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>
Device has no u-blox chip (/dev/ttyHS0 missing). GPS is via the Quectel
EC25 LTE modem. Uncommented qcomgpsd in process_config.
GPS hardware confirmed working — modem returns fix via AT+QGPSLOC with
7 satellites, 1m accuracy. However qcomgpsd's diag interface reader
appears to stall after setup — the cereal gpsLocationExternal message
is not being populated. The diag subprocess exits as a zombie. Needs
further investigation into the ModemDiag interface.
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>
- 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>
