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

- 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>
2026-04-13 22:43:54 -05:00
parent bb561ded75
commit c33e155c56
20 changed files with 462 additions and 111 deletions
--- a/common/params.cc
+++ b/common/params.cc
@@ -199,6 +199,7 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"Timezone", PERSISTENT},
    {"TrainingVersion", PERSISTENT},
    {"UbloxAvailable", PERSISTENT},
+    {"VpnEnabled", CLEAR_ON_MANAGER_START},
    {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
    {"UpdateFailedCount", CLEAR_ON_MANAGER_START},
    {"UpdaterAvailableBranches", PERSISTENT},
--- a/launch_openpilot.sh
+++ b/launch_openpilot.sh
@@ -17,6 +17,9 @@ sleep 1

 bash /data/openpilot/system/clearpilot/on_start.sh

+# CLEARPILOT: start VPN monitor (kills previous instances, runs as root)
+sudo bash -c 'nohup /data/openpilot/system/clearpilot/vpn-monitor.sh >> /tmp/vpn-monitor.log 2>&1 &'
+
 # CLEARPILOT: pass --bench flag through to manager via env var
 if [ "$1" = "--bench" ]; then
  export BENCH_MODE=1
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -13,6 +13,7 @@ from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, \
                                                   CANFD_CAR, Buttons, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarStateBase
+from openpilot.selfdrive.clearpilot.telemetry import tlog

 PREV_BUTTON_SAMPLES = 8
 CLUSTER_SAMPLE_RATE = 20  # frames
@@ -421,8 +422,6 @@ class CarState(CarStateBase):
    self.params_memory.put_float("CarSpeedLimit", self.calculate_speed_limit(cp, cp_cam) * speed_factor)

    # CLEARPILOT: telemetry logging
-    from openpilot.selfdrive.clearpilot.telemetry import tlog
-
    speed_limit_bus = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam
    scc = cp_cam.vl["SCC_CONTROL"] if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp.vl["SCC_CONTROL"]
    cluster = speed_limit_bus.vl["CLUSTER_SPEED_LIMIT"]
--- a/selfdrive/clearpilot/dashcamd
+++ b/selfdrive/clearpilot/dashcamd
--- a/selfdrive/clearpilot/theme/clearpilot/images/ready_text.png
+++ b/selfdrive/clearpilot/theme/clearpilot/images/ready_text.png
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -632,7 +632,7 @@ class Controls:

    # CLEARPILOT: log engagement state for debugging cruise desync issues
    tlog("engage", {
-      "state": self.state.name,
+      "state": self.state.name if hasattr(self.state, 'name') else str(self.state),
      "enabled": self.enabled,
      "active": self.active,
      "cruise_enabled": CS.cruiseState.enabled,
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -83,8 +83,9 @@ def manager_init(frogpilot_functions) -> None:
  params_storage = Params("/persist/params")
  params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)

-  # CLEARPILOT: always start with telemetry disabled
+  # CLEARPILOT: always start with telemetry disabled, VPN enabled
  params.put("TelemetryEnabled", "0")
+  params.put("VpnEnabled", "1")
  params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
  params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
  if is_release_branch():
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@@ -85,7 +85,7 @@ procs = [
  PythonProcess("deleter", "system.loggerd.deleter", always_run),
  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
  # PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
-  PythonProcess("gpsd", "system.clearpilot.gpsd", qcomgps, enabled=TICI),
+  # PythonProcess("gpsd", "system.clearpilot.gpsd", qcomgps, enabled=TICI),  # DISABLED: testing perf
  # PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
  #PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
  PythonProcess("pandad", "selfdrive.boardd.pandad", always_run),
@@ -110,7 +110,7 @@ procs = [
  PythonProcess("frogpilot_process", "selfdrive.frogpilot.frogpilot_process", always_run),

