CLAUDE.md: bring up to date with current state

Reorganized 'Current State' to enumerate what's actually active in the
tree now (boot/build infra, suppressed logging, gpsd, UI port, display
modes, speed_logicd, sound, dashcamd) instead of the brief summary of
just the early commits.

Trimmed 'Pending' to remove items that are now ported (UI, gpsd, sound,
speed_logic, display modes, dashcamd, memory-param scaffolding). Kept
the still-pending items: HDA2 driving-behavior tweaks, CarSpeedLimit
publisher, telemetry, bench mode, power/thermal, session logging.

Notes added:
- Memory-param keys currently registered (so the next port doesn't
  re-register existing keys by accident)
- camerad gating change to always_run (and the power tradeoff)
- Branch policy: clearpilot is the canonical/main branch; do not
  abandon it for another
- pkill _text by comm in the launch chain
- speed-limit widget shows 0 until carstate.py CAN-FD writes
  CarSpeedLimit

CLAUDE.md

@@ -4,98 +4,113 @@
 
 ClearPilot is a custom fork of **FrogPilot** (itself a fork of comma.ai's openpilot), purpose-built for Brian Hanson's **Hyundai Tucson** (HDA2 equipped). The vehicle's HDA2 system has specific quirks around how it synchronizes driving state with openpilot that require careful handling.
 
-The fork was previously in a state where many features were layered on top but the driving model behavior had regressed in ways that couldn't be traced. On **2026-05-03** the working tree was reset back to a known-clean baseline so features can be re-introduced one at a time with proper testing.
+The fork was previously in a state where many features were layered on top but the driving model behavior had regressed in ways that couldn't be traced. On **2026-05-03** the working tree was reset back to a known-clean baseline so features can be re-introduced one at a time with proper testing. Most non-driving-math features have since been ported back.
 
-## Current State (post-reset)
+## Current State
 
-This tree currently contains:
+`build_only.sh` succeeds and `launch_openpilot.sh` boots the manager. The following customizations are active in this tree:
 
-- **The pristine pre-modification baseline** (commit `c2ab0fa`, "reset to pre-modification baseline").
-- **Startup-chain customizations** (commit `5624898`): launch scripts, on_start/provision flow, OpenVPN auto-connect, nice-monitor, build helpers, custom logo + spinner, encrypted dev SSH keys.
-- **Build/launch fixes** (commit `b287fd0`, tagged `working-baseline-2`): make baseline compile cleanly (QtWebEngine removed; `screenDisplayMode` reference fixed), and make `build_only.sh` exit on failure with a detached error window.
+**Boot / build / device infra**
+- launch chain (`launch_openpilot.sh`, `launch_chffrplus.sh`) with stale-process kill (including `_text` by comm), `on_start.sh` SSH/WiFi setup, OpenVPN auto-connect (`vpn-monitor.sh` + `vpn.ovpn`), `nice-monitor.sh`, `build_only.sh` + `build_preflight.sh`
+- DongleId-keyed dev SSH identity (`system/clearpilot/dev/id_ed25519.{cpt,pub.cpt}` + `tools/{encrypt,decrypt}`)
+- Custom startup logo (`bg.jpg`) + custom Qt spinner (`selfdrive/ui/qt/spinner{,.cc,.h}`) — `build.py` atomically swaps the prebuilt spinner binary after each successful build
+- `BUILD_ONLY=1` env path in `build.py` spawns the failure TextWindow fully detached (own session, /dev/null stdio) so `build_only.sh` exits with a non-blocking error window
 
