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reset to pre-modification baseline; restart feature work from clean state

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Restoring the working tree to the pristine pre-Claude baseline previously
preserved at /data/clearpilot (now /data/clearpilot-baseline). The prior
modified-but-broken tree is snapshotted at /data/openpilot-broken-2026-05-03
and tagged here as pre-reset-2026-05-03 for reference.

From here, features (UI changes, dashcam, telemetry, GPS, display modes,
speed logic, standstill power saving, etc.) will be re-introduced one at
a time with proper testing.
This commit is contained in:
Brian Hanson
2026-05-03 20:53:51 -05:00
parent f7e602c00b
commit c2ab0fa662
146 changed files with 950 additions and 10172 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/ui/qt/home.cc
+144 -328
View File
@@ -1,20 +1,16 @@
#include "selfdrive/ui/qt/home.h"
#include <cstdlib>
#include <QHBoxLayout>
#include <QMouseEvent>
#include <QStackedWidget>
#include <QVBoxLayout>
#include "common/swaglog.h"
#include "common/params.h"
#include "system/hardware/hw.h"
#include "selfdrive/ui/qt/offroad/experimental_mode.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"
#include "selfdrive/ui/qt/widgets/drive_stats.h"
#include "system/hardware/hw.h"
#include <QWebEngineView>
// HomeWindow: the container for the offroad and onroad UIs
@@ -27,7 +23,6 @@ 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);
@@ -35,17 +30,8 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
slayout = new QStackedLayout();
main_layout->addLayout(slayout);
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);
}
});
home = new OffroadHome(this);
QObject::connect(home, &OffroadHome::openSettings, this, &HomeWindow::openSettings);
slayout->addWidget(home);
onroad = new OnroadWindow(this);
@@ -54,8 +40,7 @@ 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, [=] {
showDriverView(false);
@@ -81,79 +66,52 @@ 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) {
sidebar->setVisible(false);
if (offroad) {
LOGW("CLP UI: offroad transition -> showing splash");
was_parked_onroad = false;
sidebar->setVisible(false);
slayout->setCurrentWidget(ready);
} else {
// 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);
sidebar->setVisible(false);
slayout->setCurrentWidget(onroad);
}
}
void HomeWindow::showDriverView(bool show, bool started) {
if (show) {
LOGW("CLP UI: showDriverView(true) -> driver_view");
emit closeSettings();
slayout->setCurrentWidget(driver_view);
sidebar->setVisible(false);
} else if (!started) {
// Offroad, not started — show home menu
slayout->setCurrentWidget(home);
sidebar->setVisible(false);
sidebar->setVisible(show == false);
} else {
if (started) {
slayout->setCurrentWidget(onroad);
sidebar->setVisible(params.getBool("Sidebar"));
} else {
slayout->setCurrentWidget(home);
sidebar->setVisible(show == false);
}
}
// CLEARPILOT: when started, don't touch slayout here —
// updateState handles park->splash and drive->onroad transitions
}
void HomeWindow::mousePressEvent(QMouseEvent* e) {
// CLEARPILOT: tap from any view goes to ClearPilotPanel
if (ready->isVisible() || onroad->isVisible()) {
LOGW("CLP UI: tap -> showing ClearPilotPanel");
sidebar->setVisible(false);
home->resetToGeneral();
// 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);
slayout->setCurrentWidget(home);
}
// Todo: widgets
if (onroad->isVisible()) {
emit openSettings();
}
}
void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) {
@@ -161,274 +119,132 @@ void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) {
// const SubMaster &sm = *(uiState()->sm);
}
// CLEARPILOT: ClearPilotPanel — settings-style sidebar menu
// OffroadHome: the offroad home page
static const char *clpSidebarBtnStyle = R"(
QPushButton {
color: grey;
border: none;
background: none;
font-size: 65px;
font-weight: 500;
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);
}
QPushButton:checked {
color: white;
}
QPushButton:pressed {
color: #ADADAD;
}
)";
center_layout->addWidget(home_widget);
// clpActionBtnStyle removed — no longer used
// 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);
main_layout->addLayout(center_layout, 1);
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);
// set up refresh timer
timer = new QTimer(this);
timer->callOnTimeout(this, &OffroadHome::refresh);
setStyleSheet(R"(
* {
color: white;
font-size: 50px;
}
ClearPilotPanel {
OffroadHome {
background-color: black;
}
QStackedWidget, ScrollView, Networking {
background-color: #292929;
border-radius: 30px;
OffroadHome > QPushButton {
padding: 15px 30px;
border-radius: 5px;
font-size: 40px;
font-weight: 500;
}
OffroadHome > QLabel {
font-size: 55px;
}
#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; }
)");
}
void ClearPilotPanel::resetToGeneral() {
panel_widget->setCurrentIndex(0);
nav_group->buttons().first()->setChecked(true);
/* 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")));
}
}