  # ClearPilot processes
-  NativeProcess("dashcamd", "selfdrive/clearpilot", ["./dashcamd"], dashcam_should_run),
+  # NativeProcess("dashcamd", "selfdrive/clearpilot", ["./dashcamd"], dashcam_should_run),  # DISABLED: testing perf
  PythonProcess("telemetryd", "selfdrive.clearpilot.telemetryd", always_run),
  PythonProcess("bench_onroad", "selfdrive.clearpilot.bench_onroad", always_run, enabled=BENCH_MODE),
 ]
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -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
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -1,5 +1,6 @@
 #include "selfdrive/ui/qt/home.h"

+#include <cstdlib>
 #include <QHBoxLayout>
 #include <QMouseEvent>
 #include <QStackedWidget>
@@ -26,6 +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);
@@ -52,6 +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, [=] {
@@ -139,6 +142,7 @@ void HomeWindow::mousePressEvent(QMouseEvent* e) {
  if (ready->isVisible() || onroad->isVisible()) {
    LOGW("CLP UI: tap -> showing ClearPilotPanel");
    sidebar->setVisible(false);
+    home->resetToGeneral();
    slayout->setCurrentWidget(home);
  }
 }
@@ -166,18 +170,7 @@ static const char *clpSidebarBtnStyle = R"(
  }
 )";

-static const char *clpActionBtnStyle = R"(
-  QPushButton {
-    background-color: #393939;
-    color: white;
-    border-radius: 15px;
-    font-size: 50px;
-    font-weight: 500;
-    text-align: left;
-    padding-left: 30px;
-  }
-  QPushButton:pressed { background-color: #4a4a4a; }
-)";
+// clpActionBtnStyle removed — no longer used

 // Shutdown timer: param value -> display label
 static QString shutdownLabel(int val) {
@@ -220,10 +213,8 @@ ClearPilotPanel::ClearPilotPanel(QWidget* parent) : QFrame(parent) {
  general_panel->setContentsMargins(50, 25, 50, 25);

  // Status button
-  QPushButton *status_btn = new QPushButton("Status");
-  status_btn->setFixedHeight(120);
-  status_btn->setStyleSheet(clpActionBtnStyle);
-  QObject::connect(status_btn, &QPushButton::clicked, [=]() { emit openStatus(); });
+  auto *status_btn = new ButtonControl("System Status", "VIEW", "");
+  connect(status_btn, &ButtonControl::clicked, [=]() { emit openStatus(); });
  general_panel->addItem(status_btn);

  // Reset Calibration
@@ -364,6 +355,18 @@ ClearPilotPanel::ClearPilotPanel(QWidget* parent) : QFrame(parent) {
    "Captures only changed values for efficiency.", "", this);
  debug_panel->addItem(telemetry_toggle);

+  auto *vpn_toggle = new ParamControl("VpnEnabled", "VPN",
+    "Connect to vpn.hanson.xyz for remote SSH access. "
+    "Disabling kills the active tunnel and stops reconnection attempts.", "", this);
+  QObject::connect(vpn_toggle, &ToggleControl::toggleFlipped, [](bool 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},
@@ -372,31 +375,34 @@ ClearPilotPanel::ClearPilotPanel(QWidget* parent) : QFrame(parent) {
    {"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]() {
-        btn->setChecked(true);
        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]() {
-        btn->setChecked(true);
        panel_widget->setCurrentWidget(w);
      });
    }
  }

  // Select General by default
+  nav_group->buttons().first()->setChecked(true);
  panel_widget->setCurrentIndex(0);

  // Main layout: sidebar + panels
@@ -425,3 +431,8 @@ ClearPilotPanel::ClearPilotPanel(QWidget* parent) : QFrame(parent) {
    #poweroff_btn:pressed { background-color: #FF2424; }
  )");
 }
+
+void ClearPilotPanel::resetToGeneral() {
+  panel_widget->setCurrentIndex(0);
+  nav_group->buttons().first()->setChecked(true);
+}
--- a/selfdrive/ui/qt/home.h
+++ b/selfdrive/ui/qt/home.h
@@ -1,5 +1,6 @@
 #pragma once

+#include <QButtonGroup>
 #include <QFrame>
 #include <QLabel>
 #include <QPushButton>
@@ -28,8 +29,12 @@ signals:
  void openStatus();
  void closePanel();

