fix: port OmxEncoder safety fixes from upstream FrogPilot

- OMX_Init/OMX_Deinit managed per encoder instance lifecycle
- Proper error handling in constructor, encoder_open, encoder_close
- Null guards on done_out.pop() and handle in destructor
- Codec config written directly to codecpar (no codec_ctx)
- ffmpeg faststart remux on segment close
- Crash handler in dashcamd for diagnostics
- DashcamFrames param for live frame count in status window

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

selfdrive/clearpilot/dashcamd.cc

@@ -50,6 +50,8 @@
 #include <cstdio>
 #include <ctime>
 #include <string>
+#include <signal.h>
+#include <execinfo.h>
 #include <sys/stat.h>
 #include <sys/resource.h>
 #include <unistd.h>
@@ -115,12 +117,22 @@ static std::string srt_time(int seconds) {
   return std::string(buf);
 }
 
-int main(int argc, char *argv[]) {
-  setpriority(PRIO_PROCESS, 0, -10);
+static void crash_handler(int sig) {
+  FILE *f = fopen("/tmp/dashcamd_crash.log", "w");
+  if (f) {
+    fprintf(f, "CRASH: signal %d\n", sig);
+    void *bt[30];
+    int n = backtrace(bt, 30);
+    backtrace_symbols_fd(bt, n, fileno(f));
+    fclose(f);
+  }
+  _exit(1);
+}
 
-  // Reset OMX subsystem — clears any stale encoder state from previous unclean exit
-  OMX_Deinit();
-  OMX_Init();
+int main(int argc, char *argv[]) {
+  signal(SIGSEGV, crash_handler);
+  signal(SIGABRT, crash_handler);
+  setpriority(PRIO_PROCESS, 0, -10);
 
   // Ensure base output directory exists
   mkdir(VIDEOS_BASE.c_str(), 0755);
@@ -183,6 +195,11 @@ int main(int argc, char *argv[]) {
   // Param check throttle (don't hit filesystem every frame)
   int param_check_counter = 0;
 
+  // Total encoded frames counter + param writer
+  Params params_memory("/dev/shm/params");
+  int total_frames = 0;
+  double last_frame_count_write = 0;
+
   // Helper: start a new trip with recording + optional idle timer
   auto start_new_trip = [&]() {
     // Close existing encoder if any
@@ -198,7 +215,7 @@ int main(int argc, char *argv[]) {
     mkdir(trip_dir.c_str(), 0755);
     LOGW("dashcamd: new trip %s", trip_dir.c_str());
 
-    encoder = new OmxEncoder(trip_dir.c_str(), width, height, CAMERA_FPS, BITRATE, false, false);
+    encoder = new OmxEncoder(trip_dir.c_str(), width, height, CAMERA_FPS, BITRATE);
 
     std::string seg_name = make_timestamp();
     LOGW("dashcamd: opening segment %s", seg_name.c_str());
@@ -358,6 +375,13 @@ 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++;
+    total_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;
+    }
 
     // Write GPS subtitle at most once per second
     if (srt_file && (now - last_srt_write) >= 1.0) {

