feat: dashcamd trip lifecycle, status indicator, CLAUDE.md updates

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>
2026-04-16 01:26:58 -05:00
parent dfb7b7404f
commit 2331aa00a0
7 changed files with 106 additions and 130 deletions
--- a/selfdrive/clearpilot/dashcamd
+++ b/selfdrive/clearpilot/dashcamd
--- a/selfdrive/clearpilot/dashcamd.cc
+++ b/selfdrive/clearpilot/dashcamd.cc
@@ -7,44 +7,32 @@
 * Trip directory structure:
 *   /data/media/0/videos/YYYYMMDD-HHMMSS/   (trip directory, named at trip start)
 *     YYYYMMDD-HHMMSS.mp4                    (3-minute segments)
+ *     YYYYMMDD-HHMMSS.srt                    (GPS subtitle sidecar)
 *
 * Trip lifecycle state machine:
 *
- *   On process start (after time-valid wait):
- *     - Create trip directory, start recording immediately with 10-min idle timer
- *     - If car is already in drive, timer is cancelled and recording continues
- *     - If car stays parked/off for 10 minutes, trip ends
+ *   WAITING:
+ *     - Process starts in this state
+ *     - Waits for valid system time (year >= 2024) AND car in drive gear
+ *     - Transitions to RECORDING when both conditions met
 *
- *   IDLE_TIMEOUT → RECORDING:
- *     - Car enters drive gear before timer expires → cancel timer, resume recording
- *       in the same trip (no new trip directory)
+ *   RECORDING:
+ *     - Actively encoding frames, car is in drive
+ *     - Car leaves drive → start 10-min idle timer → IDLE_TIMEOUT
 *
- *   RECORDING → IDLE_TIMEOUT:
- *     - Car leaves drive gear (park, off, neutral) → start 10-minute idle timer,
- *       continue recording frames during the timeout period
- *
- *   IDLE_TIMEOUT → TRIP_ENDED:
- *     - 10-minute timer expires → close segment, trip is over
- *
- *   TRIP_ENDED → RECORDING (new trip):
- *     - Car enters drive gear → create new trip directory, start recording
- *
- *   Any state → (new trip) on ignition off→on:
- *     - Ignition transitions off→on → close current trip if active, create new trip
- *       directory, start recording with 10-min idle timer. This applies even from
- *       TRIP_ENDED — turning the car on always starts a new trip. If the car is in
- *       park after ignition on, the idle timer runs; entering drive cancels it.
+ *   IDLE_TIMEOUT:
+ *     - Car left drive, still recording with timer running
+ *     - Car re-enters drive → cancel timer → RECORDING
+ *     - Timer expires → close trip → WAITING
+ *     - Ignition off → close trip → WAITING
 *
 *   Graceful shutdown (DashcamShutdown param):
 *     - thermald sets DashcamShutdown="1" before device power-off
- *     - dashcamd closes current segment, sets DashcamShutdown="0" (ack), exits
- *     - thermald waits up to 15s for ack, then proceeds with shutdown
+ *     - dashcamd closes current segment, acks, exits
 *
- *   GPS subtitle track:
- *     - Each .mp4 segment has a companion .srt subtitle file
- *     - Updated at most once per second from gpsLocation cereal messages
- *     - Format: "35 MPH | 44.9216°N 93.3260°W | 2026-04-13 05:19:00 UTC"
- *     - Most players auto-detect .srt files alongside .mp4 files
+ *   Published params (memory, every 5s):
+ *     - DashcamState: "waiting" or "recording"
+ *     - DashcamFrames: per-trip encoded frame count (resets each trip)
 */

 #include <cstdio>
@@ -75,10 +63,9 @@ const double IDLE_TIMEOUT_SECONDS = 600.0;  // 10 minutes
 ExitHandler do_exit;

 enum TripState {
-  IDLE,           // no trip active, waiting for drive
+  WAITING,        // no trip, waiting for valid time + drive gear
  RECORDING,      // actively recording, car in drive
-  IDLE_TIMEOUT,   // car parked/off, recording with 10-min timer
-  TRIP_ENDED,     // trip closed, waiting for next drive
+  IDLE_TIMEOUT,   // car left drive, recording with 10-min timer
 };

 static std::string make_timestamp() {
@@ -137,15 +124,6 @@ int main(int argc, char *argv[]) {
  // Ensure base output directory exists
  mkdir(VIDEOS_BASE.c_str(), 0755);