+public:
+  void resetToGeneral();
+
 private:
  QStackedWidget *panel_widget;
+  QButtonGroup *nav_group;
 };

 class HomeWindow : public QWidget {
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -316,10 +316,7 @@ 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);
@@ -1074,8 +1071,7 @@ void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &p) {
    drawSLCConfirmation(p);
  }

-  // CLEARPILOT: screen recorder runs invisibly, no UI button shown
-  recorder_btn->setVisible(false);
+  // CLEARPILOT: screen recorder disabled, using dashcamd instead
 }

 void AnnotatedCameraWidget::drawLeadInfo(QPainter &p) {
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -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;
@@ -91,8 +91,6 @@ private:
  Params paramsMemory{"/dev/shm/params"};
  UIScene &scene;

-  ScreenRecorder *recorder_btn;
-
  QHBoxLayout *bottom_layout;

  bool alwaysOnLateralActive;
--- a/selfdrive/ui/qt/ready.cc
+++ b/selfdrive/ui/qt/ready.cc
@@ -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();
 }
--- a/selfdrive/ui/qt/ready.h
+++ b/selfdrive/ui/qt/ready.h
@@ -8,6 +8,7 @@
 #include <QSocketNotifier>
 #include <QVariantAnimation>
 #include <QWidget>
+#include <QElapsedTimer>
 #include <QTimer>

 #include "common/util.h"
@@ -26,6 +27,8 @@ 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;
+    QPixmap img_bg;
    QPixmap img_hot;
 };
--- a/selfdrive/ui/qt/spinner
+++ b/selfdrive/ui/qt/spinner
--- a/selfdrive/ui/qt/window.cc
+++ b/selfdrive/ui/qt/window.cc
@@ -182,11 +182,12 @@ bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
  return ignore;
 }

-// CLEARPILOT: Status window — live system stats, refreshed every second
+// 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);
@@ -201,6 +202,65 @@ static QString shellCmd(const QString &cmd) {
  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");
+
+  // 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);
@@ -232,6 +292,7 @@ StatusWindow::StatusWindow(QWidget *parent) : QFrame(parent) {
  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");
@@ -242,89 +303,66 @@ StatusWindow::StatusWindow(QWidget *parent) : QFrame(parent) {

  setStyleSheet("StatusWindow { background-color: black; }");

-  // Refresh every second
+  connect(&watcher, &QFutureWatcher<StatusData>::finished, this, &StatusWindow::applyResults);
+
  QTimer *timer = new QTimer(this);
-  connect(timer, &QTimer::timeout, this, &StatusWindow::refresh);
+  connect(timer, &QTimer::timeout, this, &StatusWindow::kickRefresh);
  timer->start(1000);
-  refresh();
 }

-void StatusWindow::refresh() {
-  // Time
-  time_label->setText(QDateTime::currentDateTime().toString("yyyy-MM-dd hh:mm:ss"));
+void StatusWindow::kickRefresh() {
+  if (!isVisible() || collecting) return;
+  collecting = true;
+  watcher.setFuture(QtConcurrent::run(collectStatus));
+}

-  // Storage
-  QString df = shellCmd("df -h /data | tail -1 | awk '{print $3 \" / \" $2 \" (\" $5 \" used)\"}'");
-  storage_label->setText(df);
+void StatusWindow::applyResults() {
+  collecting = false;
+  StatusData d = watcher.result();

-  // RAM
-  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;
-    ram_label->setText(QString("%1 / %2 MB").arg(used / 1024).arg(total / 1024));
+  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;");
  }

-  // Load
-  QString loadavg = readFile("/proc/loadavg");
-  QStringList parts = loadavg.split(' ');
-  if (parts.size() >= 3) {
-    load_label->setText(QString("%1  %2  %3").arg(parts[0], parts[1], parts[2]));
+  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;");
  }