selfdrive/frogpilot/screenrecorder/omx_encoder.cc

@@ -35,120 +35,19 @@ int ABGRToNV12(const uint8_t* src_abgr,
   int halfwidth = (width + 1) >> 1;
   void (*ABGRToUVRow)(const uint8_t* src_abgr0, int src_stride_abgr,
                       uint8_t* dst_u, uint8_t* dst_v, int width) =
-      ABGRToUVRow_C;
+      ABGRToUVRow_NEON;
   void (*ABGRToYRow)(const uint8_t* src_abgr, uint8_t* dst_y, int width) =
-      ABGRToYRow_C;
-  void (*MergeUVRow_)(const uint8_t* src_u, const uint8_t* src_v, uint8_t* dst_uv, int width) = MergeUVRow_C;
+      ABGRToYRow_NEON;
+  void (*MergeUVRow_)(const uint8_t* src_u, const uint8_t* src_v, uint8_t* dst_uv, int width) = MergeUVRow_NEON;
   if (!src_abgr || !dst_y || !dst_uv || width <= 0 || height == 0) {
     return -1;
   }
-if (height < 0) {  // Negative height means invert the image.
-  height = -height;
-  src_abgr = src_abgr + (height - 1) * src_stride_abgr;
-  src_stride_abgr = -src_stride_abgr;
-}
-#if defined(HAS_ABGRTOYROW_SSSE3) && defined(HAS_ABGRTOUVROW_SSSE3)
-  if (TestCpuFlag(kCpuHasSSSE3)) {
-    ABGRToUVRow = ABGRToUVRow_Any_SSSE3;
-    ABGRToYRow = ABGRToYRow_Any_SSSE3;
-    if (IS_ALIGNED(width, 16)) {
-      ABGRToUVRow = ABGRToUVRow_SSSE3;
-      ABGRToYRow = ABGRToYRow_SSSE3;
-    }
+  if (height < 0) {
+    height = -height;
+    src_abgr = src_abgr + (height - 1) * src_stride_abgr;
+    src_stride_abgr = -src_stride_abgr;
   }
-#endif
-#if defined(HAS_ABGRTOYROW_AVX2) && defined(HAS_ABGRTOUVROW_AVX2)
-  if (TestCpuFlag(kCpuHasAVX2)) {
-    ABGRToUVRow = ABGRToUVRow_Any_AVX2;
-    ABGRToYRow = ABGRToYRow_Any_AVX2;
-    if (IS_ALIGNED(width, 32)) {
-      ABGRToUVRow = ABGRToUVRow_AVX2;
-      ABGRToYRow = ABGRToYRow_AVX2;
-    }
-  }
-#endif
-#if defined(HAS_ABGRTOYROW_NEON)
-  if (TestCpuFlag(kCpuHasNEON)) {
-    ABGRToYRow = ABGRToYRow_Any_NEON;
-    if (IS_ALIGNED(width, 8)) {
-      ABGRToYRow = ABGRToYRow_NEON;
-    }
-  }
-#endif
-#if defined(HAS_ABGRTOUVROW_NEON)
-  if (TestCpuFlag(kCpuHasNEON)) {
-    ABGRToUVRow = ABGRToUVRow_Any_NEON;
-    if (IS_ALIGNED(width, 16)) {
-      ABGRToUVRow = ABGRToUVRow_NEON;
-    }
-  }
-#endif
-#if defined(HAS_ABGRTOYROW_MMI) && defined(HAS_ABGRTOUVROW_MMI)
-  if (TestCpuFlag(kCpuHasMMI)) {
-    ABGRToYRow = ABGRToYRow_Any_MMI;
-    ABGRToUVRow = ABGRToUVRow_Any_MMI;
-    if (IS_ALIGNED(width, 8)) {
-      ABGRToYRow = ABGRToYRow_MMI;
-    }
-    if (IS_ALIGNED(width, 16)) {
-      ABGRToUVRow = ABGRToUVRow_MMI;
-    }
-  }
-#endif
-#if defined(HAS_ABGRTOYROW_MSA) && defined(HAS_ABGRTOUVROW_MSA)
-  if (TestCpuFlag(kCpuHasMSA)) {
-    ABGRToYRow = ABGRToYRow_Any_MSA;
-    ABGRToUVRow = ABGRToUVRow_Any_MSA;
-    if (IS_ALIGNED(width, 16)) {
-      ABGRToYRow = ABGRToYRow_MSA;
-    }
-    if (IS_ALIGNED(width, 32)) {
-      ABGRToUVRow = ABGRToUVRow_MSA;
-    }
-  }
-#endif
-#if defined(HAS_MERGEUVROW_SSE2)
-  if (TestCpuFlag(kCpuHasSSE2)) {
-    MergeUVRow_ = MergeUVRow_Any_SSE2;
-    if (IS_ALIGNED(halfwidth, 16)) {
-      MergeUVRow_ = MergeUVRow_SSE2;
-    }
-  }
-#endif
-#if defined(HAS_MERGEUVROW_AVX2)
-  if (TestCpuFlag(kCpuHasAVX2)) {
-    MergeUVRow_ = MergeUVRow_Any_AVX2;
-    if (IS_ALIGNED(halfwidth, 32)) {
-      MergeUVRow_ = MergeUVRow_AVX2;
-    }
-  }
-#endif
-#if defined(HAS_MERGEUVROW_NEON)
-  if (TestCpuFlag(kCpuHasNEON)) {
-    MergeUVRow_ = MergeUVRow_Any_NEON;
-    if (IS_ALIGNED(halfwidth, 16)) {
-      MergeUVRow_ = MergeUVRow_NEON;
-    }
-  }
-#endif
-#if defined(HAS_MERGEUVROW_MMI)
-  if (TestCpuFlag(kCpuHasMMI)) {
-    MergeUVRow_ = MergeUVRow_Any_MMI;
-    if (IS_ALIGNED(halfwidth, 8)) {
-      MergeUVRow_ = MergeUVRow_MMI;
-    }
-  }
-#endif
-#if defined(HAS_MERGEUVROW_MSA)
-  if (TestCpuFlag(kCpuHasMSA)) {
-    MergeUVRow_ = MergeUVRow_Any_MSA;
-    if (IS_ALIGNED(halfwidth, 16)) {
-      MergeUVRow_ = MergeUVRow_MSA;
-    }
-  }
-#endif
   {
-    // Allocate a rows of uv.
     align_buffer_64(row_u, ((halfwidth + 31) & ~31) * 2);
     uint8_t* row_v = row_u + ((halfwidth + 31) & ~31);
 
