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dashcamd v2: native C++ process with direct camera capture

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- 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>
This commit is contained in:
Brian Hanson
2026-04-11 08:54:41 +00:00
parent ed9c14616a
commit 4afd25fb5b
15 changed files with 560 additions and 119 deletions
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54
selfdrive/frogpilot/screenrecorder/omx_encoder.cc
View File

@@ -565,6 +565,60 @@ int OmxEncoder::encode_frame_rgba(const uint8_t *ptr, int in_width, int in_heigh
return ret;
}
// CLEARPILOT: encode raw NV12 frames directly (no RGBA conversion needed)
int OmxEncoder::encode_frame_nv12(const uint8_t *y_ptr, int y_stride, const uint8_t *uv_ptr, int uv_stride,
int in_width, int in_height, uint64_t ts) {
if (!this->is_open) {
return -1;
}
OMX_BUFFERHEADERTYPE* in_buf = nullptr;
while (!this->free_in.try_pop(in_buf, 20)) {
if (do_exit) {
return -1;
}
}
int ret = this->counter;
uint8_t *in_buf_ptr = in_buf->pBuffer;
int venus_y_stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, this->width);
int venus_uv_stride = VENUS_UV_STRIDE(COLOR_FMT_NV12, this->width);
uint8_t *dst_y = in_buf_ptr;
uint8_t *dst_uv = in_buf_ptr + (venus_y_stride * VENUS_Y_SCANLINES(COLOR_FMT_NV12, this->height));
// Copy Y plane row by row (source stride may differ from VENUS stride)
for (int row = 0; row < in_height; row++) {
memcpy(dst_y + row * venus_y_stride, y_ptr + row * y_stride, in_width);
}
// Copy UV plane row by row
int uv_height = in_height / 2;
for (int row = 0; row < uv_height; row++) {
memcpy(dst_uv + row * venus_uv_stride, uv_ptr + row * uv_stride, in_width);
}
in_buf->nFilledLen = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, this->width, this->height);
in_buf->nFlags = OMX_BUFFERFLAG_ENDOFFRAME;
in_buf->nOffset = 0;
in_buf->nTimeStamp = ts / 1000LL;
this->last_t = in_buf->nTimeStamp;
OMX_CHECK(OMX_EmptyThisBuffer(this->handle, in_buf));
while (true) {
OMX_BUFFERHEADERTYPE *out_buf;
if (!this->done_out.try_pop(out_buf)) {
break;
}
handle_out_buf(this, out_buf);
}
this->dirty = true;
this->counter++;
return ret;
}
void OmxEncoder::encoder_open(const char* filename) {
int err;

2
selfdrive/frogpilot/screenrecorder/omx_encoder.h
View File

@@ -19,6 +19,8 @@ public:
~OmxEncoder();
int encode_frame_rgba(const uint8_t *ptr, int in_width, int in_height, uint64_t ts);
int encode_frame_nv12(const uint8_t *y_ptr, int y_stride, const uint8_t *uv_ptr, int uv_stride,
int in_width, int in_height, uint64_t ts);
void encoder_open(const char* filename);
void encoder_close();