-  // Temperature
-  QString temps = shellCmd("cat /sys/class/thermal/thermal_zone*/temp 2>/dev/null | sort -rn | head -1");
-  if (!temps.isEmpty()) {
-    float temp_c = temps.toLong() / 1000.0;
-    temp_label->setText(QString("%1°C").arg(temp_c, 0, 'f', 1));
-    temp_label->setStyleSheet(temp_c > 70 ? "color: #ff4444; font-size: 38px;" :
-                              temp_c > 55 ? "color: #ffaa00; font-size: 38px;" :
-                                            "color: white; font-size: 38px;");
-  }
+  ip_label->setText(d.ip.isEmpty() ? "No connection" : d.ip);
+  wifi_label->setText(d.wifi.isEmpty() ? "Not connected" : d.wifi);

-  // Fan speed
-  QString fan = shellCmd("cat /sys/class/hwmon/hwmon*/fan1_input 2>/dev/null | head -1");
-  if (fan.isEmpty()) {
-    // Try reading from deviceState param as fallback
-    fan = shellCmd("cat /dev/shm/params/d/LastFanSpeed 2>/dev/null");
-  }
-  fan_label->setText(fan.isEmpty() ? "—" : fan + " RPM");
-
-  // IP + WiFi
-  QString ip = shellCmd("ip route get 1.1.1.1 2>/dev/null | head -1 | awk '{print $7}'");
-  ip_label->setText(ip.isEmpty() ? "No connection" : ip);
-
-  QString essid = shellCmd("iwconfig wlan0 2>/dev/null | grep -oP 'ESSID:\"\\K[^\"]*'");
-  wifi_label->setText(essid.isEmpty() ? "Not connected" : essid);
-
-  // VPN
-  QString tun = shellCmd("ip link show tun0 2>/dev/null | head -1");
-  if (tun.contains("UP")) {
-    QString vpn_ip = shellCmd("ip addr show tun0 2>/dev/null | grep 'inet ' | awk '{print $2}'");
-    vpn_label->setText("Connected (" + vpn_ip + ")");
+  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;");
  }

-  // GPS
-  QString gps_raw = shellCmd("cat /data/params/d/LastGPSPosition 2>/dev/null");
-  if (gps_raw.isEmpty()) {
+  if (d.gps.isEmpty()) {
    gps_label->setText("No fix");
    gps_label->setStyleSheet("color: #ff4444; font-size: 38px;");
  } else {
-    gps_label->setText(gps_raw);
+    gps_label->setText(d.gps);
    gps_label->setStyleSheet("color: white; font-size: 38px;");
  }

-  // Telemetry
-  QString telem = shellCmd("cat /data/params/d/TelemetryEnabled 2>/dev/null");
-  if (telem == "1") {
+  if (d.telemetry == "1") {
    telemetry_label->setText("Enabled");
    telemetry_label->setStyleSheet("color: #17c44d; font-size: 38px;");
  } else {
--- a/selfdrive/ui/qt/window.h
+++ b/selfdrive/ui/qt/window.h
@@ -1,5 +1,6 @@
 #pragma once

+#include <QFutureWatcher>
 #include <QStackedLayout>
 #include <QLabel>
 #include <QSocketNotifier>
@@ -16,6 +17,12 @@ class StatusWindow : public QFrame {
 public:
  explicit StatusWindow(QWidget *parent = 0);

+  struct StatusData {
+    QString time, storage, ram, load, temp, fan, ip, wifi;
+    QString vpn_status, vpn_ip, gps, telemetry;
+    float temp_c = 0;
+  };
+
 protected:
  void mousePressEvent(QMouseEvent *e) override;