@@ -182,9 +81,9 @@ extern ExitHandler do_exit;
 // ***** OMX callback functions *****
 
 void OmxEncoder::wait_for_state(OMX_STATETYPE state_) {
-  std::unique_lock lk(this->state_lock);
-  while (this->state != state_) {
-    this->state_cv.wait(lk);
+  std::unique_lock lk(state_lock);
+  while (state != state_) {
+    state_cv.wait(lk);
   }
 }
 
@@ -236,276 +135,203 @@ static const char* omx_color_fomat_name(uint32_t format) __attribute__((unused))
 static const char* omx_color_fomat_name(uint32_t format) {
   switch (format) {
   case OMX_COLOR_FormatUnused: return "OMX_COLOR_FormatUnused";
-  case OMX_COLOR_FormatMonochrome: return "OMX_COLOR_FormatMonochrome";
-  case OMX_COLOR_Format8bitRGB332: return "OMX_COLOR_Format8bitRGB332";
-  case OMX_COLOR_Format12bitRGB444: return "OMX_COLOR_Format12bitRGB444";
-  case OMX_COLOR_Format16bitARGB4444: return "OMX_COLOR_Format16bitARGB4444";
-  case OMX_COLOR_Format16bitARGB1555: return "OMX_COLOR_Format16bitARGB1555";
-  case OMX_COLOR_Format16bitRGB565: return "OMX_COLOR_Format16bitRGB565";
-  case OMX_COLOR_Format16bitBGR565: return "OMX_COLOR_Format16bitBGR565";
-  case OMX_COLOR_Format18bitRGB666: return "OMX_COLOR_Format18bitRGB666";
-  case OMX_COLOR_Format18bitARGB1665: return "OMX_COLOR_Format18bitARGB1665";
-  case OMX_COLOR_Format19bitARGB1666: return "OMX_COLOR_Format19bitARGB1666";
-  case OMX_COLOR_Format24bitRGB888: return "OMX_COLOR_Format24bitRGB888";
-  case OMX_COLOR_Format24bitBGR888: return "OMX_COLOR_Format24bitBGR888";
-  case OMX_COLOR_Format24bitARGB1887: return "OMX_COLOR_Format24bitARGB1887";
-  case OMX_COLOR_Format25bitARGB1888: return "OMX_COLOR_Format25bitARGB1888";
-  case OMX_COLOR_Format32bitBGRA8888: return "OMX_COLOR_Format32bitBGRA8888";
-  case OMX_COLOR_Format32bitARGB8888: return "OMX_COLOR_Format32bitARGB8888";
-  case OMX_COLOR_FormatYUV411Planar: return "OMX_COLOR_FormatYUV411Planar";
-  case OMX_COLOR_FormatYUV411PackedPlanar: return "OMX_COLOR_FormatYUV411PackedPlanar";
-  case OMX_COLOR_FormatYUV420Planar: return "OMX_COLOR_FormatYUV420Planar";
-  case OMX_COLOR_FormatYUV420PackedPlanar: return "OMX_COLOR_FormatYUV420PackedPlanar";
   case OMX_COLOR_FormatYUV420SemiPlanar: return "OMX_COLOR_FormatYUV420SemiPlanar";
-  case OMX_COLOR_FormatYUV422Planar: return "OMX_COLOR_FormatYUV422Planar";
-  case OMX_COLOR_FormatYUV422PackedPlanar: return "OMX_COLOR_FormatYUV422PackedPlanar";
-  case OMX_COLOR_FormatYUV422SemiPlanar: return "OMX_COLOR_FormatYUV422SemiPlanar";
-  case OMX_COLOR_FormatYCbYCr: return "OMX_COLOR_FormatYCbYCr";
-  case OMX_COLOR_FormatYCrYCb: return "OMX_COLOR_FormatYCrYCb";
-  case OMX_COLOR_FormatCbYCrY: return "OMX_COLOR_FormatCbYCrY";
-  case OMX_COLOR_FormatCrYCbY: return "OMX_COLOR_FormatCrYCbY";
-  case OMX_COLOR_FormatYUV444Interleaved: return "OMX_COLOR_FormatYUV444Interleaved";
