfUWfiM7wVKubYOCc+pUHsJXWaghqu7nQoCeSzVDcPXlWGjgZgw
+gZUwDAYDVR0TBAUwAwEB/zAdBgNVHQ4EFgQUNThAWabF1zsqNE19iCKuZMjHBIUw
+WQYDVR0jBFIwUIAUNThAWabF1zsqNE19iCKuZMjHBIWhIqQgMB4xHDAaBgNVBAMM
+E09wZW5WUE4tSW50ZXJuYWwtQ0GCFBVRo2ytUG+Xd0ZJKDTzLF3iP8VQMAsGA1Ud
+DwQEAwIBBjAKBggqhkjOPQQDAgNJADBGAiEA2mPwEK8G4HXlRu6WZVSRdqyCPYYd
+KffYalCXgw3pZ/sCIQC9qPNckHtubycu8kq4iM8Vl1vYMVEorn7DUFdXJCvtcg==
+-----END CERTIFICATE-----
+</ca>
+
+<cert>
+-----BEGIN CERTIFICATE-----
+MIIB2TCCAYCgAwIBAgIRALuRBSB68/ccWM8SASfEIV0wCgYIKoZIzj0EAwIwHjEc
+MBoGA1UEAwwTT3BlblZQTi1JbnRlcm5hbC1DQTAgFw0yNjA0MTIwMDA1NDhaGA8y
+MTI2MDMxOTAwMDU0OFowEDEOMAwGA1UEAwwFY29tbWEwWTATBgcqhkjOPQIBBggq
+hkjOPQMBBwNCAAQ/jN83Z2Ikk+IWVPGxN0CNFCh74Yrb3W6VXAjGWa+ppVxSbdeq
+YVBWjJl6qSg6n2ZMDivQ5NcKgsxMcY9ly/LEo4GqMIGnMAkGA1UdEwQCMAAwHQYD
+VR0OBBYEFDIulLc8hAwTkGHq+z8K8eBBM0vVMFkGA1UdIwRSMFCAFDU4QFmmxdc7
+KjRNfYgirmTIxwSFoSKkIDAeMRwwGgYDVQQDDBNPcGVuVlBOLUludGVybmFsLUNB
+ghQVUaNsrVBvl3dGSSg08yxd4j/FUDATBgNVHSUEDDAKBggrBgEFBQcDAjALBgNV
+HQ8EBAMCB4AwCgYIKoZIzj0EAwIDRwAwRAIgR/ssLDNLmt1s0WXwGLszBUrlstUu
+9nhP2PcmdnsOit4CIECFbQ7RHEZLQJWsL2DvKowCCzDtA6ZGDILTVfHwNyDn
+-----END CERTIFICATE-----
+</cert>
+
+<key>
+-----BEGIN PRIVATE KEY-----
+MIGHAgEAMBMGByqGSM49AgEGCCqGSM49AwEHBG0wawIBAQQgYolghDmo5ISWxjQy
+sayXuFRSW5fkiIXJ1SGvSRLnmBmhRANCAAQ/jN83Z2Ikk+IWVPGxN0CNFCh74Yrb
+3W6VXAjGWa+ppVxSbdeqYVBWjJl6qSg6n2ZMDivQ5NcKgsxMcY9ly/LE
+-----END PRIVATE KEY-----
+</key>
+
+<tls-crypt>
+#
+# 2048 bit OpenVPN static key
+#
+-----BEGIN OpenVPN Static key V1-----
+5d6fedacbb44013958eef494b179f21d
+51b158484c08cb125b8ddd2a919ed44f
+5cae951b1f85f483f0108b1000fac1e6
+334ab5b2f3c7352c3a53e814e2e4cdc7
+f401d5eb2e13449539313f18de53563d
+a72318979c31ef76caad86317064aede
+940ab3d799886b9667f4deabb8b159c2
+12bd7f27c91a7bfd3b9a315dbac3391d
+fb3c354b7955627937fd6163c1683705
+e46b252ee9c383507b5a4496462f3d67
+25dc48bbca8170574efa22b3c37c4bcc
+ad30e92d39aae5326c59a4484302d388
+7836837bd5098faeda430aa6db69d8df
+fe62aeed2bef6afb7c0c742fe8644040
+3c4e46deb3915467c351018592c58545
+5b5d7b8c204d37104f9848573d8eb73b
+-----END OpenVPN Static key V1-----
+</tls-crypt>