@@ -23,9 +30,14 @@ signals:
  void closeStatus();

 private slots:
-  void refresh();
+  void kickRefresh();
+  void applyResults();

 private:
+
+  QFutureWatcher<StatusData> watcher;
+  bool collecting = false;
+
  QLabel *storage_label;
  QLabel *ram_label;
  QLabel *load_label;
@@ -37,6 +49,7 @@ private:
  QLabel *gps_label;
  QLabel *time_label;
  QLabel *telemetry_label;
+  QLabel *panda_label;
 };

 class MainWindow : public QWidget {
--- a/system/clearpilot/vpn-monitor.sh
+++ b/system/clearpilot/vpn-monitor.sh
@@ -0,0 +1,153 @@
+#!/usr/bin/bash
+
+# VPN monitor — connects OpenVPN when internet is up, disconnects when down.
+# Drops and reconnects when WiFi SSID changes (stale tunnel prevention).
+# On non-home networks, resolves VPN hostname via 8.8.8.8 and passes IP directly.
+# Keepalive: pings gateway through tunnel, two failures 10s apart = reconnect.
+# SIGTERM: gracefully stops tunnel and exits.
+
+SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)"
+CONF="$SCRIPT_DIR/vpn.ovpn"
+VPN_HOST="vpn.hanson.xyz"
+VPN_PORT="1194"
+HOME_SSID="risa"
+VPN_GW="192.168.69.1"
+CHECK_HOST="1.1.1.1"
+INTERVAL=30
+CONNECT_TIMEOUT=30
+MAX_FAILURES=3
+PREV_SSID=""
+FAIL_COUNT=0
+ACTIVE_VPN_IP=""
+
+kill_vpn() {
+  killall openvpn 2>/dev/null
+  # Clean up host route to VPN server
+  if [ -n "$ACTIVE_VPN_IP" ]; then
+    ip route del "$ACTIVE_VPN_IP/32" 2>/dev/null
+    ACTIVE_VPN_IP=""
+  fi
+}
+
+get_default_gw() {
+  ip route show default | awk '/via/ {print $3; exit}'
+}
+
+resolve_vpn() {
+  if [ "$CURR_SSID" != "$HOME_SSID" ]; then
+    dig +short @8.8.8.8 "$VPN_HOST" 2>/dev/null | tail -1
+  else
+    dig +short "$VPN_HOST" 2>/dev/null | tail -1
+  fi
+}
+
+# Graceful shutdown on SIGTERM
+shutdown() {
+  echo "$(date): SIGTERM received, stopping vpn and exiting"
+  kill_vpn
+  exit 0
+}
+trap shutdown SIGTERM SIGINT
+
+# Kill other instances of this script and wait for graceful shutdown
+for pid in $(pgrep -f 'vpn-monitor.sh' | grep -v $$); do
+  kill "$pid" 2>/dev/null
+done
+sleep 5
+# Force kill any that didn't exit
+for pid in $(pgrep -f 'vpn-monitor.sh' | grep -v $$); do
+  kill -9 "$pid" 2>/dev/null
+done
+
+# Kill any existing VPN and clean up
+kill_vpn
+sleep 1
+
+while true; do
+  CURR_SSID="$(iwgetid -r 2>/dev/null)"
+
+  # Detect SSID change (only when switching between two known networks)
+  if [ -n "$PREV_SSID" ] && [ -n "$CURR_SSID" ] && [ "$PREV_SSID" != "$CURR_SSID" ]; then
+    echo "$(date): wifi changed from '$PREV_SSID' to '$CURR_SSID', dropping vpn"
+    kill_vpn
+    FAIL_COUNT=0
+    sleep 5
+  fi
+  PREV_SSID="$CURR_SSID"
+
+  if ping -c 1 -W 3 "$CHECK_HOST" > /dev/null 2>&1; then
