nightrider mode improvements, nice monitor, ready text 1x

- Nightrider: lines 1px wider (3px outline), engagement border hidden,
  planner lines hidden when disengaged, stay on onroad view in park
- Normal mode only: return to ready splash on park
- Ready text sprite at native 1x size
- Nice monitor: keeps claude processes at nice 19, runs every 30s

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

launch_openpilot.sh

@@ -20,6 +20,9 @@ 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

selfdrive/ui/qt/home.cc

@@ -85,19 +85,24 @@ void HomeWindow::updateState(const UIState &s) {
     showDriverView(s.scene.driver_camera_timer >= 10, true);
 
     // CLEARPILOT: show splash screen when onroad but in park
+    // In nightrider mode (states 1,4), stay on onroad view in park — only offroad transition shows splash
     bool parked = s.scene.parked;
+    int screenMode = paramsMemory.getInt("ScreenDisplayMode");
+    bool nightrider = (screenMode == 1 || screenMode == 4);
+
     if (parked && !was_parked_onroad) {
-      LOGW("CLP UI: park transition -> showing splash");
-      slayout->setCurrentWidget(ready);
+      if (!nightrider) {
+        LOGW("CLP UI: park transition -> showing splash");
+        slayout->setCurrentWidget(ready);
+      }
     } else if (!parked && was_parked_onroad) {
       LOGW("CLP UI: drive transition -> showing onroad");
       slayout->setCurrentWidget(onroad);
     }
     was_parked_onroad = parked;
 
-    // CLEARPILOT: honor display on/off while showing splash in park
+    // CLEARPILOT: honor display on/off while showing splash in park (normal mode only)
     if (parked && ready->isVisible()) {
-      int screenMode = paramsMemory.getInt("ScreenDisplayMode");
       if (screenMode == 3) {
         Hardware::set_display_power(false);
       } else {

selfdrive/ui/qt/onroad.cc

@@ -177,7 +177,14 @@ void OnroadWindow::offroadTransition(bool offroad) {
 
 void OnroadWindow::paintEvent(QPaintEvent *event) {
   QPainter p(this);
-  p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255));
+  // CLEARPILOT: hide engagement border in nightrider mode
+  int dm = paramsMemory.getInt("ScreenDisplayMode");
+  bool nightrider = (dm == 1 || dm == 4);
+  if (nightrider) {
+    p.fillRect(rect(), Qt::black);
+  } else {
+    p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255));
+  }
 
   QString logicsDisplayString = QString();
   if (scene.show_jerk) {
@@ -596,11 +603,20 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   // CLEARPILOT: nightrider mode — outline only, no fill
   bool outlineOnly = nightriderMode;
 
+  // CLEARPILOT: in nightrider mode, hide all lines when not engaged
+  if (outlineOnly && edgeColor == bg_colors[STATUS_DISENGAGED]) {
+    painter.restore();
+    return;
+  }
+
+  // CLEARPILOT: nightrider lines are 1px wider (3 instead of 2)
+  int outlineWidth = outlineOnly ? 3 : 2;
+
   // lanelines
   for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) {
     QColor lineColor = QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(scene.lane_line_probs[i], 0.0, 0.7));
     if (outlineOnly) {
-      painter.setPen(QPen(lineColor, 2));
+      painter.setPen(QPen(lineColor, outlineWidth));
       painter.setBrush(Qt::NoBrush);
     } else {
       painter.setPen(Qt::NoPen);
@@ -614,7 +630,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) {
     QColor edgeCol = QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0));
     if (outlineOnly) {
-      painter.setPen(QPen(edgeCol, 2));
+      painter.setPen(QPen(edgeCol, outlineWidth));
       painter.setBrush(Qt::NoBrush);
     } else {
       painter.setPen(Qt::NoPen);
@@ -689,7 +705,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
 
     if (outlineOnly) {
       painter.setPen(QPen(QColor(center_lane_color.red(), center_lane_color.green(),
-                                 center_lane_color.blue(), 180), 2));
+                                 center_lane_color.blue(), 180), outlineWidth));
       painter.setBrush(Qt::NoBrush);
     } else {
       painter.setPen(Qt::NoPen);
@@ -718,7 +734,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   if (scene.blind_spot_path) {
     QColor bsColor = QColor::fromHslF(0 / 360., 0.75, 0.50, 0.6);
     if (outlineOnly) {
-      painter.setPen(QPen(bsColor, 2));
+      painter.setPen(QPen(bsColor, outlineWidth));
       painter.setBrush(Qt::NoBrush);
     } else {
       QLinearGradient bs(0, height(), 0, 0);

selfdrive/ui/qt/ready.cc

@@ -74,10 +74,9 @@ void ReadyWindow::paintEvent(QPaintEvent *event) {
             // "READY!" 8-bit text sprite, 2x size, 15% below center
             static QPixmap ready_text("/data/openpilot/selfdrive/clearpilot/theme/clearpilot/images/ready_text.png");
             if (!ready_text.isNull()) {
-                QPixmap scaled = ready_text.scaled(ready_text.width() * 3 / 2, ready_text.height() * 3 / 2, Qt::KeepAspectRatio, Qt::FastTransformation);
-                int tx = (width() - scaled.width()) / 2;
+                int tx = (width() - ready_text.width()) / 2;
                 int ty = height() / 2 + height() * 15 / 100;
-                painter.drawPixmap(tx, ty, scaled);
+                painter.drawPixmap(tx, ty, ready_text);
             }
         } else {
             // Error state: red text at 25% below center

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