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UI overhaul, VPN management, controlsd fix, screen recorder removal

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- Fix controlsd crash: self.state.name AttributeError when state is int
- Move telemetry tlog import to module level in carstate.py (was per-frame)
- Remove FrogPilot screen recorder from UI (was crashing OMX on init)
- Ready screen: boot logo background, 8-bit READY! sprite, error states
  (panda not connected, car not recognized) with 10s startup grace period
- ClearPilot menu: always opens to General, QButtonGroup for sidebar,
  System Status uses ButtonControl, VPN toggle with process control
- Sidebar hidden on construction (no flash before splash)
- Status window: threaded data collection (QtConcurrent), panda detection
  via scene.pandaType (SPI, not USB), only refreshes when visible
- VPN: moved to system/clearpilot/, SIGTERM graceful shutdown, keepalive
  ping through tunnel, killall openvpn on disable, launched from
  launch_openpilot.sh instead of continue.sh
- Disable gpsd and dashcamd temporarily for perf testing

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
This commit is contained in:
Brian Hanson
2026-04-13 22:43:54 -05:00
parent bb561ded75
commit c33e155c56
20 changed files with 462 additions and 111 deletions
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80
selfdrive/ui/qt/ready.cc
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@@ -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 +44,87 @@ 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);
}
}
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);
}
img_shown = &img_ready;
}
int x = (width() - img_shown->width()) / 2;
int y = (height() - img_shown->height()) / 2;
painter.drawPixmap(x, y, *img_shown);
if (error_msg.isEmpty()) {
// "READY!" 8-bit text sprite, 2x size, 15% below center
static QPixmap ready_text("/data/openpilot/selfdrive/clearpilot/theme/clearpilot/images/ready_text.png");
if (!ready_text.isNull()) {
QPixmap scaled = ready_text.scaled(ready_text.width() * 3 / 2, ready_text.height() * 3 / 2, Qt::KeepAspectRatio, Qt::FastTransformation);
int tx = (width() - scaled.width()) / 2;
int ty = height() / 2 + height() * 15 / 100;
painter.drawPixmap(tx, ty, scaled);
}
} 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;
}
if (changed) update();
}