-  case OMX_COLOR_FormatRawBayer8bit: return "OMX_COLOR_FormatRawBayer8bit";
-  case OMX_COLOR_FormatRawBayer10bit: return "OMX_COLOR_FormatRawBayer10bit";
-  case OMX_COLOR_FormatRawBayer8bitcompressed: return "OMX_COLOR_FormatRawBayer8bitcompressed";
-  case OMX_COLOR_FormatL2: return "OMX_COLOR_FormatL2";
-  case OMX_COLOR_FormatL4: return "OMX_COLOR_FormatL4";
-  case OMX_COLOR_FormatL8: return "OMX_COLOR_FormatL8";
-  case OMX_COLOR_FormatL16: return "OMX_COLOR_FormatL16";
-  case OMX_COLOR_FormatL24: return "OMX_COLOR_FormatL24";
-  case OMX_COLOR_FormatL32: return "OMX_COLOR_FormatL32";
-  case OMX_COLOR_FormatYUV420PackedSemiPlanar: return "OMX_COLOR_FormatYUV420PackedSemiPlanar";
-  case OMX_COLOR_FormatYUV422PackedSemiPlanar: return "OMX_COLOR_FormatYUV422PackedSemiPlanar";
-  case OMX_COLOR_Format18BitBGR666: return "OMX_COLOR_Format18BitBGR666";
-  case OMX_COLOR_Format24BitARGB6666: return "OMX_COLOR_Format24BitARGB6666";
-  case OMX_COLOR_Format24BitABGR6666: return "OMX_COLOR_Format24BitABGR6666";
-
-  case OMX_COLOR_FormatAndroidOpaque: return "OMX_COLOR_FormatAndroidOpaque";
-  case OMX_TI_COLOR_FormatYUV420PackedSemiPlanar: return "OMX_TI_COLOR_FormatYUV420PackedSemiPlanar";
-  case OMX_QCOM_COLOR_FormatYVU420SemiPlanar: return "OMX_QCOM_COLOR_FormatYVU420SemiPlanar";
-  case OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar64x32Tile2m8ka: return "OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar64x32Tile2m8ka";
-  case OMX_SEC_COLOR_FormatNV12Tiled: return "OMX_SEC_COLOR_FormatNV12Tiled";
   case OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar32m: return "OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar32m";
-
-  case QOMX_COLOR_FormatYVU420PackedSemiPlanar32m4ka: return "QOMX_COLOR_FormatYVU420PackedSemiPlanar32m4ka";
-  case QOMX_COLOR_FormatYUV420PackedSemiPlanar16m2ka: return "QOMX_COLOR_FormatYUV420PackedSemiPlanar16m2ka";
-  case QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mMultiView: return "QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mMultiView";
-  case QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mCompressed: return "QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mCompressed";
   case QOMX_COLOR_Format32bitRGBA8888: return "QOMX_COLOR_Format32bitRGBA8888";
-  case QOMX_COLOR_Format32bitRGBA8888Compressed: return "QOMX_COLOR_Format32bitRGBA8888Compressed";
-
-  default:
-    return "unkn";
+  default: return "unkn";
   }
 }
 
 
 // ***** encoder functions *****
 
-OmxEncoder::OmxEncoder(const char* path, int width, int height, int fps, int bitrate, bool h265, bool downscale) {
+OmxEncoder::OmxEncoder(const char* path, int width, int height, int fps, int bitrate) {
   this->path = path;
   this->width = width;
   this->height = height;
   this->fps = fps;
-  this->remuxing = !h265;
 
