updateWakefulness was overriding display power every frame when ignition
was on, fighting the screen-off set by home.cc. Now respects
ScreenDisplayMode 3 unconditionally. Also auto-resets to mode 0 when
shifting into drive from screen-off.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
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>
Standstill quiet mode was clamped to 0-10% which is dangerously low
under sustained load. Raised to 0-30%. Bench mode now forces 30-100%
onroad fan range regardless of standstill to prevent overheating
during bench testing.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Ensures git push works without GIT_SSH_COMMAND override. Idempotent —
skips if Host entry already exists in /root/.ssh/config.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Keys now install to /root/.ssh/ (for root git operations) instead of
/data/ssh/.ssh/. Runs every boot via on_start.sh so keys are available
even without a full provision cycle.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Create /usr/local/bin/claude wrapper that remounts / read-write before
calling the real binary. Removes PATH append to ~/.bashrc which was
duplicating on every provision run.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
manage_athenad was calling launcher() with only 2 args but the
per-process logging changes added a required log_path parameter.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Provision script now checks and corrects the git origin URL to the
SSH remote before fetching updates. Also fixed CLAUDE.md to reflect
the correct hostname (git.hanson.xyz, not git.internal.hanson.xyz).
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
The decrypt step in provision.sh was writing decrypted private keys
directly into the source tree (system/clearpilot/dev/), leaving them
as untracked files in the repo. Now decrypts to a mktemp dir, copies
to the SSH dir, and cleans up. Also added ed25519 key paths to
.gitignore to match the existing id_rsa entries.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Generate new ed25519 keypair (replaces old RSA keys)
- Encrypt with device serial from /proc/cmdline (always available, no manager needed)
- Update decrypt/encrypt tools and provision.sh to use serial
- Remove dependency on DongleId param for SSH key provisioning
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>
- Install ccrypt, nodejs 18, npm, claude code in provision
- Decrypt id_rsa/id_rsa.pub via dongle ID and install to /data/ssh/.ssh/
- Run provision directly instead of through qt_shell wrapper
- Fix panda and body SConscripts to mkdir obj/ before writing gitversion.h
- Add sudo to su - comma build call
- Remount / rw at top of provision
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
SSH keys and sshd start immediately on every boot, not gated behind
quick_boot or dongle check. Provision script only handles packages,
git pull, and build.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- on_start.sh runs provision through qt_shell for on-screen display
- provision_wrapper.sh redirects stderr to stdout so errors are visible
- provision.sh: SSH setup before WiFi wait, verbose echo output,
sleep on failure so messages are readable
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- on_start.sh: always enables WiFi, waits 30s for connectivity if
no /data/quick_boot, then runs provision.sh
- New provision.sh: sets up SSH keys, installs openvpn, pulls latest
code from remote (hard reset, remote wins), runs build_only.sh,
touches /data/quick_boot on success
- Delete old dev/on_start.sh, dev/provision.sh, dev/on_start_brian.sh.cpt
(encrypted key decryption no longer needed)
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- modeld: full 20fps (lat active), 4fps (driving no lateral), 0fps
(standstill). Standby timestamp written in both standby and 4fps modes
to suppress transient errors on engagement transition
- tlog: all calls commented out (was causing 100Hz CPU load in controlsd
and carstate). tlog client now checks TelemetryEnabled param before
sending — zero cost when disabled
- dashcamd: wait for valid frame dimensions on startup (fix SIGSEGV),
always_run (manages own trip lifecycle)
- Fan: driving range 15-100%
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>
- 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>
Document 5-state display mode system with auto day/night switching,
nightrider rendering, and button behavior. Update dashcam section for
trip directories, 2500kbps bitrate, SRT subtitles, graceful shutdown.
Update offroad UI section for new ClearPilot menu panels.
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>
Added brakePressed to cruise group, prev_cruise_button and
prev_main_button to buttons group in carstate telemetry. New "engage"
group in controlsd logs state machine state, enabled/active flags, and
stock cruise state every frame for tracing engagement desync bugs.
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>
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>
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>
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>
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>
Logs high-value CAN bus data every frame in update_canfd():
- car: vEgo, aEgo, steering angle, gear, brake/gas, blinkers, standstill
- cruise: enabled, speed, ACCMode, VSetDis, aReq, distance setting, lead dist
- speed_limit: all 3 CLUSTER_SPEED_LIMIT values, school zone, chimes,
calculated speed limit, metric flag
- buttons: cruise buttons, main button, LKAS, main_enabled state
Data flows through the diff-based telemetry logger (only changed values
written to CSV) when TelemetryEnabled param is set.
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>
- 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>
