dashcamd: GPS subtitle track (.srt) with speed, position, timestamp

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>

selfdrive/clearpilot/dashcamd.cc

@@ -39,6 +39,12 @@
  *     - 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
+ *
+ *   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
  */
 
 #include <cstdio>
@@ -88,6 +94,26 @@ static bool system_time_valid() {
   return (tm.tm_year + 1900) >= 2024;
 }
 
+static std::string make_utc_timestamp() {
+  char buf[32];
+  time_t t = time(NULL);
+  struct tm tm = *gmtime(&t);
+  snprintf(buf, sizeof(buf), "%04d-%02d-%02d %02d:%02d:%02d UTC",
+           tm.tm_year + 1900, tm.tm_mon + 1, tm.tm_mday,
+           tm.tm_hour, tm.tm_min, tm.tm_sec);
+  return std::string(buf);
+}
+
+// Format SRT timestamp: HH:MM:SS,mmm
+static std::string srt_time(int seconds) {
+  int h = seconds / 3600;
+  int m = (seconds % 3600) / 60;
+  int s = seconds % 60;
+  char buf[16];
+  snprintf(buf, sizeof(buf), "%02d:%02d:%02d,000", h, m, s);
+  return std::string(buf);
+}
+
 int main(int argc, char *argv[]) {
   setpriority(PRIO_PROCESS, 0, -10);
 
@@ -116,8 +142,8 @@ int main(int argc, char *argv[]) {
   int uv_stride = y_stride;
   LOGW("dashcamd: connected %dx%d, stride=%d", width, height, y_stride);
 
-  // Subscribe to carState (gear, standstill) and deviceState (ignition/started)
-  SubMaster sm({"carState", "deviceState"});
+  // Subscribe to carState (gear), deviceState (ignition), gpsLocation (subtitles)
+  SubMaster sm({"carState", "deviceState", "gpsLocation"});
   Params params;
 
   // Trip state
@@ -128,6 +154,12 @@ int main(int argc, char *argv[]) {
   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
+
   // Ignition tracking for off→on detection
   bool prev_started = false;
   bool started_initialized = false;
@@ -152,15 +184,24 @@ int main(int argc, char *argv[]) {
 
     encoder = new OmxEncoder(trip_dir.c_str(), width, height, CAMERA_FPS, BITRATE, false, false);
 
-    std::string filename = make_timestamp() + ".mp4";
-    LOGW("dashcamd: opening segment %s", filename.c_str());
-    encoder->encoder_open(filename.c_str());
+    std::string seg_name = make_timestamp();
+    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;
+    srt_segment_sec = 0;
+    last_srt_write = 0;
+
     frame_count = 0;
     segment_start_ts = nanos_since_boot();
     state = RECORDING;
   };
 
   auto close_trip = [&]() {
+    if (srt_file) { fclose(srt_file); srt_file = nullptr; }
     if (encoder) {
       if (state == RECORDING || state == IDLE_TIMEOUT) {
         encoder->encoder_close();
@@ -265,10 +306,19 @@ int main(int argc, char *argv[]) {
 
     // Segment rotation
     if (frame_count >= FRAMES_PER_SEGMENT) {
+      if (srt_file) { fclose(srt_file); srt_file = nullptr; }
       encoder->encoder_close();
-      std::string filename = make_timestamp() + ".mp4";
-      LOGW("dashcamd: opening segment %s", filename.c_str());
-      encoder->encoder_open(filename.c_str());
+
+      std::string seg_name = make_timestamp();
+      LOGW("dashcamd: opening segment %s", seg_name.c_str());
+      encoder->encoder_open((seg_name + ".mp4").c_str());
+
+      std::string srt_path = trip_dir + "/" + seg_name + ".srt";
+      srt_file = fopen(srt_path.c_str(), "w");
+      srt_index = 0;
+      srt_segment_sec = 0;
+      last_srt_write = 0;
+
       frame_count = 0;
       segment_start_ts = nanos_since_boot();
     }
@@ -278,9 +328,46 @@ int main(int argc, char *argv[]) {
     // Feed NV12 frame directly to OMX encoder
     encoder->encode_frame_nv12(buf->y, y_stride, buf->uv, uv_stride, width, height, ts);
     frame_count++;
+
+    // Write GPS subtitle at most once per second
+    if (srt_file && (now - last_srt_write) >= 1.0) {
+      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) {
+        auto gps = sm["gpsLocation"].getGpsLocation();
+        lat = gps.getLatitude();
+        lon = gps.getLongitude();
+        speed_ms = gps.getSpeed();
+      }
+
+      double speed_mph = speed_ms * 2.23694;
+      std::string utc = make_utc_timestamp();
+      std::string t_start = srt_time(srt_segment_sec);
+      std::string t_end = srt_time(srt_segment_sec + 1);
+      srt_segment_sec++;
+
+      if (has_gps) {
+        const char *deg = "\xC2\xB0";  // UTF-8 degree sign
+        fprintf(srt_file, "%d\n%s --> %s\n%.0f MPH | %.4f%s%c %.4f%s%c | %s\n\n",
+                srt_index, t_start.c_str(), t_end.c_str(),
+                speed_mph,
+                std::abs(lat), deg, lat >= 0 ? 'N' : 'S',
+                std::abs(lon), deg, lon >= 0 ? 'E' : 'W',
+                utc.c_str());
+      } else {
+        fprintf(srt_file, "%d\n%s --> %s\nNo GPS | %s\n\n",
+                srt_index, t_start.c_str(), t_end.c_str(), utc.c_str());
+      }
+      fflush(srt_file);
+    }
   }
 
   // Clean exit
+  if (srt_file) { fclose(srt_file); srt_file = nullptr; }
   if (encoder) {
     if (state == RECORDING || state == IDLE_TIMEOUT) {
       encoder->encoder_close();