-`build_only.sh` succeeds and `launch_openpilot.sh` boots the full manager process set.
+**Logging suppressed**
+- `loggerd`, `encoderd`, `stream_encoderd` disabled in `process_config.py` — no `rlog`/`qlog` segments or `.hevc` files written to `/data/media/0/realdata/`
+- `save_bootlog()` skipped in `manager_init()` — no boot logs
+
+**GPS (Quectel modem replacement)**
+- `system/clearpilot/gpsd.py` polls Quectel EC25 modem via `mmcli` AT commands at 2 Hz, publishes `gpsLocation`, sets system clock on first fix
+- NOAA solar-position calc → `IsDaylight` memory param + auto `ScreenDisplayMode` 0↔1 switch (sunrise/sunset)
+- **`locationd` patched to NOT subscribe to GPS** — `liveLocationKalman.gpsOK` stays false permanently. Self-driving sees GPS as not-present; downstream consumers (controlsd, paramsd, torqued, frogpilot_planner) handle that case naturally. GPS data is still published and used by speed_logicd / UI / dashcamd, just kept out of the kalman filter.
+
+**UI (full C++ port)**
+- New ready/splash screen rendered by Qt directly; shown when started but gear=park
+- ClearPilot offroad menu (Home / Dashcam / Debug panels) replacing the stock home — Status window with live system stats (temp, fan, storage, RAM, WiFi, VPN, GPS, telemetry, dashcam)
+- Onroad widgets: speed (from `gpsLocation` via `speed_logicd`), speed-limit, cruise-vs-limit warning sign
+- Nightrider mode: camera suppressed, lane lines/path drawn as 2px outlines (`ScreenDisplayMode` 1 or 4)
+- Display power: `ScreenDisplayMode` 3 → screen off; ignition off blanks immediately
+- Qt RPC widget-tree dump server at `ipc:///tmp/clearpilot_ui_rpc`
+- Crash handler in `main.cc` with stack-trace dump for SIGSEGV/SIGABRT
+- `screenDisplayMode` is a member of `AnnotatedCameraWidget`, accessed from `OnroadWindow::updateState` as `nvg->screenDisplayMode`
+- QtWebEngine dependency removed entirely
+
+**Display modes (LFA debug button)**
+- 5-state `ScreenDisplayMode` machine in `controlsd.clearpilot_state_control()`:
+  - Drive: 0→4, 1→2, 2→3, 3→4, 4→2 (button never goes back to auto)
+  - Not drive: anything except 3 → 3 (off), 3 → 0 (auto)
+- Auto-wake from screen-off (mode 3 → 0) on park→drive edge
+- "Clearpilot Debug Function Executed" alert removed (`clp_debug_notice` and its event registration deleted from `events.py`)
+
+**Speed / cruise**
+- `speed_logicd` standalone managed process (`selfdrive/clearpilot/speed_logicd.py` wrapping `speed_logic.SpeedState`) — subscribes to `gpsLocation` + `carState`, ticks at 2 Hz, writes `Clearpilot{Speed,SpeedLimit,CruiseWarning,...}Display` memory params
+- Cruise-vs-limit warning thresholds: +10 over (limit ≥ 50), +7 over (26-49), +9 over (≤ 25); -5 under
+- On warning transitions / speed-limit change: writes `ClearpilotPlayDing="1"` (consumed by soundd)
+- Decoupled from `controlsd` so self-driving timing is unaffected
+- **Note**: speed-limit widget shows 0 until `CarSpeedLimit` publisher in `hyundai/carstate.py` CAN-FD decode is ported (not done yet). Speed widget works.
+
+**Sound**
+- `soundd.py` mixes a single-shot ding alongside the alert stream (`MAX_VOLUME`, independent of alert volume map). Polls `ClearpilotPlayDing` at ~2 Hz, clears on read. `selfdrive/clearpilot/sounds/ding.wav` is the asset.
+
+**Dashcam**
+- `selfdrive/clearpilot/dashcamd` (native C++) — VisionIPC frames from camerad → OMX H.264 hardware encoder → 3-min MP4 segments + SRT GPS subtitle sidecars in `/data/media/0/videos/<trip>/`
+- Trip lifecycle (WAITING → RECORDING → IDLE_TIMEOUT). 10-min idle close from drive→park; immediate close on ignition off; graceful close on `DashcamShutdown`
+- Publishes `DashcamState` ("waiting"/"recording"/"stopped") and `DashcamFrames` (per-trip count) every 5 s
+- `omx_encoder.cc` ports broken's version (adds `encode_frame_nv12()`, NEON-only libyuv paths)
+- **`camerad` gating changed to `always_run`** so the dashcam can record the moment ignition+drive arrives without waiting for camera startup
+- `system/loggerd/deleter.py` trip-aware cleanup: drops oldest entire trip dir first, falls back to oldest segment within active trip; also enforces 4 GB cap on `/data/log2`
 
