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 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>
- 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>
