dashcamd now waits for valid system time + GPS fix + drive gear before
starting a trip. Returns to waiting state on 10-min park timeout or
ignition off. Publishes DashcamState and per-trip DashcamFrames to
memory params. Status window shows stopped/waiting/recording states.
Updated CLAUDE.md with current display mode behavior, OmxEncoder port
details, speed limit warning thresholds, and dashcam param docs.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- OMX_Init/OMX_Deinit managed per encoder instance lifecycle
- Proper error handling in constructor, encoder_open, encoder_close
- Null guards on done_out.pop() and handle in destructor
- Codec config written directly to codecpar (no codec_ctx)
- ffmpeg faststart remux on segment close
- Crash handler in dashcamd for diagnostics
- DashcamFrames param for live frame count in status window
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Reset OMX subsystem (Deinit/Init) on dashcamd startup to clear stale
encoder state from previous unclean exits
- Validate OMX output buffers before memcpy to prevent segfault
- Validate VisionBuf frame data before encoding
- Add dashcam row to status window showing recording state and disk usage
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Removed nightrider exception that kept onroad UI visible in park.
Shifting to park from nightrider mode now auto-switches to screen off.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Tapping the touchscreen while in display mode 3 (screen off) resets
ScreenDisplayMode to 0 (auto-normal) and wakes the display.
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>
- 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>
- Nightrider: lines 1px wider (3px outline), engagement border hidden,
planner lines hidden when disengaged, stay on onroad view in park
- Normal mode only: return to ready splash on park
- Ready text sprite at native 1x size
- Nice monitor: keeps claude processes at nice 19, runs every 30s
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>
Speed indicator now uses gpsLocation speed (MPH) instead of carState
vEgo. Hides completely when no GPS fix is available. Added gpsLocation
to UI SubMaster subscriptions.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Replace Home panel with General: status, reset calibration, shutdown
timer, reboot/soft reboot/power off. Add Network tab (stock networking
minus APN). Remove system settings access — ClearPilot menu is now the
only settings interface. build_only.sh now auto-chowns before build.
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>
- Per-process stderr logging to /data/log2/{session}/ with time-safe
directory naming (boot-xxx renamed once GPS/NTP sets clock)
- Aggregate session.log with major events (start/stop, transitions)
- 30-day log rotation cleanup on manager startup
- build_only.sh: compile without starting manager, non-blocking error
display, kills stale processes
- build.py: copies updated spinner binary after successful build
- Onroad park mode: show splash screen when car is on but in park,
switch to camera view when shifted to drive, honor screen on/off
- Spinner: full-screen boot logo background from /usr/comma/bg.jpg
with white progress bar overlay
- Boot logo: auto-regenerate when boot_logo.png changes, 140% scale
- launch_openpilot.sh: cd to /data/openpilot for reliable execution
- launch_chffrplus.sh: kill stale text error displays on startup
- spinner shell wrapper: prefer freshly built _spinner over prebuilt
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>
- Strip out date, version, update/alert widgets from OffroadHome
- Replace with grid layout: Dashcam and Settings buttons
- Skip sidebar when tapping splash screen
- Settings button still opens original comma settings
- Dashcam button placeholder (viewer not yet built)
- Add DASHCAM_PROJECT.md with plans for footage viewer
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Re-enable FrogPilot OMX screen recorder (H.264 MP4, 1440x720, 2Mbps)
- Auto-start recording when car is on, auto-stop when off
- Hide all recorder UI elements (invisible to driver)
- Add ScreenRecorderDebug param for bench testing without car
- Disable encoderd (camera .hevc files) — CAN/sensor logs still recorded
- Raise deleter free space threshold from 5GB to 9GB
- Deleter rotates oldest videos before log segments
- Add CLAUDE.md project documentation
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
