port C++ UI from broken: ready/splash, ClearPilot menu, onroad widgets, nightrider

Wholesale port of the 10 UI files (main.cc, ui.{cc,h}, onroad.{cc,h}, home.{cc,h}, window.{cc,h}, ready.{cc,h}, SConscript). sidebar.{cc,h} unchanged. Brings in: - splash/ready screen rendered via Qt directly (replaces stock home) - ready page shown when started but gear=park - ClearPilot offroad menu (Home/Dashcam/Debug panels) replacing stock - onroad UI: speed widget reading ClearpilotSpeedDisplay (gpsLocation via speed_logicd), speed-limit widget, cruise-vs-limit warning sign - nightrider mode: camera suppressed, lane lines/path drawn as 2px outlines only (ScreenDisplayMode 1 or 4) - screen power: ScreenDisplayMode 3 forces setAwake(false) - ignition off blanks screen immediately (tap still wakes) - Qt-based RPC widget-tree dump server at ipc:///tmp/clearpilot_ui_rpc - crash handler in main.cc with stack trace Deviation from broken (3 sites): no_lat_lane_change is read from paramsMemory (controlsd writes it there in baseline) instead of broken's custom cereal field frogpilotCarControl.noLatLaneChange. Keeps the existing self-driving wiring intact. SConscript drops screenrecorder.cc from qt_src (broken did the same; omx_encoder.cc still built for dashcamd's future link). Build clean. UI hasn't been launched yet — that comes after the controlsd button-handler commit lands. Translation .ts files are auto-regenerated by Qt's lupdate; included.
2026-05-03 23:03:42 -05:00
parent 41c154014a
commit b5a0b3221c
23 changed files with 1302 additions and 292 deletions
@@ -39,7 +39,7 @@ qt_src = ["main.cc", "qt/sidebar.cc", "qt/onroad.cc", "qt/body.cc",
          "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc",
          "qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc",
          "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc",
-          "../frogpilot/screenrecorder/omx_encoder.cc", "../frogpilot/screenrecorder/screenrecorder.cc",
+          "../frogpilot/screenrecorder/omx_encoder.cc",  # kept for dashcamd .o dependency
          "qt/ready.cc"]

 # build translation files
@@ -77,8 +77,7 @@ qt_env.Program("_text", ["qt/text.cc"], LIBS=qt_libs)
 qt_env.Program("_spinner", ["qt/spinner.cc"], LIBS=qt_libs)


-# Clearpilot
-# Create clearpilot tools
+# Clearpilot tools
 qt_env.Program("/data/openpilot/system/clearpilot/tools/qt_shell", ["/data/openpilot/system/clearpilot/tools/qt_shell.cc"], LIBS=qt_libs)

 # build main UI
@@ -1,4 +1,9 @@
 #include <sys/resource.h>
+#include <csignal>
+#include <cstdio>
+#include <cstdlib>
+#include <execinfo.h>
+#include <unistd.h>

 #include <QApplication>
 #include <QTranslator>
@@ -8,7 +13,27 @@
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/window.h"

+// CLEARPILOT: crash handler — prints stack trace to stderr on SIGSEGV/SIGABRT
+static void crash_handler(int sig) {
+  const char *sig_name = (sig == SIGSEGV) ? "SIGSEGV" : (sig == SIGABRT) ? "SIGABRT" : "SIGNAL";
+  fprintf(stderr, "\n=== CRASH: %s (signal %d) ===\n", sig_name, sig);
+
+  void *frames[64];
+  int count = backtrace(frames, 64);
+  fprintf(stderr, "Backtrace (%d frames):\n", count);
+  backtrace_symbols_fd(frames, count, STDERR_FILENO);
+  fprintf(stderr, "=== END CRASH ===\n");
+  fflush(stderr);
+
+  // Re-raise to get default behavior (core dump / exit)
+  signal(sig, SIG_DFL);
+  raise(sig);
+}
+
 int main(int argc, char *argv[]) {
+  signal(SIGSEGV, crash_handler);
+  signal(SIGABRT, crash_handler);
+
  setpriority(PRIO_PROCESS, 0, -20);

  qInstallMessageHandler(swagLogMessageHandler);
@@ -1,14 +1,20 @@
 #include "selfdrive/ui/qt/home.h"

+#include <cstdlib>
 #include <QHBoxLayout>
 #include <QMouseEvent>
 #include <QStackedWidget>
 #include <QVBoxLayout>

-#include "selfdrive/ui/qt/offroad/experimental_mode.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/widgets/drive_stats.h"
+#include "common/swaglog.h"
+#include "common/params.h"
 #include "system/hardware/hw.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/widgets/controls.h"
+#include "selfdrive/ui/qt/widgets/input.h"
+#include "selfdrive/ui/qt/widgets/scrollview.h"
+#include "selfdrive/ui/qt/network/networking.h"
+#include "cereal/messaging/messaging.h"

 // HomeWindow: the container for the offroad and onroad UIs

@@ -21,6 +27,7 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
  main_layout->setSpacing(0);

  sidebar = new Sidebar(this);
+  sidebar->setVisible(false);
  main_layout->addWidget(sidebar);
  QObject::connect(sidebar, &Sidebar::openSettings, this, &HomeWindow::openSettings);
  QObject::connect(sidebar, &Sidebar::openOnroad, this, &HomeWindow::showOnroad);
@@ -28,8 +35,17 @@ 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);
@@ -38,6 +54,7 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
  // CLEARPILOT
  ready = new ReadyWindow(this);
  slayout->addWidget(ready);
+  slayout->setCurrentWidget(ready);  // show splash immediately, not ClearPilotPanel

  driver_view = new DriverViewWindow(this);
  connect(driver_view, &DriverViewWindow::done, [=] {
@@ -64,52 +81,79 @@ 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;
+    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 we were in nightrider mode, switch to screen off
+      if (nightrider) {
+        paramsMemory.putInt("ScreenDisplayMode", 3);
+      }
+    } else if (!parked && was_parked_onroad) {
+      LOGW("CLP UI: drive transition -> showing onroad");
+      slayout->setCurrentWidget(onroad);
+      ready->has_driven = true;
+    }
+    was_parked_onroad = parked;
+
+    // CLEARPILOT: honor display on/off while showing splash in park (normal mode only)
+    if (parked && ready->isVisible()) {
+      if (screenMode == 3) {
+        Hardware::set_display_power(false);
+      } else {
+        Hardware::set_display_power(true);
+      }
+    }
  }
 }

 void HomeWindow::offroadTransition(bool offroad) {
-  if (offroad) {
  sidebar->setVisible(false);
+  if (offroad) {
+    LOGW("CLP UI: offroad transition -> showing splash");
+    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. Reset has_driven so
+    // fresh ignition shows the READY text (not the post-drive textless splash).
+    LOGW("CLP UI: onroad transition -> showing splash (parked)");
+    was_parked_onroad = true;
+    ready->has_driven = false;
+    slayout->setCurrentWidget(ready);
  }
 }

 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
-  if (!onroad->isVisible() && ready->isVisible()) {
-    sidebar->setVisible(true);
+  // CLEARPILOT: tap from any view goes to ClearPilotPanel
+  if (ready->isVisible() || onroad->isVisible()) {
+    LOGW("CLP UI: tap -> showing ClearPilotPanel");
+    sidebar->setVisible(false);
+    home->resetToGeneral();
    slayout->setCurrentWidget(home);
  }
-
-  // Todo: widgets
-  if (onroad->isVisible()) {
-    emit openSettings();
-  }
 }

 void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) {
@@ -117,132 +161,274 @@ void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) {
  // const SubMaster &sm = *(uiState()->sm);
 }

-// OffroadHome: the offroad home page
+// CLEARPILOT: ClearPilotPanel — settings-style sidebar menu

-OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
-  QVBoxLayout* main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(40, 40, 40, 40);
-
-  // top header
-  QHBoxLayout* header_layout = new QHBoxLayout();
-  header_layout->setContentsMargins(0, 0, 0, 0);
-  header_layout->setSpacing(16);
-
-  update_notif = new QPushButton(tr("UPDATE"));
-  update_notif->setVisible(false);
-  update_notif->setStyleSheet("background-color: #364DEF;");
-  QObject::connect(update_notif, &QPushButton::clicked, [=]() { center_layout->setCurrentIndex(1); });
-  header_layout->addWidget(update_notif, 0, Qt::AlignHCenter | Qt::AlignLeft);
-
-  alert_notif = new QPushButton();
-  alert_notif->setVisible(false);
-  alert_notif->setStyleSheet("background-color: #E22C2C;");
-  QObject::connect(alert_notif, &QPushButton::clicked, [=] { center_layout->setCurrentIndex(2); });
-  header_layout->addWidget(alert_notif, 0, Qt::AlignHCenter | Qt::AlignLeft);
-
-  date = new ElidedLabel();
-  header_layout->addWidget(date, 0, Qt::AlignHCenter | Qt::AlignLeft);
-
-  version = new ElidedLabel();
-  header_layout->addWidget(version, 0, Qt::AlignHCenter | Qt::AlignRight);
-
-  main_layout->addLayout(header_layout);
-
-  // main content
-  main_layout->addSpacing(25);
-  center_layout = new QStackedLayout();
-
-  QWidget *home_widget = new QWidget(this);
-  {
-    QHBoxLayout *home_layout = new QHBoxLayout(home_widget);
-    home_layout->setContentsMargins(0, 0, 0, 0);
-    home_layout->setSpacing(30);
-    
-    // // // Create a QWebEngineView
-    // QWebEngineView *web_view = new QWebEngineView();
-    // web_view->load(QUrl("http://fark.com"));
-    
-    // // Add the QWebEngineView to the layout
-    // home_layout->addWidget(web_view);
+static const char *clpSidebarBtnStyle = R"(
+  QPushButton {
+    color: grey;
+    border: none;
+    background: none;
+    font-size: 65px;
+    font-weight: 500;
  }
-  center_layout->addWidget(home_widget);
+  QPushButton:checked {
+    color: white;
+  }
+  QPushButton:pressed {
+    color: #ADADAD;
+  }
+)";

