session logging, build-only mode, park splash, boot logo spinner

- Per-process stderr logging to /data/log2/{session}/ with time-safe
  directory naming (boot-xxx renamed once GPS/NTP sets clock)
- Aggregate session.log with major events (start/stop, transitions)
- 30-day log rotation cleanup on manager startup
- build_only.sh: compile without starting manager, non-blocking error
  display, kills stale processes
- build.py: copies updated spinner binary after successful build
- Onroad park mode: show splash screen when car is on but in park,
  switch to camera view when shifted to drive, honor screen on/off
- Spinner: full-screen boot logo background from /usr/comma/bg.jpg
  with white progress bar overlay
- Boot logo: auto-regenerate when boot_logo.png changes, 140% scale
- launch_openpilot.sh: cd to /data/openpilot for reliable execution
- launch_chffrplus.sh: kill stale text error displays on startup
- spinner shell wrapper: prefer freshly built _spinner over prebuilt

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

selfdrive/ui/qt/home.cc

@@ -61,19 +61,42 @@ void HomeWindow::showSidebar(bool show) {
 }
 
 void HomeWindow::updateState(const UIState &s) {
-  // const SubMaster &sm = *(s.sm);
   if (s.scene.started) {
     showDriverView(s.scene.driver_camera_timer >= 10, true);
+
+    // 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
+      slayout->setCurrentWidget(ready);
+    } else if (!parked && was_parked_onroad) {
+      // just shifted out of park — show onroad camera
+      slayout->setCurrentWidget(onroad);
+    }
+    was_parked_onroad = parked;
+
+    // CLEARPILOT: honor display on/off while showing splash in park
+    if (parked && ready->isVisible()) {
+      int screenMode = paramsMemory.getInt("ScreenDisaplayMode");
+      if (screenMode == 1) {
+        Hardware::set_display_power(false);
+      } else {
+        Hardware::set_display_power(true);
+      }
+    }
   }
 }
 
 void HomeWindow::offroadTransition(bool offroad) {
+  sidebar->setVisible(false);
   if (offroad) {
-    sidebar->setVisible(false);
+    was_parked_onroad = false;
     slayout->setCurrentWidget(ready);
   } else {
-    sidebar->setVisible(false);
-    slayout->setCurrentWidget(onroad);
+    // CLEARPILOT: start onroad in splash — updateState will switch to
+    // camera view once the car shifts out of park
+    was_parked_onroad = true;
+    slayout->setCurrentWidget(ready);
   }
 }
 

selfdrive/ui/qt/home.h

@@ -56,10 +56,11 @@ private:
 
   // FrogPilot variables
   Params params;
+  Params paramsMemory{"/dev/shm/params"};
 
   // CLEARPILOT
-  // bool show_ready;
   ReadyWindow *ready;
+  bool was_parked_onroad = false;
 
 private slots:
   void updateState(const UIState &s);

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) {
-  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
+// CLEARPILOT: full-screen boot logo background with progress bar overlay
 
 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);

selfdrive/ui/spinner

@@ -1,5 +1,10 @@
 #!/bin/sh
 
+# CLEARPILOT: prefer freshly built _spinner over prebuilt qt/spinner
+if [ -f ./_spinner ]; then
+  exec ./_spinner "$1"
+fi
+
 if [ -f /TICI ] && [ ! -f qt/spinner ]; then
   cp qt/spinner_larch64 qt/spinner
 fi