-  this->downscale = downscale;
-  if (this->downscale) {
-    this->y_ptr2 = (uint8_t *)malloc(this->width*this->height);
-    this->u_ptr2 = (uint8_t *)malloc(this->width*this->height/4);
-    this->v_ptr2 = (uint8_t *)malloc(this->width*this->height/4);
+  OMX_ERRORTYPE err = OMX_Init();
+  if (err != OMX_ErrorNone) {
+    LOGE("OMX_Init failed: %x", err);
+    return;
   }
 
-  auto component = (OMX_STRING)(h265 ? "OMX.qcom.video.encoder.hevc" : "OMX.qcom.video.encoder.avc");
-  int err = OMX_GetHandle(&this->handle, component, this, &omx_callbacks);
+  OMX_STRING component = (OMX_STRING)("OMX.qcom.video.encoder.avc");
+  err = OMX_GetHandle(&handle, component, this, &omx_callbacks);
   if (err != OMX_ErrorNone) {
-    LOGE("error getting codec: %x", err);
+    LOGE("Error getting codec: %x", err);
+    OMX_Deinit();
+    return;
   }
 
   // setup input port
-
   OMX_PARAM_PORTDEFINITIONTYPE in_port = {0};
   in_port.nSize = sizeof(in_port);
   in_port.nPortIndex = (OMX_U32) PORT_INDEX_IN;
-  OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port));
+  OMX_CHECK(OMX_GetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port));
 
-  in_port.format.video.nFrameWidth = this->width;
-  in_port.format.video.nFrameHeight = this->height;
-  in_port.format.video.nStride = VENUS_Y_STRIDE(COLOR_FMT_NV12, this->width);
-  in_port.format.video.nSliceHeight = this->height;
-  in_port.nBufferSize = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, this->width, this->height);
-  in_port.format.video.xFramerate = (this->fps * 65536);
+  in_port.format.video.nFrameWidth = width;
+  in_port.format.video.nFrameHeight = height;
+  in_port.format.video.nStride = VENUS_Y_STRIDE(COLOR_FMT_NV12, width);
+  in_port.format.video.nSliceHeight = height;
+  in_port.nBufferSize = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, width, height);
+  in_port.format.video.xFramerate = (fps * 65536);
   in_port.format.video.eCompressionFormat = OMX_VIDEO_CodingUnused;
   in_port.format.video.eColorFormat = (OMX_COLOR_FORMATTYPE)QOMX_COLOR_FORMATYUV420PackedSemiPlanar32m;
 
-  OMX_CHECK(OMX_SetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port));
-  OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port));
-  this->in_buf_headers.resize(in_port.nBufferCountActual);
+  OMX_CHECK(OMX_SetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port));
+  OMX_CHECK(OMX_GetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port));
+  in_buf_headers.resize(in_port.nBufferCountActual);
 
   // setup output port
-
-  OMX_PARAM_PORTDEFINITIONTYPE out_port = {0};
+  OMX_PARAM_PORTDEFINITIONTYPE out_port;
+  memset(&out_port, 0, sizeof(OMX_PARAM_PORTDEFINITIONTYPE));
   out_port.nSize = sizeof(out_port);
+  out_port.nVersion.s.nVersionMajor = 1;
+  out_port.nVersion.s.nVersionMinor = 0;
+  out_port.nVersion.s.nRevision = 0;
+  out_port.nVersion.s.nStep = 0;
   out_port.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
-  OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR)&out_port));
-  out_port.format.video.nFrameWidth = this->width;
-  out_port.format.video.nFrameHeight = this->height;
+
+  OMX_ERRORTYPE error = OMX_GetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR)&out_port);
+  if (error != OMX_ErrorNone) {
+    LOGE("Error getting output port parameters: 0x%08x", error);
+    return;
+  }
+
+  out_port.format.video.nFrameWidth = width;
+  out_port.format.video.nFrameHeight = height;
   out_port.format.video.xFramerate = 0;
   out_port.format.video.nBitrate = bitrate;
-  if (h265) {
-    out_port.format.video.eCompressionFormat = OMX_VIDEO_CodingHEVC;
-  } else {
-    out_port.format.video.eCompressionFormat = OMX_VIDEO_CodingAVC;
-  }
+  out_port.format.video.eCompressionFormat = OMX_VIDEO_CodingAVC;
   out_port.format.video.eColorFormat = OMX_COLOR_FormatUnused;
 
-  OMX_CHECK(OMX_SetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR) &out_port));
+  error = OMX_SetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &out_port);
+  if (error != OMX_ErrorNone) {
+    LOGE("Error setting output port parameters: 0x%08x", error);
+    return;
+  }
 