-  // add update & alerts widgets
-  update_widget = new UpdateAlert();
-  QObject::connect(update_widget, &UpdateAlert::dismiss, [=]() { center_layout->setCurrentIndex(0); });
-  center_layout->addWidget(update_widget);
-  alerts_widget = new OffroadAlert();
-  QObject::connect(alerts_widget, &OffroadAlert::dismiss, [=]() { center_layout->setCurrentIndex(0); });
-  center_layout->addWidget(alerts_widget);
+// clpActionBtnStyle removed — no longer used

-  main_layout->addLayout(center_layout, 1);

-  // set up refresh timer
-  timer = new QTimer(this);
-  timer->callOnTimeout(this, &OffroadHome::refresh);
+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 {
+      color: white;
+      border-radius: 25px;
+      background: #292929;
+      font-size: 50px;
+      font-weight: 500;
+    }
+    QPushButton:pressed {
+      color: #ADADAD;
+    }
+  )");
+  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(); });
+
+  // Panel content area
+  panel_widget = new QStackedWidget();
+
+  // ── General panel ──
+  ListWidget *general_panel = new ListWidget(this);
+  general_panel->setContentsMargins(50, 25, 50, 25);
+
+  // Status button
+  auto *status_btn = new ButtonControl("System Status", "VIEW", "");
+  connect(status_btn, &ButtonControl::clicked, [=]() { emit openStatus(); });
+  general_panel->addItem(status_btn);
+
+  // Reset Calibration
+  auto resetCalibBtn = new ButtonControl("Reset Calibration", "RESET", "");
+  connect(resetCalibBtn, &ButtonControl::showDescriptionEvent, [=]() {
+    QString desc = "openpilot requires the device to be mounted within 4° left or right and "
+                   "within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.";
+    std::string calib_bytes = Params().get("CalibrationParams");
+    if (!calib_bytes.empty()) {
+      try {
+        AlignedBuffer aligned_buf;
+        capnp::FlatArrayMessageReader cmsg(aligned_buf.align(calib_bytes.data(), calib_bytes.size()));
+        auto calib = cmsg.getRoot<cereal::Event>().getLiveCalibration();
+        if (calib.getCalStatus() != cereal::LiveCalibrationData::Status::UNCALIBRATED) {
+          double pitch = calib.getRpyCalib()[1] * (180 / M_PI);
+          double yaw = calib.getRpyCalib()[2] * (180 / M_PI);
+          desc += QString(" Your device is pointed %1° %2 and %3° %4.")
+                      .arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? "down" : "up",
+                           QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? "left" : "right");
+        }
+      } catch (...) {
+        qInfo() << "invalid CalibrationParams";
+      }
+    }
+    qobject_cast<ButtonControl *>(sender())->setDescription(desc);
+  });
+  connect(resetCalibBtn, &ButtonControl::clicked, [=]() {
+    if (ConfirmationDialog::confirm("Are you sure you want to reset calibration?", "Reset", this)) {
+      Params().remove("CalibrationParams");
+      Params().remove("LiveTorqueParameters");
+    }
+  });
+  general_panel->addItem(resetCalibBtn);
+
+  // Power buttons
+  QHBoxLayout *power_layout = new QHBoxLayout();
+  power_layout->setSpacing(30);
+
+  QPushButton *reboot_btn = new QPushButton("Reboot");
+  reboot_btn->setObjectName("reboot_btn");
+  power_layout->addWidget(reboot_btn);
+
+  QPushButton *softreboot_btn = new QPushButton("Soft Reboot");
+  softreboot_btn->setObjectName("softreboot_btn");
+  power_layout->addWidget(softreboot_btn);
+
+  QPushButton *poweroff_btn = new QPushButton("Power Off");
+  poweroff_btn->setObjectName("poweroff_btn");
+  power_layout->addWidget(poweroff_btn);
+
+  QObject::connect(reboot_btn, &QPushButton::clicked, [=]() {
+    if (!uiState()->engaged()) {
+      if (ConfirmationDialog::confirm("Are you sure you want to reboot?", "Reboot", this)) {
+        if (!uiState()->engaged()) {
+          Params().putBool("DoReboot", true);
+        }
+      }
+    } else {
+      ConfirmationDialog::alert("Disengage to Reboot", this);
+    }
+  });
+
+  QObject::connect(softreboot_btn, &QPushButton::clicked, [=]() {
+    if (!uiState()->engaged()) {
+      if (ConfirmationDialog::confirm("Are you sure you want to soft reboot?", "Soft Reboot", this)) {
+        if (!uiState()->engaged()) {
+          Params().putBool("DoSoftReboot", true);
+        }
+      }
+    } else {
+      ConfirmationDialog::alert("Disengage to Soft Reboot", this);
+    }
+  });
+
+  QObject::connect(poweroff_btn, &QPushButton::clicked, [=]() {
+    if (!uiState()->engaged()) {
+      if (ConfirmationDialog::confirm("Are you sure you want to power off?", "Power Off", this)) {
+        if (!uiState()->engaged()) {
+          Params().putBool("DoShutdown", true);
+        }
+      }
+    } else {
+      ConfirmationDialog::alert("Disengage to Power Off", this);
+    }
+  });
+
+  general_panel->addItem(power_layout);
+
+  // ── Network panel ──
+  Networking *network_panel = new Networking(this);
+  // Hide APN button — find by searching QPushButton labels inside AdvancedNetworking
+  for (auto *btn : network_panel->findChildren<QPushButton *>()) {
+    if (btn->text().contains("APN", Qt::CaseInsensitive)) {
+      // Hide the parent AbstractControl frame, not just the button
+      if (auto *frame = qobject_cast<QFrame *>(btn->parentWidget())) {
+        frame->setVisible(false);
+      }
+    }
+  }
+
+  // ── Dashcam panel ──
+  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 ToggleControl("Telemetry Logging",
+    "Record telemetry data to CSV in the session log directory. "
+    "Captures only changed values for efficiency.", "",
+    Params("/dev/shm/params").getBool("TelemetryEnabled"), this);
+  QObject::connect(telemetry_toggle, &ToggleControl::toggleFlipped, [](bool on) {
+    Params("/dev/shm/params").putBool("TelemetryEnabled", on);
+  });
+  debug_panel->addItem(telemetry_toggle);
+
+  auto *health_metrics_toggle = new ToggleControl("System Health Overlay",
+    "Show controls lag, model frame drops, temperature, CPU, and memory usage "
+    "in the lower-right of the onroad UI. For diagnosing slowdown issues.", "",
+    Params().getBool("ClearpilotShowHealthMetrics"), this);
+  QObject::connect(health_metrics_toggle, &ToggleControl::toggleFlipped, [](bool on) {
+    Params().putBool("ClearpilotShowHealthMetrics", on);
+  });
+  debug_panel->addItem(health_metrics_toggle);
+
+  auto *vpn_toggle = new ToggleControl("VPN",
+    "Connect to vpn.hanson.xyz for remote SSH access. "
+    "Disabling kills the active tunnel and stops reconnection attempts.", "",
+    Params("/dev/shm/params").getBool("VpnEnabled"), this);
+  QObject::connect(vpn_toggle, &ToggleControl::toggleFlipped, [](bool on) {
+    Params("/dev/shm/params").putBool("VpnEnabled", on);
+    if (on) {
+      std::system("sudo bash -c 'nohup /data/openpilot/system/clearpilot/vpn-monitor.sh >> /tmp/vpn-monitor.log 2>&1 &'");
+    } else {
+      std::system("sudo pkill -TERM -f vpn-monitor.sh; sudo killall openvpn");
+    }
+  });
+  debug_panel->addItem(vpn_toggle);
+
+  // ── Register panels with sidebar buttons ──
+  QList<QPair<QString, QWidget *>> panels = {
+    {"General", general_panel},
+    {"Network", network_panel},
+    {"Dashcam", dashcam_panel},
+    {"Debug", debug_panel},
+  };
+
+  nav_group = new QButtonGroup(this);
+  nav_group->setExclusive(true);
+
+  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);
+    nav_group->addButton(btn);
+
+    // Network panel handles its own scrolling/margins
+    if (name == "Network") {
+      panel_widget->addWidget(panel);
+      QObject::connect(btn, &QPushButton::clicked, [=, w = panel]() {
+        panel_widget->setCurrentWidget(w);
+      });
+    } else {
+      ScrollView *panel_frame = new ScrollView(panel, this);
+      panel_widget->addWidget(panel_frame);
+      QObject::connect(btn, &QPushButton::clicked, [=, w = panel_frame]() {
+        panel_widget->setCurrentWidget(w);
+      });
+    }
+  }
+
+  // Select General by default
+  nav_group->buttons().first()->setChecked(true);
+  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"(
    * {
      color: white;
+      font-size: 50px;
    }
-    OffroadHome {
+    ClearPilotPanel {
      background-color: black;
    }
-    OffroadHome > QPushButton {
-      padding: 15px 30px;
-      border-radius: 5px;
-      font-size: 40px;
-      font-weight: 500;
-    }
-    OffroadHome > QLabel {
-      font-size: 55px;
+    QStackedWidget, ScrollView, Networking {
+      background-color: #292929;
+      border-radius: 30px;
    }
+    #softreboot_btn { height: 120px; border-radius: 15px; background-color: #e2e22c; }
+    #softreboot_btn:pressed { background-color: #ffe224; }
+    #reboot_btn { height: 120px; border-radius: 15px; background-color: #393939; }
+    #reboot_btn:pressed { background-color: #4a4a4a; }
+    #poweroff_btn { height: 120px; border-radius: 15px; background-color: #E22C2C; }
+    #poweroff_btn:pressed { background-color: #FF2424; }
  )");
 }