+    # Internet is up — check tunnel health if connected
+    if ip link show tun0 > /dev/null 2>&1; then
+      # Keepalive: ping gateway through tunnel, two failures 10s apart = dead
+      if ! ping -c 1 -W 3 -I tun0 "$VPN_GW" > /dev/null 2>&1; then
+        sleep 10
+        if ! ping -c 1 -W 3 -I tun0 "$VPN_GW" > /dev/null 2>&1; then
+          echo "$(date): keepalive failed twice, dropping vpn"
+          kill_vpn
+          sleep 5
+          continue
+        fi
+      fi
+    fi
+
+    # Start VPN if not running
+    if ! ip link show tun0 > /dev/null 2>&1; then
+      if [ "$FAIL_COUNT" -ge "$MAX_FAILURES" ]; then
+        # Back off after repeated failures — just wait for next interval
+        sleep "$INTERVAL"
+        continue
+      fi
+
+      # Resolve VPN server IP (via 8.8.8.8 on non-home networks)
+      RESOLVED_IP="$(resolve_vpn)"
+      if [ -z "$RESOLVED_IP" ]; then
+        echo "$(date): failed to resolve $VPN_HOST (ssid=$CURR_SSID)"
+        FAIL_COUNT=$((FAIL_COUNT + 1))
+        sleep "$INTERVAL"
+        continue
+      fi
+
+      # Add host route to VPN server via current default gateway
+      # so VPN traffic survives tun0 coming up
+      GW="$(get_default_gw)"
+      if [ -n "$GW" ]; then
+        ip route replace "$RESOLVED_IP/32" via "$GW"
+        echo "$(date): host route $RESOLVED_IP via $GW"
+      fi
+      ACTIVE_VPN_IP="$RESOLVED_IP"
+
+      echo "$(date): starting openvpn -> $RESOLVED_IP (attempt $((FAIL_COUNT + 1))/$MAX_FAILURES, ssid=$CURR_SSID)"
+      nice -n 19 openvpn --config "$CONF" --remote "$RESOLVED_IP" "$VPN_PORT" --daemon --log-append /tmp/openvpn.log
+
+      # Wait for tunnel to come up
+      CONNECTED=0
+      for i in $(seq 1 "$CONNECT_TIMEOUT"); do
+        if ip link show tun0 > /dev/null 2>&1; then
+          CONNECTED=1
+          break
+        fi
+        sleep 1
+      done
+
+      if [ "$CONNECTED" -eq 1 ]; then
+        echo "$(date): vpn connected (took ${i}s)"
+        FAIL_COUNT=0
+      else
+        echo "$(date): vpn failed to connect within ${CONNECT_TIMEOUT}s, killing"
+        kill_vpn
+        FAIL_COUNT=$((FAIL_COUNT + 1))
+        if [ "$FAIL_COUNT" -ge "$MAX_FAILURES" ]; then
+          echo "$(date): $MAX_FAILURES consecutive failures, backing off"
+        fi
+      fi
+    fi
+  else
+    # Internet is down — kill VPN if running
+    if ip link show tun0 > /dev/null 2>&1; then
+      echo "$(date): internet down, stopping openvpn"
+      kill_vpn
+    fi
+    FAIL_COUNT=0
+  fi
+  sleep "$INTERVAL"
+done
--- a/system/clearpilot/vpn.ovpn
+++ b/system/clearpilot/vpn.ovpn
@@ -0,0 +1,76 @@
+client