-  OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR) &out_port));
-  this->out_buf_headers.resize(out_port.nBufferCountActual);
+  error = OMX_GetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &out_port);
+  if (error != OMX_ErrorNone) {
+    LOGE("Error getting updated output port parameters: 0x%08x", error);
+    return;
+  }
+
+  out_buf_headers.resize(out_port.nBufferCountActual);
 
   OMX_VIDEO_PARAM_BITRATETYPE bitrate_type = {0};
   bitrate_type.nSize = sizeof(bitrate_type);
   bitrate_type.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
-  OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamVideoBitrate, (OMX_PTR) &bitrate_type));
+  OMX_CHECK(OMX_GetParameter(handle, OMX_IndexParamVideoBitrate, (OMX_PTR) &bitrate_type));
   bitrate_type.eControlRate = OMX_Video_ControlRateVariable;
   bitrate_type.nTargetBitrate = bitrate;
 
-  OMX_CHECK(OMX_SetParameter(this->handle, OMX_IndexParamVideoBitrate, (OMX_PTR) &bitrate_type));
+  OMX_CHECK(OMX_SetParameter(handle, OMX_IndexParamVideoBitrate, (OMX_PTR) &bitrate_type));
 
-  if (h265) {
-    // setup HEVC
-  #ifndef QCOM2
-    OMX_VIDEO_PARAM_HEVCTYPE hevc_type = {0};
-    OMX_INDEXTYPE index_type = (OMX_INDEXTYPE) OMX_IndexParamVideoHevc;
-  #else
-    OMX_VIDEO_PARAM_PROFILELEVELTYPE hevc_type = {0};
-    OMX_INDEXTYPE index_type = OMX_IndexParamVideoProfileLevelCurrent;
-  #endif
-    hevc_type.nSize = sizeof(hevc_type);
-    hevc_type.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
-    OMX_CHECK(OMX_GetParameter(this->handle, index_type, (OMX_PTR) &hevc_type));
+  // setup h264
+  OMX_VIDEO_PARAM_AVCTYPE avc = {0};
+  avc.nSize = sizeof(avc);
+  avc.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
+  OMX_CHECK(OMX_GetParameter(handle, OMX_IndexParamVideoAvc, &avc));
 
-    hevc_type.eProfile = OMX_VIDEO_HEVCProfileMain;
-    hevc_type.eLevel = OMX_VIDEO_HEVCHighTierLevel5;
+  avc.nBFrames = 0;
+  avc.nPFrames = 15;
 
-    OMX_CHECK(OMX_SetParameter(this->handle, index_type, (OMX_PTR) &hevc_type));
-  } else {
-    // setup h264
-    OMX_VIDEO_PARAM_AVCTYPE avc = { 0 };
-    avc.nSize = sizeof(avc);
-    avc.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
-    OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamVideoAvc, &avc));
+  avc.eProfile = OMX_VIDEO_AVCProfileHigh;
+  avc.eLevel = OMX_VIDEO_AVCLevel31;
 
-    avc.nBFrames = 0;
-    avc.nPFrames = 15;
+  avc.nAllowedPictureTypes |= OMX_VIDEO_PictureTypeB;
+  avc.eLoopFilterMode = OMX_VIDEO_AVCLoopFilterEnable;
 
-    avc.eProfile = OMX_VIDEO_AVCProfileHigh;
-    avc.eLevel = OMX_VIDEO_AVCLevel31;
+  avc.nRefFrames = 1;
+  avc.bUseHadamard = OMX_TRUE;
+  avc.bEntropyCodingCABAC = OMX_TRUE;
+  avc.bWeightedPPrediction = OMX_TRUE;
+  avc.bconstIpred = OMX_TRUE;
 
-    avc.nAllowedPictureTypes |= OMX_VIDEO_PictureTypeB;
-    avc.eLoopFilterMode = OMX_VIDEO_AVCLoopFilterEnable;
+  OMX_CHECK(OMX_SetParameter(handle, OMX_IndexParamVideoAvc, &avc));
 
-    avc.nRefFrames = 1;
-    avc.bUseHadamard = OMX_TRUE;
-    avc.bEntropyCodingCABAC = OMX_TRUE;
-    avc.bWeightedPPrediction = OMX_TRUE;
-    avc.bconstIpred = OMX_TRUE;
+  OMX_CHECK(OMX_SendCommand(handle, OMX_CommandStateSet, OMX_StateIdle, NULL));
 