-/* Refresh data on screen every 5 seconds. */
-void OffroadHome::showEvent(QShowEvent *event) {
-  refresh();
-  timer->start(5 * 1000);
-}
-
-void OffroadHome::hideEvent(QHideEvent *event) {
-  timer->stop();
-}
-
-void OffroadHome::refresh() {
-  QString model = QString::fromStdString(params.get("ModelName"));
-
-  date->setText(QLocale(uiState()->language.mid(5)).toString(QDateTime::currentDateTime(), "dddd, MMMM d"));
-  version->setText(getBrand() + " v" + getVersion().left(14).trimmed() + " - " + model);
-
-  // bool updateAvailable = update_widget->refresh();
-
-  int alerts = alerts_widget->refresh();
-
-  if (alerts > 0 && !alerts_widget->isVisible()) {
-    alerts_widget->setVisible(true);
-  } else if (alerts == 0 && alerts_widget->isVisible()) {
-    alerts_widget->setVisible(false);
-  }
-
-  // pop-up new notification
-  // CLEARPILOT temp disabled update notifications
-  // int idx = center_layout->currentIndex();
-  // if (!updateAvailable && !alerts && false) {
-  //   idx = 0;
-  // } else if (updateAvailable && (!update_notif->isVisible() || (!alerts && idx == 2))) {
-  //   idx = 1;
-  // } else if (alerts && (!alert_notif->isVisible() || (!updateAvailable && idx == 1))) {
-  //   idx = 2;
-  // }
-  // center_layout->setCurrentIndex(idx);
-
-  // CLEARPILOT temp disabled update notifications
-//  update_notif->setVisible(updateAvailable);
-//  alert_notif->setVisible(alerts);
-  alert_notif->setVisible(false);
-  if (alerts) {
-    alert_notif->setText(QString::number(alerts) + (alerts > 1 ? tr(" ALERTS") : tr(" ALERT")));
-  }
+void ClearPilotPanel::resetToGeneral() {
+  panel_widget->setCurrentIndex(0);
+  nav_group->buttons().first()->setChecked(true);
 }
@@ -1,9 +1,11 @@
 #pragma once

+#include <QButtonGroup>
 #include <QFrame>
 #include <QLabel>
 #include <QPushButton>
 #include <QStackedLayout>
+#include <QStackedWidget>
 #include <QTimer>
 #include <QWidget>

@@ -16,32 +18,23 @@
 #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();
+
+public:
+  void resetToGeneral();

 private:
-  void showEvent(QShowEvent *event) override;
-  void hideEvent(QHideEvent *event) override;
-  void refresh();
-
-  Params params;
-
-  QTimer* timer;
-  ElidedLabel* version;
-  QStackedLayout* center_layout;
-  UpdateAlert *update_widget;
-  OffroadAlert* alerts_widget;
-  QPushButton* alert_notif;
-  QPushButton* update_notif;
-
-  // FrogPilot variables
-  ElidedLabel* date;
+  QStackedWidget *panel_widget;
+  QButtonGroup *nav_group;
 };

 class HomeWindow : public QWidget {
@@ -53,6 +46,7 @@ public:

 signals:
  void openSettings(int index = 0, const QString &param = "");
+  void openStatus();
  void closeSettings();

 public slots:
@@ -67,17 +61,18 @@ protected:

 private:
  Sidebar *sidebar;
-  OffroadHome *home;
+  ClearPilotPanel *home;
  OnroadWindow *onroad;
  DriverViewWindow *driver_view;
  QStackedLayout *slayout;

  // 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);
@@ -7,6 +7,7 @@
 #include <sstream>

 #include <QApplication>
+#include <QDateTime>
 #include <QDebug>
 #include <QMouseEvent>

@@ -75,10 +76,11 @@ void OnroadWindow::updateState(const UIState &s) {
  alerts->updateAlert(alert);

  nvg->updateState(s);
+  nvg->update();  // CLEARPILOT: force repaint every frame for HUD elements

  QColor bgColor = bg_colors[s.status];
-  
-  if (paramsMemory.getBool("no_lat_lane_change") == 1 || nvg->screenDisplayMode == 2) {
+  // CLEARPILOT: read from paramsMemory; controlsd writes "no_lat_lane_change".
+  if (paramsMemory.getBool("no_lat_lane_change")) {
    bgColor = bg_colors[STATUS_DISENGAGED];
  }

@@ -176,7 +178,14 @@ void OnroadWindow::offroadTransition(bool offroad) {

 void OnroadWindow::paintEvent(QPaintEvent *event) {
  QPainter p(this);
+  // 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) {
@@ -216,6 +225,13 @@ void OnroadWindow::paintEvent(QPaintEvent *event) {
  }
 }

+// void OnroadWindow::update_screen_on_off() {
+//   int screenDisaplayMode = paramsMemory.getInt("ScreenDisaplayMode");
+//   if (screenDisaplayMode == 1) {
+//     // Conditionally off
+//   }
+// }
+

 // ***** onroad widgets *****

@@ -308,10 +324,7 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par
  QHBoxLayout *buttons_layout = new QHBoxLayout();
  buttons_layout->setSpacing(0);

-  // Neokii screen recorder
-  recorder_btn = new ScreenRecorder(this);
-  recorder_btn->setVisible(false);
-  // buttons_layout->addWidget(recorder_btn);
+  // Neokii screen recorder — DISABLED: using dashcamd instead

  QVBoxLayout *top_right_layout = new QVBoxLayout();
  top_right_layout->setSpacing(0);
@@ -327,24 +340,13 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par
 }

 void AnnotatedCameraWidget::updateState(const UIState &s) {
-
-  screenDisplayMode = paramsMemory.getInt("ScreenDisplayMode");
-  if (screenDisplayMode == 2 && !alert_is_visible) {
-    // Draw black, filled, full-size rectangle to blank the screen
-    // p.fillRect(0, 0, width(), height(), Qt::black);
-    // p.restore();
-    Hardware::set_display_power(false);
-    return;
-  } else {
-    Hardware::set_display_power(true);
-  }
-
  const int SET_SPEED_NA = 255;
  const SubMaster &sm = *(s.sm);

  const bool cs_alive = sm.alive("controlsState");
  const auto cs = sm["controlsState"].getControlsState();
  const auto car_state = sm["carState"].getCarState();
+  (void)car_state;  // CLEARPILOT: suppress unused warning, will use later

  // Handle older routes where vCruiseCluster is not set
  float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
@@ -354,11 +356,16 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
    setSpeed *= KM_TO_MILE;
  }

-  // Handle older routes where vEgoCluster is not set
-  v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
-  float v_ego = v_ego_cluster_seen && !scene.wheel_speed ? car_state.getVEgoCluster() : car_state.getVEgo();
-  speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
-  speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
+  // CLEARPILOT: read speed and speed limit from params (written by speed_logic.py ~2Hz)
+  clpParamFrame++;
+  if (clpParamFrame % 10 == 0) {  // ~2Hz at 20Hz UI update rate
+    clpHasSpeed = paramsMemory.get("ClearpilotHasSpeed") == "1";
+    clpSpeedDisplay = QString::fromStdString(paramsMemory.get("ClearpilotSpeedDisplay"));
+    clpSpeedLimitDisplay = QString::fromStdString(paramsMemory.get("ClearpilotSpeedLimitDisplay"));
+    clpSpeedUnit = QString::fromStdString(paramsMemory.get("ClearpilotSpeedUnit"));
+    clpCruiseWarning = QString::fromStdString(paramsMemory.get("ClearpilotCruiseWarning"));
+    clpCruiseWarningSpeed = QString::fromStdString(paramsMemory.get("ClearpilotCruiseWarningSpeed"));
+  }

  // auto speed_limit_sign = nav_instruction.getSpeedLimitSign();
  // speedLimit = slcOverridden ? scene.speed_limit_overridden_speed : speedLimitController ? scene.speed_limit : nav_alive ? nav_instruction.getSpeedLimit() : 0.0;
@@ -394,9 +401,28 @@ if (edgeColor != bgColor) {
 }

 void AnnotatedCameraWidget::drawHud(QPainter &p) {
-  // Blank when screenDisplayMode=1
+  // CLEARPILOT: display power control based on ScreenDisplayMode
  p.save();

+  if (displayMode == 3 && !alert_is_visible) {
+    Hardware::set_display_power(false);
+    p.restore();
+    return;
+  } else {
+    Hardware::set_display_power(true);
+  }
+
+  // CLEARPILOT: blinking blue circle when telemetry is recording
+  if (paramsMemory.getBool("TelemetryEnabled")) {
+    // Blink: visible for 500ms, hidden for 500ms
+    int phase = (QDateTime::currentMSecsSinceEpoch() / 500) % 2;
+    if (phase == 0) {
+      p.setPen(Qt::NoPen);
+      p.setBrush(QColor(30, 100, 220));
+      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));
@@ -407,7 +433,7 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {

  // QString speedLimitStr = (speedLimit > 1) ? QString::number(std::nearbyint(speedLimit)) : "–";
  // QString speedLimitOffsetStr = slcSpeedLimitOffset == 0 ? "–" : QString::number(slcSpeedLimitOffset, 'f', 0).prepend(slcSpeedLimitOffset > 0 ? "+" : "");
-  QString speedStr = QString::number(std::nearbyint(speed));
+  // QString speedStr = QString::number(std::nearbyint(speed));
  QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed - cruiseAdjustment)) : "–";

  p.restore();
@@ -431,17 +457,21 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
  // Todo: lead speed
  // Todo: Experimental speed

