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

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.
2026-05-03 20:53:51 -05:00
parent f7e602c00b
commit c2ab0fa662
146 changed files with 950 additions and 10172 deletions
@@ -1,9 +1,6 @@
 #include "selfdrive/ui/qt/window.h"

 #include <QFontDatabase>
-#include <QMouseEvent>
-
-#include <zmq.h>

 #include "system/hardware/hw.h"

@@ -14,7 +11,6 @@ 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);
@@ -28,11 +24,6 @@ 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, [=]() {
@@ -44,17 +35,13 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {

  QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
    if (!offroad) {
-      // CLEARPILOT: just switch to homeWindow, don't show sidebar
-      // HomeWindow::offroadTransition handles the internal view
-      main_layout->setCurrentWidget(homeWindow);
+      closeSettings();
    }
  });
  QObject::connect(device(), &Device::interactiveTimeout, [=]() {
-    // CLEARPILOT: on timeout, return to splash/onroad (not ClearPilotPanel)
-    if (main_layout->currentWidget() != homeWindow) {
-      main_layout->setCurrentWidget(homeWindow);
+    if (main_layout->currentWidget() == settingsWindow) {
+      closeSettings();
    }
-    homeWindow->offroadTransition(!uiState()->scene.started);
  });

  // load fonts
@@ -76,74 +63,6 @@ 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) {
@@ -151,10 +70,6 @@ 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);

@@ -171,16 +86,6 @@ 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);
@@ -191,215 +96,3 @@ 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();
-}