diff --git a/selfdrive/clearpilot/resource/DALL·E 2024-05-17 09.54.42 - Logo for a self-driving software called ClearPilot. The logo features a glass steering wheel where the transparent glass has a backdrop of a scene of .webp b/selfdrive/clearpilot/resource/DALL·E 2024-05-17 09.54.42 - Logo for a self-driving software called ClearPilot. The logo features a glass steering wheel where the transparent glass has a backdrop of a scene of .webp
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diff --git a/selfdrive/clearpilot/resource/debug_ui_scene.png b/selfdrive/clearpilot/resource/debug_ui_scene.png
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diff --git a/selfdrive/frogpilot/screenrecorder/moc_screenrecorder.cc b/selfdrive/frogpilot/screenrecorder/moc_screenrecorder.cc
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diff --git a/selfdrive/frogpilot/ui/qt/offroad/moc_control_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/moc_control_settings.cc
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diff --git a/selfdrive/frogpilot/ui/qt/offroad/moc_vehicle_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/moc_vehicle_settings.cc
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diff --git a/selfdrive/frogpilot/ui/qt/offroad/moc_visual_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/moc_visual_settings.cc
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diff --git a/selfdrive/frogpilot/ui/qt/widgets/moc_frogpilot_controls.cc b/selfdrive/frogpilot/ui/qt/widgets/moc_frogpilot_controls.cc
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diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py
index 5655655..b72772a 100755
--- a/selfdrive/manager/process.py
+++ b/selfdrive/manager/process.py
@@ -27,26 +27,42 @@ def nativelauncher(pargs: list[str], cwd: str, name: str, log_path: str) -> None
     with open(log_path, 'a') as log_file:
         os.chdir(cwd)
         proc = subprocess.Popen(pargs, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, bufsize=1, universal_newlines=True)
+        log_file.write("Started "+name)
         for line in proc.stdout:
             print(line, end='')
             log_file.write(line)
         proc.wait()
 
 def launcher(proc: str, name: str, log_path: str) -> None:
-    try:
-        mod = importlib.import_module(proc)
-        setproctitle(proc)
-        messaging.context = messaging.Context()
-        cloudlog.bind(daemon=name)
-        sentry.set_tag("daemon", name)
-        with open(log_path, 'a') as log_file, subprocess.Popen(['python', '-m', proc], stdout=subprocess.PIPE, stderr=subprocess.STDOUT, bufsize=1, universal_newlines=True) as proc:
-            for line in proc.stdout:
-                print(line, end='')
-                log_file.write(line)
-            proc.wait()
-    except Exception:
-        sentry.capture_exception()
-        raise
+    while True:
+        try:
+            # Initialize the module and setup the process title and logging
+            mod = importlib.import_module(proc)
+            setproctitle(name)
+            messaging.context = messaging.Context()
+            cloudlog.bind(daemon=name)
+            sentry.set_tag("daemon", name)
+
+            # Command to run the process
+            command = ['python', '-m', proc]
+            
+            # Open the log file and start the subprocess
+            with open(log_path, 'a') as log_file, subprocess.Popen(command, stdout=subprocess.PIPE, stderr=subprocess.STDOUT, bufsize=1, universal_newlines=True) as proc_instance:
+                log_file.write(f"Started {name}\n")
+                
+                # Process the output from the subprocess
+                for line in iter(proc_instance.stdout.readline, ''):
+                    print(line, end='')
+                    log_file.write(line)
+                
+                # Wait for the subprocess to terminate
+                proc_instance.wait()
+        
+        except Exception as e:
+            # Log the error and restart the process after logging the exception
+            print(f"Fatal: {name}")
+            print(e)
+            sentry.capture_exception()
 
 def join_process(process: Process, timeout: float) -> None:
   t = time.monotonic()
@@ -215,14 +231,13 @@ class DaemonProcess(ManagerProcess):
         except OSError:
             pass  # Process not running, continue to start it
 
-    log_file_path = os.path.join(log_path, f"{self.name}.log")
-    self.params.put(self.param_name, str(self.proc.pid))
     cloudlog.info(f"starting daemon {self.name}")
     self.proc = subprocess.Popen(['python', '-m', self.module],
                                   stdin=open('/dev/null'),
-                                  stdout=open(log_file_path, 'a'),
+                                  stdout=open(log_path, 'a'),
                                   stderr=subprocess.STDOUT,
                                   preexec_fn=os.setpgrp)
+    self.params.put(self.param_name, str(self.proc.pid))
 
   def stop(self, retry=True, block=True, sig=None) -> None:
     pass
@@ -237,7 +252,7 @@ def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None
     running = []
     for p in procs:
         if p.enabled and p.name not in not_run and p.should_run(started, params, CP):
-            if p.proc is None or p.proc.exitcode is not None:
+            if p.proc is None or (hasattr(p.proc, 'exitcode') and p.proc.exitcode is not None):
                 p.start()
             running.append(p)
         else:
@@ -245,4 +260,4 @@ def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None
 
         p.check_watchdog(started)
 
-    return running
\ No newline at end of file
+    return running
diff --git a/system/clearpilot/dev/on_start_brian.sh.cpt b/system/clearpilot/dev/on_start_brian.sh.cpt
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