-  // // current speed
-  if (!(scene.hide_speed)) {
-    // CLEARPILOT changes to 120 from ~176
-    // Maybe we want to hide this?
+  // CLEARPILOT: show speed from speed_logic params, hide when no speed or speed=0
+  if (clpHasSpeed && !clpSpeedDisplay.isEmpty() && !scene.hide_speed) {
    p.setFont(InterFont(140, QFont::Bold));
-    drawText(p, rect().center().x(), 210, speedStr);
-    // CLEARPILOT changes to 40 from 66
+    drawText(p, rect().center().x(), 210, clpSpeedDisplay);
    p.setFont(InterFont(50));
-    drawText(p, rect().center().x(), 290, speedUnit, 200);
+    drawText(p, rect().center().x(), 290, clpSpeedUnit, 200);
  }

+  // CLEARPILOT: speed limit sign in lower-left, cruise warning above it
+  drawSpeedLimitSign(p);
+  drawCruiseWarningSign(p);
+
+  // CLEARPILOT: system health metrics in lower-right (debug overlay)
+  drawHealthMetrics(p);
+
  // Draw FrogPilot widgets
  paintFrogPilotWidgets(p);
 }
@@ -535,6 +565,164 @@ void AnnotatedCameraWidget::drawSpeedWidget(QPainter &p, int x, int y, const QSt
 }


+void AnnotatedCameraWidget::drawSpeedLimitSign(QPainter &p) {
+  // Hide when no speed limit or speed limit is 0
+  if (clpSpeedLimitDisplay.isEmpty() || clpSpeedLimitDisplay == "0") return;
+
+  p.save();
+
+  const int signW = 189;
+  const int signH = 239;
+  const int margin = 20;
+  const int borderW = 6;
+  const int innerBorderW = 4;
+  const int innerMargin = 10;
+  const int cornerR = 15;
+
+  // Position: 20px from lower-left corner
+  QRect signRect(margin, height() - signH - margin, signW, signH);
+
+  if (nightriderMode) {
+    // Nightrider: black background, light gray-blue border and text
+    QColor borderColor(160, 180, 210);
+    QColor textColor(160, 180, 210);
+
+    // Outer border
+    p.setPen(QPen(borderColor, borderW));
+    p.setBrush(QColor(0, 0, 0, 220));
+    p.drawRoundedRect(signRect, cornerR, cornerR);
+
+    // Inner border
+    QRect innerRect = signRect.adjusted(innerMargin, innerMargin, -innerMargin, -innerMargin);
+    p.setPen(QPen(borderColor, innerBorderW));
+    p.setBrush(Qt::NoBrush);
+    p.drawRoundedRect(innerRect, cornerR - 4, cornerR - 4);
+
+    // "SPEED" text
+    p.setPen(textColor);
+    p.setFont(InterFont(30, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 15, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "SPEED");
+
+    // "LIMIT" text
+    p.setFont(InterFont(30, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 48, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "LIMIT");
+
+    // Speed limit number — shifted down ~10% of innerRect height via extra top inset
+    p.setFont(InterFont(90, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 86, 0, 0), Qt::AlignCenter, clpSpeedLimitDisplay);
+  } else {
+    // Normal: white background, black border and text
+    QColor borderColor(0, 0, 0);
+    QColor textColor(0, 0, 0);
+
+    // Outer border
+    p.setPen(QPen(borderColor, borderW));
+    p.setBrush(QColor(255, 255, 255, 240));
+    p.drawRoundedRect(signRect, cornerR, cornerR);
+
+    // Inner border
+    QRect innerRect = signRect.adjusted(innerMargin, innerMargin, -innerMargin, -innerMargin);
+    p.setPen(QPen(borderColor, innerBorderW));
+    p.setBrush(Qt::NoBrush);
+    p.drawRoundedRect(innerRect, cornerR - 4, cornerR - 4);
+
+    // "SPEED" text
+    p.setPen(textColor);
+    p.setFont(InterFont(30, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 15, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "SPEED");
+
+    // "LIMIT" text
+    p.setFont(InterFont(30, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 48, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "LIMIT");
+
+    // Speed limit number — shifted down ~10% of innerRect height via extra top inset
+    p.setFont(InterFont(90, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 86, 0, 0), Qt::AlignCenter, clpSpeedLimitDisplay);
+  }
+
+  p.restore();
+}
+
+void AnnotatedCameraWidget::drawCruiseWarningSign(QPainter &p) {
+  // Only show when there's an active warning and the speed limit sign is visible
+  if (clpCruiseWarning.isEmpty() || clpCruiseWarningSpeed.isEmpty()) return;
+  if (clpSpeedLimitDisplay.isEmpty() || clpSpeedLimitDisplay == "0") return;
+
+  bool isOver = (clpCruiseWarning == "over");
+  if (!isOver && clpCruiseWarning != "under") return;
+
+  p.save();
+
+  // Same dimensions as speed limit sign
+  const int signW = 189;
+  const int signH = 239;
+  const int margin = 20;
+  const int borderW = 6;
+  const int innerBorderW = 4;
+  const int innerMargin = 10;
+  const int cornerR = 15;
+  const int gap = 20;
+
+  // Position: directly above the speed limit sign
+  int speedLimitY = height() - signH - margin;
+  QRect signRect(margin, speedLimitY - signH - gap, signW, signH);
+
+  if (nightriderMode) {
+    // Nightrider: black background with colored border/text
+    QColor accentColor = isOver ? QColor(220, 50, 50) : QColor(50, 180, 80);
+
+    p.setPen(QPen(accentColor, borderW));
+    p.setBrush(QColor(0, 0, 0, 220));
+    p.drawRoundedRect(signRect, cornerR, cornerR);
+
+    QRect innerRect = signRect.adjusted(innerMargin, innerMargin, -innerMargin, -innerMargin);
+    p.setPen(QPen(accentColor, innerBorderW));
+    p.setBrush(Qt::NoBrush);
+    p.drawRoundedRect(innerRect, cornerR - 4, cornerR - 4);
+
+    // "CRUISE" text
+    p.setPen(accentColor);
+    p.setFont(InterFont(26, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 15, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "CRUISE");
+
+    // "SET" text
+    p.setFont(InterFont(26, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 45, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "SET");
+
+    // Cruise speed number
+    p.setFont(InterFont(90, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 86, 0, 0), Qt::AlignCenter, clpCruiseWarningSpeed);
+  } else {
+    // Normal: colored background with white border/text
+    QColor bgColor = isOver ? QColor(200, 30, 30, 240) : QColor(40, 160, 60, 240);
+    QColor fgColor(255, 255, 255);
+
+    p.setPen(QPen(fgColor, borderW));
+    p.setBrush(bgColor);
+    p.drawRoundedRect(signRect, cornerR, cornerR);
+
+    QRect innerRect = signRect.adjusted(innerMargin, innerMargin, -innerMargin, -innerMargin);
+    p.setPen(QPen(fgColor, innerBorderW));
+    p.setBrush(Qt::NoBrush);
+    p.drawRoundedRect(innerRect, cornerR - 4, cornerR - 4);
+
+    // "CRUISE" text
+    p.setPen(fgColor);
+    p.setFont(InterFont(26, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 15, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "CRUISE");
+
+    // "SET" text
+    p.setFont(InterFont(26, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 45, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "SET");
+
+    // Cruise speed number
+    p.setFont(InterFont(90, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 86, 0, 0), Qt::AlignCenter, clpCruiseWarningSpeed);
+  }
+
+  p.restore();
+}
+
 void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
  QRect real_rect = p.fontMetrics().boundingRect(text);
  real_rect.moveCenter({x, y - real_rect.height() / 2});
@@ -543,6 +731,87 @@ void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &t
  p.drawText(real_rect.x(), real_rect.bottom(), text);
 }

