Plays a ding via soundd when the cruise warning sign becomes visible
(cruise set speed out of range vs speed limit) or when the speed limit
changes while the warning sign is already showing. Max 1 ding per 30s.
Ding is mixed independently into soundd output at max volume without
interrupting alert sounds. bench_cmd ding available for manual trigger.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Cruise warning sign appears above speed limit sign when cruise set
speed is too far from the speed limit:
- Red (over): cruise >= limit + 10 (if limit >= 50) or + 5 (if < 50)
- Green (under): cruise <= limit - 5
- Only when cruise active (not paused/disabled) and limit >= 20
- Nightrider mode: colored text/border on black background
Speed limit sign enlarged 5%. 20px gap between signs. Bench mode
gains cruiseactive command (0=disabled, 1=active, 2=paused).
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
New speed_logic.py module converts raw CAN speed limit and GPS speed
into display-ready params. Called from controlsd (live) and
bench_onroad (bench) at ~2Hz. UI reads params to render:
- Current speed (top center, hidden when 0 or no GPS)
- MUTCD speed limit sign (lower-left, normal + nightrider styles)
- Unit-aware display (mph/kph based on CAN DISTANCE_UNIT)
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Add build_preflight.sh to create obj/ dirs that git can't track (body/board/obj, panda/board/obj)
- Wire preflight into build_only.sh and launch_chffrplus.sh
- Restore missing third_party binaries (libyuv, snpe, acados, maplibre) that were text pointers
- Remove dead Qt5WebEngineWidgets dependency from UI SConscript
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Comment out all tlog() calls in controlsd (100Hz) and carstate (100Hz)
— was causing controlsd to lag from JSON serialization + ZMQ overhead
- tlog() now checks TelemetryEnabled memory param (1/sec file read),
returns immediately when disabled — zero cost when telemetry is off
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- modeld: enter standby when latActive=false (not just standstill),
exception for lane changes (no_lat_lane_change). Fix Python capnp
property access (.latActive not getLatActive())
- controlsd: move model_suppress computation early, suppress radarFault,
posenetInvalid, locationdTemporaryError, paramsdTemporaryError during
model standby + 2s grace period. All cascade from modeld not publishing
- dashcamd: always_run (manages own trip lifecycle), wait for valid frame
dimensions before encoding (fix SIGSEGV on early start)
- Fan: driving range 15-100% (was 30-100%)
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Telemetry status bar in onroad UI: temp, fan %, model FPS, standstill
- Fix paramsMemory usage: Params("/dev/shm/params") not "/dev/shm/params/d"
- Telemetry/VPN toggles use ToggleControl with manual paramsMemory writes
- TelemetryEnabled/VpnEnabled registered PERSISTENT, written to memory path
- GPS telemetry: telemetryd subscribes to gpsLocation at 1Hz via cereal
- Nightrider: force CameraWidget bg black to eliminate color bleed border
- Suppress "Always On Lateral active" status bar message
- Re-enable gpsd and dashcamd
- CLAUDE.md: document memory params pattern, speed_limit.calculated usage
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- 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>
New ScreenDisplayMode param (fixes ScreenDisaplayMode typo):
0=auto-normal, 1=auto-nightrider, 2=normal, 3=screen-off, 4=nightrider
Nightrider mode: black background (no camera feed), path/lane lines
drawn as 2px outlines only. Auto mode uses NOAA solar position calc
in gpsd to switch between day/night based on GPS lat/lon and UTC time.
First calc on GPS fix, then every 30 seconds.
Button cycle onroad: 0→4, 1→2, 2→3, 3→4, 4→2 (never back to auto).
Offroad: any→3, 3→0. bench_cmd debugbutton simulates the button press.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Each MP4 segment gets a companion .srt file with 1Hz entries containing
speed (MPH), lat/lon coordinates, and UTC timestamp from gpsLocation
cereal messages. Falls back to "No GPS" when fix is unavailable.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Dashcam recording now organized by trip in /data/media/0/videos/YYYYMMDD-HHMMSS/.
Starts recording immediately on launch (with 10-min idle timer), transitions to
continuous recording when drive gear detected. New trip on every ignition cycle.
Graceful shutdown via DashcamShutdown param with 15s ack timeout in thermald.