 ## Where the Old Code Lives
 
 | Location | What it is |
 |---|---|
-| `/data/openpilot/` | This repo. Working baseline + startup port. **Active.** |
+| `/data/openpilot/` | This repo. **Active.** |
 | `/data/openpilot-broken-2026-05-03/` | Full snapshot (with `.git`) of the prior modified-but-broken tree. Reference for porting features. |
 | `/data/clearpilot-baseline/` | The original baseline source we copied in. Kept for safety; do not modify. |
 | `/data/openpilot-features-broken/` | Pre-existing snapshot from an earlier reset attempt — **unverified**, leave alone. |
 
 | Tag | Commit | What |
 |---|---|---|
-| `pre-reset-2026-05-03` | `f7e602c` | Last commit of the broken-but-feature-complete tree. |
-| `working-baseline-2` | `b287fd0` | Current head after the reset + startup port + compile fixes. |
+| `pre-reset-2026-05-03` | `f7e602c` | Last commit of the pre-reset broken-but-feature-complete tree. |
+| `working-baseline-2` | `b287fd0` | First commit after the reset where the bare baseline built and launched. |
 
 Both tags are pushed to `origin/clearpilot`.
 
 ## Pending Feature Port Roadmap
 
-Everything below is present in `/data/openpilot-broken-2026-05-03/` and **not** in this tree. Port them in small, testable batches — one feature area per commit, build + launch test in between.
+Items still in `/data/openpilot-broken-2026-05-03/` that haven't been ported. Port in small, testable batches.
 
-**Driving behavior (HDA2 specifics):**
+**Driving behavior (HDA2 specifics)** — these touch self-driving code and warrant extra scrutiny:
 - Lateral disabled (car's radar cruise handles steering; openpilot longitudinal only)
-- Brief disengage when turn signal is active during lane changes
+- Brief disengage when turn signal is active during lane changes (note: `no_lat_lane_change` infrastructure already wired through `controlsd` → `paramsMemory` → UI/canfd, but the actual disengage trigger may need work)
 - Driver-monitoring timeout adjustments
-- Custom driving models in `selfdrive/clearpilot/models/`: `duck-amigo.thneed`, `farmville.onnx`, `wd-40.thneed`
+- Custom driving models — model files (`duck-amigo.thneed`, `farmville.onnx`, `wd-40.thneed`) live in `selfdrive/clearpilot/models/`; selection logic not ported
 
-**Onroad UI:**
-- Onroad layout changes (number positions, sidebar hidden during drive)
-- New ready/splash screen and home/offroad menu (the "ClearPilot menu" — sidebar settings panel replacing stock home; General / Network / Dashcam / Debug panels)
-- Status window with live system stats (temp, fan, storage, RAM, WiFi, VPN, GPS, telemetry, dashcam)
-- Crash handler in UI with stack-trace dump for SIGSEGV/SIGABRT
-- Display modes via the LFA steering-wheel button (`ScreenDisplayMode`: auto-normal, nightrider, manual normal, screen off, manual nightrider) — including auto day/night switching driven by GPS sunrise/sunset
+**Speed-limit publisher**
+- `hyundai/carstate.py update_canfd()` writes `CarSpeedLimit` from CAN — until ported, the speed-limit widget shows 0 and cruise warnings never trigger
 