+// CLEARPILOT: System health overlay — shows metrics that indicate the system
+// is overburdened or behind. Toggled via ClearpilotShowHealthMetrics param.
+// Metrics (top→bottom): FPS, DROP, TEMP, CPU, MEM, FAN
+//   FPS: modeld framerate — 20 normally, 0 in park. Read from ModelFps memory
+//        param which modeld writes only on transition.
+//   DROP (%): modelV2 frameDropPerc — modeld losing frames; controlsd errors >20%
+//   TEMP (°C): deviceState.maxTempC — thermal throttling starts ~75, serious >88
+//   CPU (%): max core from deviceState.cpuUsagePercent
+//   MEM (%): deviceState.memoryUsagePercent
+//   FAN (%): actual fan duty from peripheralState RPM (scaled to 6500 RPM = 100%)
+// Each value color-codes green/yellow/red by severity.
+void AnnotatedCameraWidget::drawHealthMetrics(QPainter &p) {
+  static bool enabled = Params().getBool("ClearpilotShowHealthMetrics");
+  static int check_counter = 0;
+  // re-check the param every ~2s without a toggle signal path
+  if (++check_counter >= 40) {
+    check_counter = 0;
+    enabled = Params().getBool("ClearpilotShowHealthMetrics");
+  }
+  if (!enabled) return;
+
+  SubMaster &sm = *(uiState()->sm);
+  auto ds = sm["deviceState"].getDeviceState();
+  auto mv = sm["modelV2"].getModelV2();
+  auto ps = sm["peripheralState"].getPeripheralState();
+
+  int model_fps = paramsMemory.getInt("ModelFps");
+  float drop_pct = mv.getFrameDropPerc();
+  float temp_c = ds.getMaxTempC();
+  int mem_pct = ds.getMemoryUsagePercent();
+  int cpu_pct = 0;
+  for (auto v : ds.getCpuUsagePercent()) cpu_pct = std::max(cpu_pct, (int)v);
+  // Actual fan (not commanded): scale RPM to 0-100 using 6500 RPM as full scale
+  int fan_pct = std::min(100, (int)(ps.getFanSpeedRpm() * 100 / 6500));
+
+  auto color_for = [](float v, float warn, float crit) {
+    if (v >= crit) return QColor(0xff, 0x50, 0x50);   // red
+    if (v >= warn) return QColor(0xff, 0xd0, 0x40);   // yellow
+    return QColor(0xff, 0xff, 0xff);                   // white (ok)
+  };
+
+  struct Row { QString label; QString value; QColor color; };
+  Row rows[] = {
+    {"FPS",  QString::number(model_fps),    QColor(0xff, 0xff, 0xff)},
+    {"DROP", QString::number((int)drop_pct),color_for(drop_pct, 5.f,  15.f)},
+    {"TEMP", QString::number((int)temp_c),  color_for(temp_c,  75.f,  88.f)},
+    {"CPU",  QString::number(cpu_pct),      color_for((float)cpu_pct, 75.f, 90.f)},
+    {"MEM",  QString::number(mem_pct),      color_for((float)mem_pct, 70.f, 85.f)},
+    {"FAN",  QString::number(fan_pct),      QColor(0xff, 0xff, 0xff)},
+  };
+
+  p.save();
+  p.setFont(InterFont(90, QFont::Bold));
+  QFontMetrics fm = p.fontMetrics();
+  int row_h = fm.height();              // natural line height at 90pt bold
+  int gap = 40;                         // requested 40px between values
+  int margin = 30;                      // requested 30px margin
+  int panel_w = 360;                    // fixed width — fits "TEMP 99"
+  int n = sizeof(rows) / sizeof(rows[0]);
+  int panel_h = n * row_h + (n - 1) * gap + 2 * margin;
+  int x = width() - panel_w - margin;
+  int y = height() - panel_h - margin;
+
+  // black background
+  p.setPen(Qt::NoPen);
+  p.setBrush(QColor(0, 0, 0, 200));
+  p.drawRoundedRect(QRect(x, y, panel_w, panel_h), 20, 20);
+
+  // rows
+  int text_y = y + margin + fm.ascent();
+  for (int i = 0; i < n; i++) {
+    p.setPen(rows[i].color);
+    // label left (shifted -50px per user request), value right
+    p.drawText(x + margin - 50, text_y, rows[i].label);
+    QRect vrect = fm.boundingRect(rows[i].value);
+    p.drawText(x + panel_w - margin - vrect.width(), text_y, rows[i].value);
+    text_y += row_h + gap;
+  }
+  p.restore();
+}
+
 void AnnotatedCameraWidget::initializeGL() {
  CameraWidget::initializeGL();
  qInfo() << "OpenGL version:" << QString((const char*)glGetString(GL_VERSION));
@@ -562,13 +831,6 @@ void AnnotatedCameraWidget::updateFrameMat() {
  s->fb_w = w;
  s->fb_h = h;

-  if (screenDisplayMode == 1 || screenDisplayMode == 2) {
-    // Render a black box instead of the video feed
-    QPainter painter(this);
-    painter.fillRect(0, 0, w, h, Qt::black);
-    return;
-  }
-
  // Apply transformation such that video pixel coordinates match video
  // 1) Put (0, 0) in the middle of the video
  // 2) Apply same scaling as video
@@ -580,31 +842,58 @@ void AnnotatedCameraWidget::updateFrameMat() {
 }

 void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
-  if (screenDisplayMode == 2) {
-    return;
-  }
-  
  painter.save();

  // CLEARPILOT: color channel code rewriten to allow custom colors

  SubMaster &sm = *(s->sm);

+  // 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;
+  // CLEARPILOT: lane lines 5% thinner than the generic outline (QPen accepts float width)
+  float laneLineWidth = outlineOnly ? (float)outlineWidth * 0.95f : (float)outlineWidth;
+
  // lanelines
  for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) {
-      painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(scene.lane_line_probs[i], 0.0, 0.7)));
+    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, laneLineWidth));
+      painter.setBrush(Qt::NoBrush);
+    } else {
+      painter.setPen(Qt::NoPen);
+      painter.setBrush(lineColor);
+    }
    painter.drawPolygon(scene.lane_line_vertices[i]);
  }
+  if (outlineOnly) painter.setPen(Qt::NoPen);

  // road edges
  for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) {
-      painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0)));
+    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, outlineWidth));
+      painter.setBrush(Qt::NoBrush);
+    } else {
+      painter.setPen(Qt::NoPen);
+      painter.setBrush(edgeCol);
+    }
    painter.drawPolygon(scene.road_edge_vertices[i]);
  }
+  if (outlineOnly) painter.setPen(Qt::NoPen);

  // paint center lane path
  // QColor bg_colors[CHANGE_LANE_PATH_COLOR];

+  // CLEARPILOT: read from paramsMemory; controlsd writes "no_lat_lane_change".
  bool is_no_lat_lane_change = paramsMemory.getBool("no_lat_lane_change");

  QColor center_lane_color;
@@ -665,12 +954,23 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
      path_gradient.setColorAt(1.0, QColor(center_lane_color.red(), center_lane_color.green(), center_lane_color.blue(), static_cast<int>(CENTER_LANE_ALPHA * 255 * 0.0)));
    }

+    if (outlineOnly) {
+      // CLEARPILOT: in nightrider, the tire path outline is light blue at 3px.
+      // Uses a fixed light-blue instead of center_lane_color (which is status-tinted) so
+      // the path reads as a neutral guide, not as engagement/status feedback.
+      QColor lightBlue(153, 204, 255, 220);  // #99CCFF light blue, mostly opaque
+      painter.setPen(QPen(lightBlue, 3));
+      painter.setBrush(Qt::NoBrush);
+    } else {
+      painter.setPen(Qt::NoPen);
      painter.setBrush(path_gradient);
+    }
    painter.drawPolygon(scene.track_vertices);
+    if (outlineOnly) painter.setPen(Qt::NoPen);
  }

  // Paint path edges ,Use current background color
-  if (edgeColor != bg_colors[STATUS_DISENGAGED]) {
+  if (edgeColor != bg_colors[STATUS_DISENGAGED] && !outlineOnly) {
    QLinearGradient edge_gradient;
    edge_gradient.setColorAt(0.0, QColor(edgeColor.red(), edgeColor.green(), edgeColor.blue(), static_cast<int>(255)));  
    edge_gradient.setColorAt(0.5, QColor(edgeColor.red(), edgeColor.green(), edgeColor.blue(), static_cast<int>(255 * 0.8) ));  
@@ -686,18 +986,24 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {

  // Paint blindspot path
  if (scene.blind_spot_path) {
+    QColor bsColor = QColor::fromHslF(0 / 360., 0.75, 0.50, 0.6);
+    if (outlineOnly) {
+      painter.setPen(QPen(bsColor, outlineWidth));
+      painter.setBrush(Qt::NoBrush);
+    } else {
      QLinearGradient bs(0, height(), 0, 0);
      bs.setColorAt(0.0, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.6));
      bs.setColorAt(0.5, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.4));
      bs.setColorAt(1.0, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.2));
-
      painter.setBrush(bs);
+    }
    if (blindSpotLeft) {
      painter.drawPolygon(scene.track_adjacent_vertices[4]);
    }
    if (blindSpotRight) {
      painter.drawPolygon(scene.track_adjacent_vertices[5]);
    }
+    if (outlineOnly) painter.setPen(Qt::NoPen);
  }

  // Paint adjacent lane paths
@@ -708,16 +1014,19 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
    float maxLaneWidth = laneDetectionWidth * 1.5;

    auto paintLane = [=](QPainter &painter, const QPolygonF &lane, float laneWidth, bool blindspot) {
-      QLinearGradient al(0, height(), 0, 0);
-
      bool redPath = laneWidth < minLaneWidth || laneWidth > maxLaneWidth || blindspot;
      float hue = redPath ? 0.0 : 120.0 * (laneWidth - minLaneWidth) / (maxLaneWidth - minLaneWidth);

+      if (outlineOnly) {
+        painter.setPen(QPen(QColor::fromHslF(hue / 360.0, 0.75, 0.50, 0.6), 2));
+        painter.setBrush(Qt::NoBrush);
+      } else {
+        QLinearGradient al(0, height(), 0, 0);
        al.setColorAt(0.0, QColor::fromHslF(hue / 360.0, 0.75, 0.50, 0.6));
        al.setColorAt(0.5, QColor::fromHslF(hue / 360.0, 0.75, 0.50, 0.4));
        al.setColorAt(1.0, QColor::fromHslF(hue / 360.0, 0.75, 0.50, 0.2));
-
        painter.setBrush(al);
+      }
      painter.drawPolygon(lane);

      painter.setFont(InterFont(30, QFont::DemiBold));
@@ -805,6 +1114,10 @@ void AnnotatedCameraWidget::paintEvent(QPaintEvent *event) {
  const cereal::ModelDataV2::Reader &model = sm["modelV2"].getModelV2();
  const float v_ego = sm["carState"].getCarState().getVEgo();

+  // CLEARPILOT: read display mode early — needed for camera suppression
+  displayMode = paramsMemory.getInt("ScreenDisplayMode");
+  nightriderMode = (displayMode == 1 || displayMode == 4);
+
  // draw camera frame
  {
    std::lock_guard lk(frame_lock);
@@ -845,9 +1158,19 @@ void AnnotatedCameraWidget::paintEvent(QPaintEvent *event) {
    } else {
      CameraWidget::updateCalibration(DEFAULT_CALIBRATION);
    }
+    // CLEARPILOT: force CameraWidget bg to black in nightrider to prevent color bleed
+    if (nightriderMode) {
+      CameraWidget::setBackgroundColor(Qt::black);
+    }
    painter.beginNativePainting();
+    if (nightriderMode) {
+      // CLEARPILOT: black background, no camera feed
+      glClearColor(0.0f, 0.0f, 0.0f, 1.0f);
+      glClear(GL_COLOR_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
+    } else {
      CameraWidget::setFrameId(model.getFrameId());
      CameraWidget::paintGL();
+    }
    painter.endNativePainting();
  }