+dev tun
+proto udp
+remote vpn.hanson.xyz 1194
+resolv-retry infinite
+nobind
+persist-key
+persist-tun
+remote-cert-tls server
+cipher AES-256-GCM
+auth SHA256
+verb 3
+pull-filter ignore "redirect-gateway"
+# pull-filter ignore "route "
+
+<ca>
+-----BEGIN CERTIFICATE-----
+MIIB2jCCAX+gAwIBAgIUFVGjbK1Qb5d3RkkoNPMsXeI/xVAwCgYIKoZIzj0EAwIw
+HjEcMBoGA1UEAwwTT3BlblZQTi1JbnRlcm5hbC1DQTAgFw0yNjAyMDcwODQ3Mzda
+GA8yMTI2MDExNDA4NDczN1owHjEcMBoGA1UEAwwTT3BlblZQTi1JbnRlcm5hbC1D
+QTBZMBMGByqGSM49AgEGCCqGSM49AwEHA0IABGb6RWOFnCJ9t7X5q6fqpv0y3Hg/
+dTU3ky+MAjfPRYfUWfiM7wVKubYOCc+pUHsJXWaghqu7nQoCeSzVDcPXlWGjgZgw
+gZUwDAYDVR0TBAUwAwEB/zAdBgNVHQ4EFgQUNThAWabF1zsqNE19iCKuZMjHBIUw
+WQYDVR0jBFIwUIAUNThAWabF1zsqNE19iCKuZMjHBIWhIqQgMB4xHDAaBgNVBAMM
+E09wZW5WUE4tSW50ZXJuYWwtQ0GCFBVRo2ytUG+Xd0ZJKDTzLF3iP8VQMAsGA1Ud
+DwQEAwIBBjAKBggqhkjOPQQDAgNJADBGAiEA2mPwEK8G4HXlRu6WZVSRdqyCPYYd
+KffYalCXgw3pZ/sCIQC9qPNckHtubycu8kq4iM8Vl1vYMVEorn7DUFdXJCvtcg==
+-----END CERTIFICATE-----
+</ca>
+
+<cert>
+-----BEGIN CERTIFICATE-----
+MIIB2TCCAYCgAwIBAgIRALuRBSB68/ccWM8SASfEIV0wCgYIKoZIzj0EAwIwHjEc
+MBoGA1UEAwwTT3BlblZQTi1JbnRlcm5hbC1DQTAgFw0yNjA0MTIwMDA1NDhaGA8y
+MTI2MDMxOTAwMDU0OFowEDEOMAwGA1UEAwwFY29tbWEwWTATBgcqhkjOPQIBBggq
+hkjOPQMBBwNCAAQ/jN83Z2Ikk+IWVPGxN0CNFCh74Yrb3W6VXAjGWa+ppVxSbdeq
+YVBWjJl6qSg6n2ZMDivQ5NcKgsxMcY9ly/LEo4GqMIGnMAkGA1UdEwQCMAAwHQYD
+VR0OBBYEFDIulLc8hAwTkGHq+z8K8eBBM0vVMFkGA1UdIwRSMFCAFDU4QFmmxdc7
+KjRNfYgirmTIxwSFoSKkIDAeMRwwGgYDVQQDDBNPcGVuVlBOLUludGVybmFsLUNB
+ghQVUaNsrVBvl3dGSSg08yxd4j/FUDATBgNVHSUEDDAKBggrBgEFBQcDAjALBgNV
+HQ8EBAMCB4AwCgYIKoZIzj0EAwIDRwAwRAIgR/ssLDNLmt1s0WXwGLszBUrlstUu
+9nhP2PcmdnsOit4CIECFbQ7RHEZLQJWsL2DvKowCCzDtA6ZGDILTVfHwNyDn
+-----END CERTIFICATE-----
+</cert>
+
+<key>
+-----BEGIN PRIVATE KEY-----
+MIGHAgEAMBMGByqGSM49AgEGCCqGSM49AwEHBG0wawIBAQQgYolghDmo5ISWxjQy
+sayXuFRSW5fkiIXJ1SGvSRLnmBmhRANCAAQ/jN83Z2Ikk+IWVPGxN0CNFCh74Yrb
+3W6VXAjGWa+ppVxSbdeqYVBWjJl6qSg6n2ZMDivQ5NcKgsxMcY9ly/LE
+-----END PRIVATE KEY-----
+</key>
+
+<tls-crypt>
+#
+# 2048 bit OpenVPN static key
+#
+-----BEGIN OpenVPN Static key V1-----
+5d6fedacbb44013958eef494b179f21d
+51b158484c08cb125b8ddd2a919ed44f
+5cae951b1f85f483f0108b1000fac1e6
+334ab5b2f3c7352c3a53e814e2e4cdc7
+f401d5eb2e13449539313f18de53563d
+a72318979c31ef76caad86317064aede
+940ab3d799886b9667f4deabb8b159c2
+12bd7f27c91a7bfd3b9a315dbac3391d
+fb3c354b7955627937fd6163c1683705
+e46b252ee9c383507b5a4496462f3d67
+25dc48bbca8170574efa22b3c37c4bcc
+ad30e92d39aae5326c59a4484302d388
+7836837bd5098faeda430aa6db69d8df
+fe62aeed2bef6afb7c0c742fe8644040
+3c4e46deb3915467c351018592c58545
+5b5d7b8c204d37104f9848573d8eb73b
+-----END OpenVPN Static key V1-----
+</tls-crypt>