-    OMX_CHECK(OMX_SetParameter(this->handle, OMX_IndexParamVideoAvc, &avc));
+  for (OMX_BUFFERHEADERTYPE* &buf : in_buf_headers) {
+    OMX_CHECK(OMX_AllocateBuffer(handle, &buf, PORT_INDEX_IN, this, in_port.nBufferSize));
   }
 
-  OMX_CHECK(OMX_SendCommand(this->handle, OMX_CommandStateSet, OMX_StateIdle, NULL));
-
-  for (auto &buf : this->in_buf_headers) {
-    OMX_CHECK(OMX_AllocateBuffer(this->handle, &buf, PORT_INDEX_IN, this,
-                             in_port.nBufferSize));
-  }
-
-  for (auto &buf : this->out_buf_headers) {
-    OMX_CHECK(OMX_AllocateBuffer(this->handle, &buf, PORT_INDEX_OUT, this,
-                             out_port.nBufferSize));
+  for (OMX_BUFFERHEADERTYPE* &buf : out_buf_headers) {
+    OMX_CHECK(OMX_AllocateBuffer(handle, &buf, PORT_INDEX_OUT, this, out_port.nBufferSize));
   }
 
   wait_for_state(OMX_StateIdle);
 
-  OMX_CHECK(OMX_SendCommand(this->handle, OMX_CommandStateSet, OMX_StateExecuting, NULL));
+  OMX_CHECK(OMX_SendCommand(handle, OMX_CommandStateSet, OMX_StateExecuting, NULL));
 
   wait_for_state(OMX_StateExecuting);
 
   // give omx all the output buffers
-  for (auto &buf : this->out_buf_headers) {
-    OMX_CHECK(OMX_FillThisBuffer(this->handle, buf));
+  for (OMX_BUFFERHEADERTYPE* &buf : out_buf_headers) {
+    OMX_CHECK(OMX_FillThisBuffer(handle, buf));
   }
 
   // fill the input free queue
-  for (auto &buf : this->in_buf_headers) {
-    this->free_in.push(buf);
+  for (OMX_BUFFERHEADERTYPE* &buf : in_buf_headers) {
+    free_in.push(buf);
   }
 }
 
-void OmxEncoder::handle_out_buf(OmxEncoder *e, OMX_BUFFERHEADERTYPE *out_buf) {
+void OmxEncoder::handle_out_buf(OmxEncoder *encoder, OMX_BUFFERHEADERTYPE *out_buf) {
   int err;
-
-  if (out_buf->pBuffer == nullptr || out_buf->nFilledLen == 0) {
-    OMX_CHECK(OMX_FillThisBuffer(e->handle, out_buf));
-    return;
-  }
-
   uint8_t *buf_data = out_buf->pBuffer + out_buf->nOffset;
 
   if (out_buf->nFlags & OMX_BUFFERFLAG_CODECCONFIG) {
-    if (e->codec_config_len < out_buf->nFilledLen) {
-      e->codec_config = (uint8_t *)realloc(e->codec_config, out_buf->nFilledLen);
+    if (encoder->codec_config_len < out_buf->nFilledLen) {
+      encoder->codec_config = (uint8_t *)realloc(encoder->codec_config, out_buf->nFilledLen);
     }
-    e->codec_config_len = out_buf->nFilledLen;
-    memcpy(e->codec_config, buf_data, out_buf->nFilledLen);
+    encoder->codec_config_len = out_buf->nFilledLen;
+    memcpy(encoder->codec_config, buf_data, out_buf->nFilledLen);
 #ifdef QCOM2
     out_buf->nTimeStamp = 0;
 #endif
   }
 
-  if (e->of) {
-    fwrite(buf_data, out_buf->nFilledLen, 1, e->of);
+  if (encoder->of) {
+    fwrite(buf_data, out_buf->nFilledLen, 1, encoder->of);
   }
 