@@ -925,7 +1248,7 @@ void AnnotatedCameraWidget::initializeFrogPilotWidgets() {
    animationFrameIndex = (animationFrameIndex + 1) % totalFrames;
  });

-  // Initialize the timer for the screen recorder
+  // CLEARPILOT: screen recorder disabled — replaced by dedicated dashcamd process
  // QTimer *record_timer = new QTimer(this);
  // connect(record_timer, &QTimer::timeout, this, [this]() {
  //   if (recorder_btn) {
@@ -1010,7 +1333,8 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets() {
 }

 void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &p) {
-  if ((showAlwaysOnLateralStatusBar || showConditionalExperimentalStatusBar || roadNameUI)) {
+  // CLEARPILOT: only show status bar when telemetry is enabled
+  if (paramsMemory.getBool("TelemetryEnabled")) {
    drawStatusBar(p);
  }

@@ -1022,8 +1346,7 @@ void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &p) {
    drawSLCConfirmation(p);
  }

-  // recorder_btn->setVisible(scene.screen_recorder && !mapOpen);
-  recorder_btn->setVisible(false);
+  // CLEARPILOT: screen recorder disabled, using dashcamd instead
 }

 void AnnotatedCameraWidget::drawLeadInfo(QPainter &p) {
@@ -1212,7 +1535,30 @@ void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {

  QString roadName = roadNameUI ? QString::fromStdString(paramsMemory.get("RoadName")) : QString();

-  if (alwaysOnLateralActive && showAlwaysOnLateralStatusBar) {
+  // CLEARPILOT: telemetry status bar — show live stats when telemetry enabled
+  if (paramsMemory.getBool("TelemetryEnabled")) {
+    SubMaster &sm = *(uiState()->sm);
+    auto deviceState = sm["deviceState"].getDeviceState();
+    int maxTempC = deviceState.getMaxTempC();
+    int fanPct = deviceState.getFanSpeedPercentDesired();
+    bool standstill = sm["carState"].getCarState().getStandstill();
+
+    static double last_model_status_t = 0;
+    static float model_status_fps = 0;
+    if (sm.updated("modelV2")) {
+      double now = millis_since_boot();
+      if (last_model_status_t > 0) {
+        double dt = now - last_model_status_t;
+        if (dt > 0) model_status_fps = model_status_fps * 0.8 + (1000.0 / dt) * 0.2;
+      }
+      last_model_status_t = now;
+    }
+
+    newStatus = QString("%1\u00B0C  FAN %2%  MDL %3")
+      .arg(maxTempC).arg(fanPct).arg(model_status_fps, 0, 'f', 0);
+    if (standstill) newStatus += "  STANDSTILL";
+  // CLEARPILOT: suppress "Always On Lateral active" status bar message
+  } else if (false && alwaysOnLateralActive && showAlwaysOnLateralStatusBar) {
    newStatus = tr("Always On Lateral active") + (tr(". Press the \"Cruise Control\" button to disable"));
  } else if (showConditionalExperimentalStatusBar) {
    newStatus = conditionalStatusMap[status != STATUS_DISENGAGED ? conditionalStatus : 0];
@@ -12,7 +12,7 @@
 #include "selfdrive/ui/ui.h"
 #include "selfdrive/ui/qt/widgets/cameraview.h"

-#include "selfdrive/frogpilot/screenrecorder/screenrecorder.h"
+// #include "selfdrive/frogpilot/screenrecorder/screenrecorder.h"  // DISABLED: using dashcamd instead

 const int btn_size = 192;
 const int img_size = (btn_size / 4) * 3;
@@ -47,16 +47,31 @@ public:
  explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
  void updateState(const UIState &s);
  void updateLaneEdgeColor(QColor &bgColor);
-  int screenDisplayMode = 0;

 private:
  void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
  void drawSpeedWidget(QPainter &p, int x, int y, const QString &title, const QString &speedLimitStr, QColor colorSpeed, int width = 176);
+  void drawSpeedLimitSign(QPainter &p);
+  void drawCruiseWarningSign(QPainter &p);
+  void drawHealthMetrics(QPainter &p);

  QVBoxLayout *main_layout;
  QPixmap dm_img;
  float speed;
+  bool has_gps_speed = false;
+  bool nightriderMode = false;
+  int displayMode = 0;
  QString speedUnit;
+
+  // ClearPilot speed state (from params_memory, updated ~2Hz)
+  bool clpHasSpeed = false;
+  QString clpSpeedDisplay;
+  QString clpSpeedLimitDisplay;
+  QString clpSpeedUnit;
+  QString clpCruiseWarning;
+  QString clpCruiseWarningSpeed;
+  int clpParamFrame = 0;
+
  float setSpeed;
  float speedLimit;
  bool is_cruise_set = false;
@@ -89,8 +104,6 @@ private:
  Params paramsMemory{"/dev/shm/params"};
  UIScene &scene;

-  ScreenRecorder *recorder_btn;
-
  QHBoxLayout *bottom_layout;

  bool alwaysOnLateralActive;
@@ -30,11 +30,12 @@ ReadyWindow::ReadyWindow(QWidget *parent) : QWidget(parent) {

    timer = new QTimer(this);
    timer->callOnTimeout(this, &ReadyWindow::refresh);
+    uptime.start();
 }

 void ReadyWindow::showEvent(QShowEvent *event) {
  refresh();
-  timer->start(5 * 1000);
+  timer->start(2 * 1000);
 }

 void ReadyWindow::hideEvent(QHideEvent *event) {
@@ -43,34 +44,94 @@ void ReadyWindow::hideEvent(QHideEvent *event) {

 void ReadyWindow::paintEvent(QPaintEvent *event) {
    QPainter painter(this);
-    QPixmap *img_shown = nullptr;
+    painter.fillRect(rect(), Qt::black);

    if (is_hot) {
        if (img_hot.isNull()) {
            img_hot.load("/data/openpilot/selfdrive/clearpilot/theme/clearpilot/images/hot.png");
        }
-        img_shown = &img_hot;
+        int x = (width() - img_hot.width()) / 2;
+        int y = (height() - img_hot.height()) / 2;
+        painter.drawPixmap(x, y, img_hot);
    } else {
-        if (img_ready.isNull()) {
-            img_ready.load("/data/openpilot/selfdrive/clearpilot/theme/clearpilot/images/ready.png");
+        // Boot logo — same rotation as spinner (bg.jpg is pre-rotated 90° CW for framebuffer)
+        if (img_bg.isNull()) {
+            QPixmap raw("/usr/comma/bg.jpg");
+            if (!raw.isNull()) {
+                QTransform rot;
+                rot.rotate(-90);
+                img_bg = raw.transformed(rot);
            }
-        img_shown = &img_ready;
+        }
+        if (!img_bg.isNull()) {
+            QPixmap scaled = img_bg.scaled(size(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
+            int x = (width() - scaled.width()) / 2;
+            int y = (height() - scaled.height()) / 2;
+            painter.drawPixmap(x, y, scaled);
        }

-    int x = (width() - img_shown->width()) / 2;
-    int y = (height() - img_shown->height()) / 2;
-    painter.drawPixmap(x, y, *img_shown);
+        if (error_msg.isEmpty() && !has_driven) {
+            // "READY!" 8-bit text sprite, 15% below center — only before first drive
+            static QPixmap ready_text("/data/openpilot/selfdrive/clearpilot/theme/clearpilot/images/ready_text.png");
+            if (!ready_text.isNull()) {
+                int tx = (width() - ready_text.width()) / 2;
+                int ty = height() / 2 + height() * 15 / 100;
+                painter.drawPixmap(tx, ty, ready_text);
+            }
+        } else {
+            // Error state: red text at 25% below center
+            QFont font("Inter", 50, QFont::Bold);
+            painter.setFont(font);
+            painter.setPen(QColor(0xFF, 0x44, 0x44));
+            int ty = height() / 2 + height() * 25 / 100;
+            QRect text_rect(0, ty, width(), 100);
+            painter.drawText(text_rect, Qt::AlignHCenter | Qt::AlignTop, error_msg);
+        }
+    }
 }

 void ReadyWindow::refresh() {
+    bool changed = false;
+
+    // Temperature check
    std::string bytes = params.get("Offroad_TemperatureTooHigh");
+    bool was_hot = is_hot;
    if (!bytes.empty()) {
        auto doc = QJsonDocument::fromJson(bytes.data());
        is_hot = true;
        cur_temp = doc["extra"].toString();
-        update();
-    } else if (is_hot) {
+    } else {
        is_hot = false;
-        update();
    }
+    if (is_hot != was_hot) changed = true;
+
+    // Error state checks (only when not hot — hot has its own display)
+    if (!is_hot) {
+        QString prev_error = error_msg;
+
+        // Panda check — same logic as sidebar, with 10s grace period on startup
+        if (uptime.elapsed() > 10000 &&
+            uiState()->scene.pandaType == cereal::PandaState::PandaType::UNKNOWN) {
+            error_msg = "PANDA NOT CONNECTED";
+        }
+        // Car unrecognized check
+        else if (!params.get("Offroad_CarUnrecognized").empty()) {
+            error_msg = "CAR NOT RECOGNIZED";
+        }
+        else {
+            error_msg = "";
+        }
+
+        if (error_msg != prev_error) changed = true;
+    }
+
+    // Reset has_driven on ignition off→on (power cycle)
+    bool started = uiState()->scene.started;
+    if (!last_started && started) {
+      has_driven = false;
+      changed = true;
+    }
+    last_started = started;
+
+    if (changed) update();
 }
@@ -8,6 +8,7 @@
 #include <QSocketNotifier>
 #include <QVariantAnimation>
 #include <QWidget>
+#include <QElapsedTimer>
 #include <QTimer>