-**Speed / cruise logic:**
-- `selfdrive/clearpilot/speed_logic.py` — speed-limit display, cruise-vs-limit warning signs (different thresholds above/below 50 mph), ding sound on warning transitions
-- New params: `ClearpilotSpeedDisplay`, `ClearpilotSpeedLimitDisplay`, `ClearpilotCruiseWarning`, `ClearpilotPlayDing`, etc.
-
-**Dashcam:**
-- `selfdrive/clearpilot/dashcamd` (native C++) — VisionIPC frames → OMX H.264 hardware encoder, 3-min MP4 segments + SRT GPS subtitles in `/data/media/0/videos/`
-- Trip lifecycle (waits for time + GPS + drive gear; closes on park/ignition off)
-- `system/loggerd/deleter.py` trip-aware storage rotation
-- Disables `encoderd` / `stream_encoderd`; reuses upstream `omx_encoder.cc`
-
-**GPS:**
-- `system/clearpilot/gpsd.py` — replacement for broken `qcomgpsd` diag interface; polls Quectel modem via `mmcli` AT commands at 1Hz, publishes `gpsLocation`
-- NOAA solar-position calc for sunrise/sunset (drives display auto day/night)
-
-**Telemetry:**
+**Telemetry**
 - `selfdrive/clearpilot/telemetry.py` (client) + `telemetryd.py` (collector) — diff-based CSV logger over ZMQ
 - Toggleable via `TelemetryEnabled` memory param from Debug panel
 - Auto-disabled if `/data` free < 5 GB; auto-disabled on every manager start
-- Hyundai CAN-FD data logged from `selfdrive/car/hyundai/carstate.py update_canfd()`
+- Hyundai CAN-FD data logged from `update_canfd()` groups (car/cruise/speed_limit/buttons)
 
-**Bench mode (UI testing without a car):**
-- `--bench` flag → `BENCH_MODE=1` → enables `bench_onroad.py`, blocks real car processes
-- `bench_cmd.py` for setting fake vehicle state via params
-- UI introspection RPC at `ipc:///tmp/clearpilot_ui_rpc` (widget-tree dump)
+**Bench mode (UI testing without a car)**
+- `--bench` flag → `BENCH_MODE=1` in `launch_openpilot.sh` (already wired) → enables `bench_onroad.py`, blocks real car processes
+- `bench_cmd.py` for setting fake vehicle state via params; UI dump RPC wired (`bench_cmd dump`)
+- Param keys (`Bench*`, `ClpUiState`) not yet registered
 
-**Power/thermal:**
-- Standstill power saving: `modeld` and `dmonitoringmodeld` throttled to 1fps when stopped
+**Power/thermal**
+- Standstill power saving: `modeld` and `dmonitoringmodeld` throttled to 1 fps when stopped
 - Fan controller uses offroad clamps at standstill
 - Park CPU savings + virtual battery shutdown fix
 
-**Memory params (`/dev/shm/params`):**
-Lots of new keys for runtime UI state — `TelemetryEnabled`, `VpnEnabled`, `ModelStandby`, `ScreenDisplayMode`, `DashcamState`, `DashcamFrames`, `DashcamShutdown`, `LogDirInitialized`, plus the speed/cruise display set.
-
-**Session logging:**
+**Session logging**
 - `/data/log2/current/` per-process stderr capture; aggregate `session.log` of major events
 - Time-resolved log dir rename via GPS/NTP; 30-day rotation
-- See `selfdrive/manager/process.py` and `manager.py` changes
-
-**Already in this tree (just listing for reference, do NOT re-port):**
-- `system/clearpilot/vpn-monitor.sh` + `vpn.ovpn` — OpenVPN auto-connect to `vpn.hanson.xyz`
-- `system/clearpilot/nice-monitor.sh`
-- `system/clearpilot/provision.sh` (apt installs, Claude Code installer, git remote fix, fast-forward)
-- `system/clearpilot/on_start.sh` (SSH keys, ssh.service, git.hanson.xyz Host config, WiFi radio on)
-- `system/clearpilot/dev/id_ed25519.{cpt,pub.cpt}` (DongleId-keyed)
-- `system/clearpilot/startup_logo/bg.jpg` + scripts
-- `selfdrive/ui/qt/spinner` + `spinner.cc/.h` (custom logo)
-- `build_only.sh`, `build_preflight.sh`
+- See `selfdrive/manager/process.py` and `manager.py` changes in the broken tree
+- `LogDirInitialized` param not yet registered
 
 ## Working Rules
 
@@ -114,12 +129,11 @@ This is self-driving software. All changes must be deliberate and well-understoo
 
 **NEVER use `cloudlog`.** It's comma.ai's cloud telemetry pipeline, not ours — writes go to a publisher that's effectively a black hole for us (and the only thing it could do if ever reachable is bother the upstream FrogPilot developer). Our changes must always use **file logging** instead.
 