- Bitrate reduced to 2500 kbps (was 4 Mbps)
- Trip state machine: IDLE → RECORDING ↔ IDLE_TIMEOUT → TRIP_ENDED
- Deleter: trip-aware deletion (oldest trip first, then segments within active trip)
- camerad changed to always_run (was driverview) so dashcam works offroad
- DashcamShutdown param for graceful close before device power-off
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
GPS: fix AT response parsing (strip mmcli `response: '...'` wrapper),
fix capnp field names (horizontalAccuracy, hasFix), set system clock
directly from first GPS fix when time is invalid, kill system gpsd on
startup.
Logging: replace module-level log dir creation with init_log_dir()
called from manager_init(). Active session always at /data/log2/current
(real dir until time resolves, then symlink to timestamped dir). Add
LogDirInitialized param. Redirect both stdout+stderr for all processes.
Also: thorough process cleanup in launch scripts, dashcamd binary,
CLAUDE.md updates for GPS/telemetry/bench/logging docs.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Unblocked thermald and camerad — thermald manages CPU cores and reads
fake pandaStates for ignition, bench no longer publishes deviceState
- camerad starts with live camera feed on bench
- Force nvg->update() every frame for HUD repaint without camera dependency
- Blue blinking telemetry circle uses getBool pattern
- camerad debug logging for startup diagnostics
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- SIGSEGV/SIGABRT crash handler in ui/main.cc prints stack trace to stderr
- Fixed onroad crash: guard update_model() against empty model position data
(was dereferencing end()-1 on empty list when modeld not running in bench)
- Status window: added device temperature and fan speed
- Interactive timeout returns to splash/onroad (not ClearPilotPanel)
- bench_cmd dump detects crash loops via UI process uptime check
- bench_cmd wait_ready timeout increased to 20s
- Restored camerad to bench ignore list (not needed for UI testing)
- Updated CLAUDE.md with crash debugging procedures
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Bench mode (--bench flag):
- bench_onroad.py publishes fake vehicle state as managed process
- manager blocks real car processes (pandad, thermald, controlsd, etc.)
- bench_cmd.py for setting params and querying UI state
- BLOCKER: UI segfaults (SIGSEGV) when OnroadWindow becomes visible
without camera frames — need to make CameraWidget handle missing
VisionIPC gracefully before bench drive mode works
ClearPilot menu:
- Replaced grid launcher with sidebar settings panel (ClearPilotPanel)
- Sidebar: Home, Dashcam, Debug
- Home panel: Status and System Settings buttons
- Debug panel: telemetry logging toggle (ParamControl)
- Tap from any view (splash, onroad) opens ClearPilotPanel
- Back button returns to splash/onroad
Status window:
- Live system stats refreshing every 1 second
- Storage, RAM, load, IP, WiFi, VPN, GPS, time, telemetry status
- Tap anywhere to close, returns to previous view
- Honors interactive timeout
UI introspection RPC:
- ZMQ REP server at ipc:///tmp/clearpilot_ui_rpc
- Dumps full widget tree with visibility, geometry, stacked indices
- bench_cmd dump queries it, detects crash loops via process uptime
- ui_dump.py standalone tool
Other:
- Telemetry toggle wired to TelemetryEnabled param with disk space guard
- Telemetry disabled on every manager start
- Blinking red circle on onroad UI when telemetry recording
- Fixed showDriverView overriding park/drive transitions every frame
- Fixed offroadTransition sidebar visibility race in MainWindow
- launch_openpilot.sh: cd to /data/openpilot, --bench flag support
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- telemetry.py: client library, tlog(group, data) sends JSON over ZMQ PUSH
- telemetryd.py: collector process, diffs against previous state per group,
writes only changed values to /data/log2/{session}/telemetry.csv
- Registered as always-run managed process in process_config.py
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- New dashcamd: connects to camerad via VisionIPC, feeds raw NV12
frames directly to OMX H.264 encoder. Full 1928x1208 resolution,
4Mbps, 3-minute MP4 segments. Works regardless of UI state.
- Added encode_frame_nv12() to OmxEncoder — skips RGBA->NV12 conversion
- Suspends recording after 10 minutes of standstill
- Disabled old screen recorder timer in onroad.cc
- Suppress debug button alert (clpDebug event still fires for screen toggle)
- launch_openpilot.sh self-cleans other instances before starting
- Register DashcamDebug param in params.cc and manager.py
- Add dashcamd to build system (SConscript) and process_config
- Updated CLAUDE.md with all session changes
- Added GOALS.md feature roadmap
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