 #include "common/util.h"
@@ -17,6 +18,7 @@ class ReadyWindow : public QWidget {
    Q_OBJECT
 public:
    ReadyWindow(QWidget* parent = nullptr);
+    bool has_driven = false;
 private:
    void showEvent(QShowEvent *event) override;
    void hideEvent(QHideEvent *event) override;
@@ -26,6 +28,9 @@ private:
    QTimer* timer;
    bool is_hot = false;
    QString cur_temp;
-    QPixmap img_ready;
+    QString error_msg;  // non-empty = show red error instead of READY!
+    QElapsedTimer uptime;
+    bool last_started = false;
+    QPixmap img_bg;
    QPixmap img_hot;
 };
@@ -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, [=]() {
@@ -35,13 +44,17 @@ 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) {
-      closeSettings();
+    // CLEARPILOT: on timeout, return to splash/onroad (not ClearPilotPanel)
+    if (main_layout->currentWidget() != homeWindow) {
+      main_layout->setCurrentWidget(homeWindow);
    }
+    homeWindow->offroadTransition(!uiState()->scene.started);
  });

  // load fonts
@@ -63,6 +76,74 @@ 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 +151,10 @@ 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);

@@ -86,6 +171,16 @@ bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
    case QEvent::TouchEnd:
    case QEvent::MouseButtonPress:
    case QEvent::MouseMove: {
+      // CLEARPILOT: tap while screen-off (mode 3) -> wake to auto-normal (mode 0)
+      Params pmem{"/dev/shm/params"};
+      if (!device()->isAwake()) {
+        if (pmem.getInt("ScreenDisplayMode") == 3) {
+          pmem.putInt("ScreenDisplayMode", 0);
+        }
+      }
+      // CLEARPILOT: reset shutdown timer on any screen touch
+      static int touch_counter = 0;
+      pmem.put("ShutdownTouchReset", std::to_string(++touch_counter));
      // ignore events when device is awakened by resetInteractiveTimeout
      ignore = !device()->isAwake();
      device()->resetInteractiveTimeout(uiState()->scene.screen_timeout, uiState()->scene.screen_timeout_onroad);
@@ -96,3 +191,215 @@ bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
  }
  return ignore;
 }
+
+// CLEARPILOT: Status window — live system stats, collected on background thread
+
+#include <QFile>
+#include <QProcess>
+#include <QDateTime>
+#include <QtConcurrent>
+
+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();
+}
+
+static StatusWindow::StatusData collectStatus() {
+  StatusWindow::StatusData d;
+
+  d.time = QDateTime::currentDateTime().toString("yyyy-MM-dd hh:mm:ss");
+  d.storage = shellCmd("df -h /data | tail -1 | awk '{print $3 \" / \" $2 \" (\" $5 \" used)\"}'");
+
+  // RAM from /proc/meminfo (no subprocess needed)
+  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;
+    d.ram = QString("%1 / %2 MB").arg(used / 1024).arg(total / 1024);
+  }
+
+  // Load from /proc/loadavg
+  QString loadavg = readFile("/proc/loadavg");
+  QStringList parts = loadavg.split(' ');
+  if (parts.size() >= 3) {
+    d.load = QString("%1  %2  %3").arg(parts[0], parts[1], parts[2]);
+  }
+
+  // Temperature
+  QString temps = shellCmd("cat /sys/class/thermal/thermal_zone*/temp 2>/dev/null | sort -rn | head -1");
+  if (!temps.isEmpty()) {
+    d.temp_c = temps.toLong() / 1000.0f;
+    d.temp = QString("%1\u00B0C").arg(d.temp_c, 0, 'f', 1);
+  }
+
+  // Fan
+  QString fan = shellCmd("cat /sys/class/hwmon/hwmon*/fan1_input 2>/dev/null | head -1");
+  if (fan.isEmpty()) fan = readFile("/dev/shm/params/d/LastFanSpeed");
+  d.fan = fan.isEmpty() ? QString::fromUtf8("\u2014") : fan + " RPM";
+
+  // Network
+  d.ip = shellCmd("ip route get 1.1.1.1 2>/dev/null | head -1 | awk '{print $7}'");
+  d.wifi = shellCmd("iwconfig wlan0 2>/dev/null | grep -oP 'ESSID:\"\\K[^\"]*'");
+
+  // VPN
+  QString tun = shellCmd("ip link show tun0 2>/dev/null | head -1");
+  if (tun.contains("UP")) {
+    d.vpn_status = "up";
+    d.vpn_ip = shellCmd("ip addr show tun0 2>/dev/null | grep 'inet ' | awk '{print $2}'");
+  }
+
+  // GPS
+  d.gps = readFile("/data/params/d/LastGPSPosition");
+
+  // Telemetry
+  d.telemetry = readFile("/data/params/d/TelemetryEnabled");
+
+  // Dashcam
+  d.dashcam_state = readFile("/dev/shm/params/d/DashcamState");
+  if (d.dashcam_state.isEmpty()) d.dashcam_state = "stopped";
+  d.dashcam_frames = readFile("/dev/shm/params/d/DashcamFrames");
+
+  // Panda: checked on UI thread in applyResults() via scene.pandaType
+
+  return d;
+}
+
+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");
+  temp_label = makeRow("Temperature");
+  fan_label = makeRow("Fan Speed");
+  panda_label = makeRow("Panda");
+  ip_label = makeRow("IP Address");
+  wifi_label = makeRow("WiFi");
+  vpn_label = makeRow("VPN");
+  gps_label = makeRow("GPS");
+  telemetry_label = makeRow("Telemetry");
+  dashcam_label = makeRow("Dashcam");
+
+  layout->addStretch();
+
+  setStyleSheet("StatusWindow { background-color: black; }");
+
+  connect(&watcher, &QFutureWatcher<StatusData>::finished, this, &StatusWindow::applyResults);
+
+  QTimer *timer = new QTimer(this);
+  connect(timer, &QTimer::timeout, this, &StatusWindow::kickRefresh);
+  timer->start(1000);
+}
+
+void StatusWindow::kickRefresh() {
+  if (!isVisible() || collecting) return;
+  collecting = true;
+  watcher.setFuture(QtConcurrent::run(collectStatus));
+}
+
+void StatusWindow::applyResults() {
+  collecting = false;
+  StatusData d = watcher.result();
+
+  time_label->setText(d.time);
+  storage_label->setText(d.storage);
+  if (!d.ram.isEmpty()) ram_label->setText(d.ram);
+  if (!d.load.isEmpty()) load_label->setText(d.load);
+
+  if (!d.temp.isEmpty()) {
+    temp_label->setText(d.temp);
+    temp_label->setStyleSheet(d.temp_c > 70 ? "color: #ff4444; font-size: 38px;" :
+                              d.temp_c > 55 ? "color: #ffaa00; font-size: 38px;" :
+                                              "color: white; font-size: 38px;");
+  }
+
+  fan_label->setText(d.fan);
+
+  // Panda: same check as sidebar — read scene.pandaType on UI thread
+  if (uiState()->scene.pandaType != cereal::PandaState::PandaType::UNKNOWN) {
+    panda_label->setText("Connected");
+    panda_label->setStyleSheet("color: #17c44d; font-size: 38px;");
+  } else {
+    panda_label->setText("Not connected");
+    panda_label->setStyleSheet("color: #ff4444; font-size: 38px;");
+  }
+
+  ip_label->setText(d.ip.isEmpty() ? "No connection" : d.ip);
+  wifi_label->setText(d.wifi.isEmpty() ? "Not connected" : d.wifi);
+
+  if (d.vpn_status == "up") {
+    vpn_label->setText("Connected (" + d.vpn_ip + ")");
+    vpn_label->setStyleSheet("color: #17c44d; font-size: 38px;");
+  } else {
+    vpn_label->setText("Not connected");
+    vpn_label->setStyleSheet("color: #ff4444; font-size: 38px;");
+  }
+
+  if (d.gps.isEmpty()) {
+    gps_label->setText("No fix");
+    gps_label->setStyleSheet("color: #ff4444; font-size: 38px;");
+  } else {
+    gps_label->setText(d.gps);
+    gps_label->setStyleSheet("color: white; font-size: 38px;");
+  }
+
+  if (d.telemetry == "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;");
+  }
+
+  if (d.dashcam_state == "recording") {
+    QString text = "Recording";
+    if (!d.dashcam_frames.isEmpty() && d.dashcam_frames != "0") text += " (" + d.dashcam_frames + " frames)";
+    dashcam_label->setText(text);
+    dashcam_label->setStyleSheet("color: #17c44d; font-size: 38px;");
+  } else if (d.dashcam_state == "waiting") {
+    dashcam_label->setText("Waiting");
+    dashcam_label->setStyleSheet("color: #ffaa00; font-size: 38px;");
+  } else {
+    dashcam_label->setText("Stopped");
+    dashcam_label->setStyleSheet("color: #ff4444; font-size: 38px;");
+  }
+}
+
+void StatusWindow::mousePressEvent(QMouseEvent *e) {
+  emit closeStatus();
+}
@@ -1,12 +1,59 @@
 #pragma once

+#include <QFutureWatcher>
 #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);
+
+  struct StatusData {
+    QString time, storage, ram, load, temp, fan, ip, wifi;
+    QString vpn_status, vpn_ip, gps, telemetry;
+    QString dashcam_state, dashcam_frames;
+    float temp_c = 0;
+  };
+
+protected:
+  void mousePressEvent(QMouseEvent *e) override;
+
+signals:
+  void closeStatus();
+
+private slots:
+  void kickRefresh();
+  void applyResults();
+
+private:
+
+  QFutureWatcher<StatusData> watcher;
+  bool collecting = false;
+
+  QLabel *storage_label;
+  QLabel *ram_label;
+  QLabel *load_label;
+  QLabel *temp_label;
+  QLabel *fan_label;
+  QLabel *ip_label;
+  QLabel *wifi_label;
+  QLabel *vpn_label;
+  QLabel *gps_label;
+  QLabel *time_label;
+  QLabel *telemetry_label;
+  QLabel *dashcam_label;
+  QLabel *panda_label;
+};
+
 class MainWindow : public QWidget {
  Q_OBJECT