-  // Wait for valid system time so trip/segment names have real timestamps
-  LOGW("dashcamd: waiting for system time");
-  while (!do_exit) {
-    if (system_time_valid()) break;
-    usleep(1000000);  // 1 Hz poll
-  }
-  if (do_exit) return 0;
-  LOGW("dashcamd: system time valid");
-
  LOGW("dashcamd: started, connecting to camerad road stream");
  VisionIpcClient vipc("camerad", VISION_STREAM_ROAD, false);
  while (!do_exit && !vipc.connect(false)) {
@@ -172,45 +150,40 @@ int main(int argc, char *argv[]) {
  // Subscribe to carState (gear), deviceState (ignition), gpsLocation (subtitles)
  SubMaster sm({"carState", "deviceState", "gpsLocation"});
  Params params;
+  Params params_memory("/dev/shm/params");

  // Trip state
-  TripState state = IDLE;
+  TripState state = WAITING;
  OmxEncoder *encoder = nullptr;
  std::string trip_dir;
-  int frame_count = 0;
+  int frame_count = 0;     // per-segment (for rotation)
+  int trip_frames = 0;     // per-trip (published to params)
  int recv_count = 0;
  uint64_t segment_start_ts = 0;
  double idle_timer_start = 0.0;

  // SRT subtitle state
  FILE *srt_file = nullptr;
-  int srt_index = 0;          // subtitle entry counter (1-based)
-  int srt_segment_sec = 0;    // seconds elapsed in current segment
-  double last_srt_write = 0;  // monotonic time of last SRT write
+  int srt_index = 0;
+  int srt_segment_sec = 0;
+  double last_srt_write = 0;

-  // Ignition tracking for off→on detection
+  // Ignition tracking
  bool prev_started = false;
  bool started_initialized = false;

-  // Param check throttle (don't hit filesystem every frame)
+  // Param publish throttle
  int param_check_counter = 0;
+  double last_param_write = 0;

-  // Total encoded frames counter + param writer
-  Params params_memory("/dev/shm/params");
-  int total_frames = 0;
-  double last_frame_count_write = 0;
+  // Publish initial state
+  params_memory.put("DashcamState", "waiting");
+  params_memory.put("DashcamFrames", "0");

-  // Helper: start a new trip with recording + optional idle timer
+  LOGW("dashcamd: entering main loop in WAITING state");
+
+  // Helper: start a new trip
  auto start_new_trip = [&]() {
-    // Close existing encoder if any
-    if (encoder) {
-      if (state == RECORDING || state == IDLE_TIMEOUT) {
-        encoder->encoder_close();
-      }
-      delete encoder;
-      encoder = nullptr;
-    }
-
    trip_dir = VIDEOS_BASE + "/" + make_timestamp();
    mkdir(trip_dir.c_str(), 0755);
    LOGW("dashcamd: new trip %s", trip_dir.c_str());
@@ -221,7 +194,6 @@ int main(int argc, char *argv[]) {
    LOGW("dashcamd: opening segment %s", seg_name.c_str());
    encoder->encoder_open((seg_name + ".mp4").c_str());

-    // Open companion SRT file
    std::string srt_path = trip_dir + "/" + seg_name + ".srt";
    srt_file = fopen(srt_path.c_str(), "w");
    srt_index = 0;
@@ -229,38 +201,38 @@ int main(int argc, char *argv[]) {
    last_srt_write = 0;

    frame_count = 0;
+    trip_frames = 0;
    segment_start_ts = nanos_since_boot();
    state = RECORDING;
+
+    params_memory.put("DashcamState", "recording");
+    params_memory.put("DashcamFrames", "0");
  };

+  // Helper: close current trip
  auto close_trip = [&]() {
    if (srt_file) { fclose(srt_file); srt_file = nullptr; }
    if (encoder) {
-      if (state == RECORDING || state == IDLE_TIMEOUT) {
-        encoder->encoder_close();
-        LOGW("dashcamd: segment closed");
-      }
+      encoder->encoder_close();
+      LOGW("dashcamd: segment closed");
      delete encoder;
      encoder = nullptr;
    }
-    state = TRIP_ENDED;
+    state = WAITING;
    frame_count = 0;
+    trip_frames = 0;
    idle_timer_start = 0.0;
-    LOGW("dashcamd: trip ended");
-  };
+    LOGW("dashcamd: trip ended, returning to WAITING");