-Use `print(..., file=sys.stderr, flush=True)`. `manager.py` redirects each managed process's stderr to `/data/log2/current/{process}.log` (once that feature is re-ported), so these lines land in the per-process log we already grep. Prefix custom log lines with `CLP ` so they're easy to filter out from upstream noise.
+Use `print(..., file=sys.stderr, flush=True)`. Once session-logging is re-ported, manager will redirect each managed process's stderr to `/data/log2/current/{process}.log`. Prefix custom log lines with `CLP ` so they're easy to filter from upstream noise.
 
-Example:
 ```python
 import sys
-print(f"CLP frogpilotPlan valid=False: carState_freq_ok={sm.freq_ok['carState']}", file=sys.stderr, flush=True)
+print(f"CLP gpsd: ...", file=sys.stderr, flush=True)
 ```
 
 Do not use `cloudlog.warning`, `cloudlog.info`, `cloudlog.error`, `cloudlog.event`, or `cloudlog.exception` in any CLEARPILOT-added code. Existing upstream/FrogPilot `cloudlog` calls can stay untouched.
@@ -135,7 +149,7 @@ chown -R comma:comma /data/openpilot
 ### Git
 
 - Remote: `git@git.hanson.xyz:brianhansonxyz/clearpilot.git`
-- Branch: `clearpilot`
+- Branch: `clearpilot` — this is the canonical/main branch and is what fresh device flashes provision from. **Do not abandon it for another branch.**
 - Large model files are tracked in git (intentional — this is a backup)
 - The `clearpilot` branch was force-pushed on 2026-05-03 as part of the reset; the prior history is reachable via the `pre-reset-2026-05-03` tag.
 