@@ -16,13 +63,24 @@ 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();
 };
@@ -818,15 +818,15 @@
    <name>OffroadHome</name>
    <message>
        <source>UPDATE</source>
-        <translation>تحديث</translation>
+        <translation type="vanished">تحديث</translation>
    </message>
    <message>
        <source> ALERTS</source>
-        <translation> التنبهات</translation>
+        <translation type="vanished"> التنبهات</translation>
    </message>
    <message>
        <source> ALERT</source>
-        <translation> تنبيه</translation>
+        <translation type="vanished"> تنبيه</translation>
    </message>
 </context>
 <context>
@@ -771,15 +771,15 @@
    <name>OffroadHome</name>
    <message>
        <source>UPDATE</source>
-        <translation>Aktualisieren</translation>
+        <translation type="vanished">Aktualisieren</translation>
    </message>
    <message>
        <source> ALERTS</source>
-        <translation> HINWEISE</translation>
+        <translation type="vanished"> HINWEISE</translation>
    </message>
    <message>
        <source> ALERT</source>
-        <translation> HINWEIS</translation>
+        <translation type="vanished"> HINWEIS</translation>
    </message>
 </context>
 <context>
@@ -814,15 +814,15 @@
    <name>OffroadHome</name>
    <message>
        <source>UPDATE</source>
-        <translation>MISE À JOUR</translation>
+        <translation type="vanished">MISE À JOUR</translation>
    </message>
    <message>
        <source> ALERTS</source>
-        <translation> ALERTES</translation>
+        <translation type="vanished"> ALERTES</translation>
    </message>
    <message>
        <source> ALERT</source>
-        <translation> ALERTE</translation>
+        <translation type="vanished"> ALERTE</translation>
    </message>
 </context>
 <context>
@@ -770,15 +770,15 @@
    <name>OffroadHome</name>
    <message>
        <source>UPDATE</source>
-        <translation>更新</translation>
+        <translation type="vanished">更新</translation>
    </message>
    <message>
        <source> ALERTS</source>
-        <translation> 警告</translation>
+        <translation type="vanished"> 警告</translation>
    </message>
    <message>
        <source> ALERT</source>
-        <translation> 警告</translation>
+        <translation type="vanished"> 警告</translation>
    </message>
 </context>
 <context>
@@ -813,15 +813,15 @@
    <name>OffroadHome</name>
    <message>
        <source>UPDATE</source>
-        <translation>업데이트</translation>
+        <translation type="vanished">업데이트</translation>
    </message>
    <message>
        <source> ALERTS</source>
-        <translation> 알림</translation>
+        <translation type="vanished"> 알림</translation>
    </message>
    <message>
        <source> ALERT</source>
-        <translation> 알림</translation>
+        <translation type="vanished"> 알림</translation>
    </message>
 </context>
 <context>
@@ -814,15 +814,15 @@
    <name>OffroadHome</name>
    <message>
        <source>UPDATE</source>
-        <translation>ATUALIZAÇÃO</translation>
+        <translation type="vanished">ATUALIZAÇÃO</translation>
    </message>
    <message>
        <source> ALERTS</source>
-        <translation> ALERTAS</translation>
+        <translation type="vanished"> ALERTAS</translation>
    </message>
    <message>
        <source> ALERT</source>
-        <translation> ALERTA</translation>
+        <translation type="vanished"> ALERTA</translation>
    </message>
 </context>
 <context>
@@ -813,15 +813,15 @@
    <name>OffroadHome</name>
    <message>
        <source>UPDATE</source>
-        <translation>อัปเดต</translation>
+        <translation type="vanished">อัปเดต</translation>
    </message>
    <message>
        <source> ALERTS</source>
-        <translation> การแจ้งเตือน</translation>
+        <translation type="vanished"> การแจ้งเตือน</translation>
    </message>
    <message>
        <source> ALERT</source>
-        <translation> การแจ้งเตือน</translation>
+        <translation type="vanished"> การแจ้งเตือน</translation>
    </message>
 </context>
 <context>
@@ -770,15 +770,15 @@
    <name>OffroadHome</name>
    <message>
        <source>UPDATE</source>
-        <translation>GÜNCELLE</translation>
+        <translation type="vanished">GÜNCELLE</translation>
    </message>
    <message>
        <source> ALERTS</source>
-        <translation> UYARILAR</translation>
+        <translation type="vanished"> UYARILAR</translation>
    </message>
    <message>
        <source> ALERT</source>
-        <translation> UYARI</translation>
+        <translation type="vanished"> UYARI</translation>
    </message>
 </context>
 <context>
@@ -813,15 +813,15 @@
    <name>OffroadHome</name>
    <message>
        <source>UPDATE</source>
-        <translation>更新</translation>
+        <translation type="vanished">更新</translation>
    </message>
    <message>
        <source> ALERTS</source>
-        <translation> 警报</translation>
+        <translation type="vanished"> 警报</translation>
    </message>
    <message>
        <source> ALERT</source>
-        <translation> 警报</translation>
+        <translation type="vanished"> 警报</translation>
    </message>
 </context>
 <context>
@@ -813,15 +813,15 @@
    <name>OffroadHome</name>
    <message>
        <source>UPDATE</source>
-        <translation>更新</translation>
+        <translation type="vanished">更新</translation>
    </message>
    <message>
        <source> ALERTS</source>
-        <translation> 提醒</translation>
+        <translation type="vanished"> 提醒</translation>
    </message>
    <message>
        <source> ALERT</source>
-        <translation> 提醒</translation>
+        <translation type="vanished"> 提醒</translation>
    </message>
 </context>
 <context>
@@ -93,6 +93,9 @@ void update_model(UIState *s,
  if (plan_position.getX().size() < model.getPosition().getX().size()) {
    plan_position = model.getPosition();
  }
+  // CLEARPILOT: guard against empty model data (bench mode, no modeld running)
+  if (plan_position.getX().size() == 0) return;
+
  float max_distance = scene.unlimited_road_ui_length ? *(plan_position.getX().end() - 1) :
                       std::clamp(*(plan_position.getX().end() - 1),
                                  MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
@@ -115,8 +118,11 @@ void update_model(UIState *s,
  }

  // update path
+  // CLEARPILOT: read from paramsMemory; controlsd writes "no_lat_lane_change"
+  // there. (Broken used a custom cereal field; we keep the param-based wiring.)
+  bool no_lat_lane_change = paramsMemory.getBool("no_lat_lane_change");
  float path;
-  if (paramsMemory.getBool("no_lat_lane_change")) {
+  if (no_lat_lane_change) {
    path = (float)LANE_CHANGE_NO_LAT_PATH_WIDTH / 20;  // Release: better calc for EU users
  } else {
    path = (float)CENTER_LANE_WIDTH / 20; // Release: better calc for EU users
@@ -391,6 +397,7 @@ void ui_update_frogpilot_params(UIState *s) {
  scene.screen_brightness = screen_management ? params.getInt("ScreenBrightness") : 101;
  scene.screen_brightness_onroad = screen_management ? params.getInt("ScreenBrightnessOnroad") : 101;
  scene.screen_recorder = screen_management && params.getBool("ScreenRecorder");
+  scene.screen_recorder_debug = params.getBool("ScreenRecorderDebug");
  scene.screen_timeout = screen_management ? params.getInt("ScreenTimeout") : 120;
  scene.screen_timeout_onroad = screen_management ? params.getInt("ScreenTimeoutOnroad") : 10;
  scene.standby_mode = screen_management && params.getBool("StandbyMode");
@@ -435,9 +442,10 @@ void UIState::updateStatus() {
 UIState::UIState(QObject *parent) : QObject(parent) {
  sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
    "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
-    "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
+    "pandaStates", "peripheralState", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
    "wideRoadCameraState", "managerState", "uiPlan", "liveTorqueParameters",
    "frogpilotCarControl", "frogpilotDeviceState", "frogpilotPlan",
+    "gpsLocation",
  });

  Params params;
@@ -551,7 +559,10 @@ void Device::updateWakefulness(const UIState &s) {
  }

  if (ignition_state_changed) {
-    if (ignition_on && s.scene.screen_brightness_onroad == 0 && !s.scene.standby_mode) {
+    if (!ignition_on) {
+      // CLEARPILOT: ignition on→off blanks the screen immediately (tap still wakes).
+      resetInteractiveTimeout(0, 0);
+    } else if (s.scene.screen_brightness_onroad == 0 && !s.scene.standby_mode) {
      resetInteractiveTimeout(0, 0);
    } else {
      resetInteractiveTimeout(s.scene.screen_timeout, s.scene.screen_timeout_onroad);
@@ -560,7 +571,10 @@ void Device::updateWakefulness(const UIState &s) {
    emit interactiveTimeout();
  }

-  if (s.scene.screen_brightness_onroad != 0) {
+  // CLEARPILOT: ScreenDisplayMode 3 = screen off — override awake state
+  if (paramsMemory.getInt("ScreenDisplayMode") == 3) {
+    setAwake(false);
+  } else if (s.scene.screen_brightness_onroad != 0) {
    setAwake(s.scene.ignition || interactive_timeout > 0);
  } else {
    setAwake(interactive_timeout > 0);
@@ -231,6 +231,7 @@ typedef struct UIScene {
  bool road_name_ui;
  bool rotating_wheel;
  bool screen_recorder;
+  bool screen_recorder_debug;
  bool show_aol_status_bar;
  bool show_cem_status_bar;
  bool show_jerk;