-  // Start recording immediately — if the car is in drive, great; if parked/off,
-  // the 10-min idle timer will stop the trip if drive is never detected.
-  start_new_trip();
-  idle_timer_start = nanos_since_boot() / 1e9;
-  state = IDLE_TIMEOUT;
-  LOGW("dashcamd: recording started, waiting for drive (10-min idle timer active)");
+    params_memory.put("DashcamState", "waiting");
+    params_memory.put("DashcamFrames", "0");
+  };

  while (!do_exit) {
    VisionBuf *buf = vipc.recv();
    if (buf == nullptr) continue;

-    // CLEARPILOT: skip frames to match target FPS (SOURCE_FPS -> CAMERA_FPS)
+    // Skip frames to match target FPS (SOURCE_FPS -> CAMERA_FPS)
    recv_count++;
    if (SOURCE_FPS > CAMERA_FPS && (recv_count % (SOURCE_FPS / CAMERA_FPS)) != 0) continue;

@@ -278,25 +250,21 @@ int main(int argc, char *argv[]) {
                     gear == cereal::CarState::GearShifter::LOW ||
                     gear == cereal::CarState::GearShifter::MANUMATIC);

-    // Detect ignition off→on transition (new ignition cycle = new trip)
-    if (started_initialized && !prev_started && started) {
-      LOGW("dashcamd: ignition on — new cycle");
+    // Detect ignition off → close any active trip
+    if (started_initialized && prev_started && !started) {
+      LOGW("dashcamd: ignition off");
      if (state == RECORDING || state == IDLE_TIMEOUT) {
        close_trip();
      }
-      // Start recording immediately, idle timer until drive is detected
-      start_new_trip();
-      idle_timer_start = now;
-      state = IDLE_TIMEOUT;
    }
    prev_started = started;
    started_initialized = true;

-    // Check for graceful shutdown request (every ~1 second = 20 frames)
+    // Check for graceful shutdown request (every ~1 second)
    if (++param_check_counter >= CAMERA_FPS) {
      param_check_counter = 0;
      if (params.getBool("DashcamShutdown")) {
-        LOGW("dashcamd: shutdown requested, closing trip");
+        LOGW("dashcamd: shutdown requested");
        if (state == RECORDING || state == IDLE_TIMEOUT) {
          close_trip();
        }
@@ -306,32 +274,30 @@ int main(int argc, char *argv[]) {
      }
    }

-    // State machine transitions
+    // State machine
    switch (state) {
-      case IDLE:
-      case TRIP_ENDED:
-        if (in_drive) {
+      case WAITING: {
+        bool has_gps = sm.valid("gpsLocation") && sm["gpsLocation"].getGpsLocation().getHasFix();
+        if (in_drive && system_time_valid() && has_gps) {
          start_new_trip();
        }
        break;
+      }

      case RECORDING:
        if (!in_drive) {
-          // Car left drive — start idle timeout
          idle_timer_start = now;
          state = IDLE_TIMEOUT;
-          LOGW("dashcamd: car not in drive, starting 10-min idle timer");
+          LOGW("dashcamd: car left drive, starting 10-min idle timer");
        }
        break;

      case IDLE_TIMEOUT:
        if (in_drive) {
-          // Back in drive — cancel timer, resume recording same trip
          idle_timer_start = 0.0;
          state = RECORDING;
          LOGW("dashcamd: back in drive, resuming trip");
        } else if ((now - idle_timer_start) >= IDLE_TIMEOUT_SECONDS) {
-          // Timer expired — end trip
          LOGW("dashcamd: idle timeout expired");
          close_trip();
        }
@@ -368,19 +334,15 @@ int main(int argc, char *argv[]) {
      continue;
    }