@@ -168,6 +182,7 @@ su - comma -c "bash /data/openpilot/launch_openpilot.sh"
 # 4. Inspect logs
 ls /data/log2/current/
 cat /data/log2/current/session.log
+tail /tmp/build.log  # last build's output
 ```
 
 ### Adding New Params
@@ -175,19 +190,21 @@ cat /data/log2/current/session.log
 The params system uses a C++ whitelist. Adding a new param name without registering it will crash with `UnknownKeyName`. To add one:
 
 1. Register the key in `common/params.cc` (alphabetically, with `PERSISTENT` or `CLEAR_ON_*` flag)
-2. Set the default in `selfdrive/manager/manager.py` `manager_init()`
+2. For memory params, add a default in `manager_init()`'s memory-params loop (after the persistent default loop)
 3. Remove `prebuilt`, `common/params.o`, and `common/libcommon.a` to force rebuild
 
 ### Memory Params (paramsMemory)
 
-Once re-ported, ClearPilot will use memory params (`/dev/shm/params/d/`) for UI toggles that should reset on boot. Conventions:
+ClearPilot uses memory params (`/dev/shm/params/d/`) for transient state that should reset on boot. Conventions:
 
-- **Registration**: register in `common/params.cc` as `PERSISTENT` (the registration flag does NOT control which path the param lives at)
-- **C++ access**: `Params{"/dev/shm/params"}` — the Params class appends `/d/` internally, so `Params("/dev/shm/params/d")` would resolve to `/dev/shm/params/d/d/`
+- **Registration**: register in `common/params.cc` as `PERSISTENT` (the registration flag does NOT control which path the param lives at — `/dev/shm` is tmpfs and clears on reboot regardless)
+- **C++ access**: `Params{"/dev/shm/params"}` (the Params class appends `/d/` internally — `Params("/dev/shm/params/d")` would resolve to `/dev/shm/params/d/d/`)
 - **Python access**: `Params("/dev/shm/params")`
 - **UI toggles**: use `ToggleControl` with manual `toggleFlipped` lambda, not `ParamControl` (which only handles persistent params)
 - **IMPORTANT — method names differ between C++ and Python**: C++ uses camelCase (`putBool`, `getBool`, `getInt`), Python uses snake_case (`put_bool`, `get_bool`, `get_int`). This is a common source of silent failures.
 
+Currently registered memory-param keys (in `params.cc`): `ScreenDisplayMode`, `CPTLkasButtonAction`, `CarIsMetric`, `Clearpilot{CruiseWarning,CruiseWarningSpeed,HasSpeed,IsMetric,PlayDing,ShowHealthMetrics,SpeedDisplay,SpeedLimitDisplay,SpeedUnit}`, `Dashcam{Frames,Shutdown,State}`, `IsDaylight`, `ModelFps`, `ModelStandby`, `ModelStandbyTs`, `ScreenRecorderDebug`, `ShutdownTouchReset`, `TelemetryEnabled`, `VpnEnabled`, `no_lat_lane_change`. Bench-mode and `LogDirInitialized` keys not registered yet.
+
 ### Changing a Service's Publish Rate
 
 SubMaster's `freq_ok` check requires observed rate to fall within `[0.8 × min_freq, 1.2 × max_freq]` of the value declared in `cereal/services.py`. Publishing *faster* than declared trips `commIssue` just as surely as too slow. If you change how often a process publishes, update the rate in `cereal/services.py` to match.
@@ -216,7 +233,15 @@ SubMaster's `freq_ok` check requires observed rate to fall within `[0.8 × min_f
 
 ### GPS
 
-The device has **no u-blox chip** (`/dev/ttyHS0` does not exist). GPS is the **Quectel EC25 LTE modem**'s built-in GPS, accessed via AT commands through `mmcli`. The original `qcomgpsd` is broken on this device because the diag interface hangs after setup. Once re-ported, `system/clearpilot/gpsd.py` replaces it.
+The device has **no u-blox chip** (`/dev/ttyHS0` does not exist). GPS is the **Quectel EC25 LTE modem**'s built-in GPS, accessed via AT commands through `mmcli`. The original `qcomgpsd` is broken on this device because the diag interface hangs after setup. `system/clearpilot/gpsd.py` is the replacement; locationd is patched not to consume `gpsLocation` so the kalman filter isn't tainted.
+
+### Sidebar / Process Notes
+
+- `camerad` runs `always_run` (was `driverview`) — this is needed for dashcamd. Costs steady-state camera power even when ignition is off.
+- `loggerd`, `encoderd`, `stream_encoderd` are commented out in `process_config.py` — no segment or video logging
+- `qcomgpsd` is commented out; `system.clearpilot.gpsd` is registered in its place (gated by `qcomgps` callback = `not ublox_available()`, which is always true on this device)
+- `speed_logicd` is `only_onroad`; `dashcamd` is `always_run` (manages own trip lifecycle)
+- `uploader` already commented out in baseline
 
 ## Boot Sequence
 
@@ -226,7 +251,7 @@ Power On
     → /usr/comma/comma.sh (waits for Weston, handles factory reset)
       → /data/continue.sh
         → /data/openpilot/launch_openpilot.sh
-          → kill stale instances (launch_openpilot, launch_chffrplus, manager.py, ./ui, selfdrive/ui/text)
+          → kill stale instances (launch_openpilot, launch_chffrplus, manager.py, ./ui, _text by comm)
           → bash system/clearpilot/on_start.sh  (SSH, WiFi, run provision.sh)
           → background system/clearpilot/vpn-monitor.sh
           → background system/clearpilot/nice-monitor.sh
@@ -236,6 +261,6 @@ Power On
             → set PYTHONPATH
             → if no `prebuilt`: run build.py (spinner + scons)
             → exec selfdrive/manager/manager.py
-              → manager_init() sets default params
+              → manager_init() sets default params (persistent + memory)
               → ensure_running() loop starts managed processes
 ```