-    if (frame_count == 0) {
-      LOGW("dashcamd: first encode w=%d h=%d stride=%d buf_y=%p buf_uv=%p", width, height, y_stride, buf->y, buf->uv);
-    }
-
    // Feed NV12 frame directly to OMX encoder
    encoder->encode_frame_nv12(buf->y, y_stride, buf->uv, uv_stride, width, height, ts);
    frame_count++;
-    total_frames++;
+    trip_frames++;

-    // Write total frame count to params_memory every 5 seconds
-    if (now - last_frame_count_write >= 5.0) {
-      params_memory.put("DashcamFrames", std::to_string(total_frames));
-      last_frame_count_write = now;
+    // Publish state every 5 seconds
+    if (now - last_param_write >= 5.0) {
+      params_memory.put("DashcamFrames", std::to_string(trip_frames));
+      last_param_write = now;
    }

    // Write GPS subtitle at most once per second
@@ -388,7 +350,6 @@ int main(int argc, char *argv[]) {
      last_srt_write = now;
      srt_index++;

-      // Read GPS data
      double lat = 0, lon = 0, speed_ms = 0;
      bool has_gps = sm.valid("gpsLocation") && sm["gpsLocation"].getGpsLocation().getHasFix();
      if (has_gps) {
@@ -421,13 +382,11 @@ int main(int argc, char *argv[]) {
  }

  // Clean exit
-  if (srt_file) { fclose(srt_file); srt_file = nullptr; }
-  if (encoder) {
-    if (state == RECORDING || state == IDLE_TIMEOUT) {
-      encoder->encoder_close();
-    }
-    delete encoder;
+  if (state == RECORDING || state == IDLE_TIMEOUT) {
+    close_trip();
  }
+  params_memory.put("DashcamState", "stopped");
+  params_memory.put("DashcamFrames", "0");
  LOGW("dashcamd: stopped");

  return 0;
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -88,6 +88,7 @@ def manager_init(frogpilot_functions) -> None:
  params_memory.put("TelemetryEnabled", "0")
  params_memory.put("VpnEnabled", "1")
  params_memory.put("DashcamFrames", "0")
+  params_memory.put("DashcamState", "stopped")
  params_memory.put("ModelStandby", "0")
  params_memory.put("ModelStandbyTs", "0")
  params_memory.put("CarIsMetric", "0")
--- a/selfdrive/ui/qt/window.cc
+++ b/selfdrive/ui/qt/window.cc
@@ -264,8 +264,8 @@ static StatusWindow::StatusData collectStatus() {
  d.telemetry = readFile("/data/params/d/TelemetryEnabled");

  // Dashcam
-  QString dashcam_pid = shellCmd("pgrep -x dashcamd");
-  d.dashcam_status = dashcam_pid.isEmpty() ? "stopped" : "recording";
+  d.dashcam_state = readFile("/dev/shm/params/d/DashcamState");
+  if (d.dashcam_state.isEmpty()) d.dashcam_state = "stopped";
  d.dashcam_frames = readFile("/dev/shm/params/d/DashcamFrames");

  // Panda: checked on UI thread in applyResults() via scene.pandaType
@@ -383,11 +383,14 @@ void StatusWindow::applyResults() {
    telemetry_label->setStyleSheet("color: grey; font-size: 38px;");
  }

-  if (d.dashcam_status == "recording") {
+  if (d.dashcam_state == "recording") {
    QString text = "Recording";
    if (!d.dashcam_frames.isEmpty() && d.dashcam_frames != "0") text += " (" + d.dashcam_frames + " frames)";
    dashcam_label->setText(text);
    dashcam_label->setStyleSheet("color: #17c44d; font-size: 38px;");
+  } else if (d.dashcam_state == "waiting") {
+    dashcam_label->setText("Waiting");
+    dashcam_label->setStyleSheet("color: #ffaa00; font-size: 38px;");
  } else {
    dashcam_label->setText("Stopped");
    dashcam_label->setStyleSheet("color: #ff4444; font-size: 38px;");
--- a/selfdrive/ui/qt/window.h
+++ b/selfdrive/ui/qt/window.h
@@ -20,7 +20,7 @@ public:
  struct StatusData {
    QString time, storage, ram, load, temp, fan, ip, wifi;
    QString vpn_status, vpn_ip, gps, telemetry;
-    QString dashcam_status, dashcam_frames;
+    QString dashcam_state, dashcam_frames;
    float temp_c = 0;
  };