-  if (e->remuxing) {
-    if (!e->wrote_codec_config && e->codec_config_len > 0) {
-      // extradata will be freed by av_free() in avcodec_free_context()
-      e->codec_ctx->extradata = (uint8_t*)av_mallocz(e->codec_config_len + AV_INPUT_BUFFER_PADDING_SIZE);
-      e->codec_ctx->extradata_size = e->codec_config_len;
-      memcpy(e->codec_ctx->extradata, e->codec_config, e->codec_config_len);
+  if (!encoder->wrote_codec_config && encoder->codec_config_len > 0) {
+    // extradata will be freed by av_free() in avcodec_free_context()
+    encoder->out_stream->codecpar->extradata = (uint8_t*)av_mallocz(encoder->codec_config_len + AV_INPUT_BUFFER_PADDING_SIZE);
+    encoder->out_stream->codecpar->extradata_size = encoder->codec_config_len;
+    memcpy(encoder->out_stream->codecpar->extradata, encoder->codec_config, encoder->codec_config_len);
 
-      err = avcodec_parameters_from_context(e->out_stream->codecpar, e->codec_ctx);
-      assert(err >= 0);
-      err = avformat_write_header(e->ofmt_ctx, NULL);
-      assert(err >= 0);
+    err = avformat_write_header(encoder->ofmt_ctx, NULL);
+    assert(err >= 0);
 
-      e->wrote_codec_config = true;
+    encoder->wrote_codec_config = true;
+  }
+
+  if (out_buf->nTimeStamp > 0) {
+    // input timestamps are in microseconds
+    AVRational in_timebase = {1, 1000000};
+
+    AVPacket pkt;
+    av_init_packet(&pkt);
+    pkt.data = buf_data;
+    pkt.size = out_buf->nFilledLen;
+
+    enum AVRounding rnd = static_cast<enum AVRounding>(AV_ROUND_NEAR_INF|AV_ROUND_PASS_MINMAX);
+    pkt.pts = pkt.dts = av_rescale_q_rnd(out_buf->nTimeStamp, in_timebase, encoder->out_stream->time_base, rnd);
+    pkt.duration = av_rescale_q(1, AVRational{1, encoder->fps}, encoder->out_stream->time_base);
+
+    if (out_buf->nFlags & OMX_BUFFERFLAG_SYNCFRAME) {
+      pkt.flags |= AV_PKT_FLAG_KEY;
     }
 
-    if (out_buf->nTimeStamp > 0) {
-      // input timestamps are in microseconds
-      AVRational in_timebase = {1, 1000000};
+    err = av_write_frame(encoder->ofmt_ctx, &pkt);
+    if (err < 0) { LOGW("ts encoder write issue"); }
 
-      AVPacket pkt;
-      av_init_packet(&pkt);
-      pkt.data = buf_data;
-      pkt.size = out_buf->nFilledLen;
-
-      enum AVRounding rnd = static_cast<enum AVRounding>(AV_ROUND_NEAR_INF|AV_ROUND_PASS_MINMAX);
-      pkt.pts = pkt.dts = av_rescale_q_rnd(out_buf->nTimeStamp, in_timebase, e->ofmt_ctx->streams[0]->time_base, rnd);
-      pkt.duration = av_rescale_q(50*1000, in_timebase, e->ofmt_ctx->streams[0]->time_base);
-
-      if (out_buf->nFlags & OMX_BUFFERFLAG_SYNCFRAME) {
-        pkt.flags |= AV_PKT_FLAG_KEY;
-      }
-
-      err = av_write_frame(e->ofmt_ctx, &pkt);
-      if (err < 0) { LOGW("ts encoder write issue"); }
-
-      av_free_packet(&pkt);
-    }
+    av_packet_unref(&pkt);
   }
 
   // give omx back the buffer
@@ -514,59 +340,53 @@ void OmxEncoder::handle_out_buf(OmxEncoder *e, OMX_BUFFERHEADERTYPE *out_buf) {
     out_buf->nTimeStamp = 0;
   }
 #endif
-  OMX_CHECK(OMX_FillThisBuffer(e->handle, out_buf));
+  OMX_CHECK(OMX_FillThisBuffer(encoder->handle, out_buf));
 }
 
 int OmxEncoder::encode_frame_rgba(const uint8_t *ptr, int in_width, int in_height, uint64_t ts) {
-  int err;
-  if (!this->is_open) {
+  if (!is_open) {
     return -1;
   }
 
-  // this sometimes freezes... put it outside the encoder lock so we can still trigger rotates...
-  // THIS IS A REALLY BAD IDEA, but apparently the race has to happen 30 times to trigger this
   OMX_BUFFERHEADERTYPE* in_buf = nullptr;
-  while (!this->free_in.try_pop(in_buf, 20)) {
+  while (!free_in.try_pop(in_buf, 20)) {
     if (do_exit) {
       return -1;
     }
   }
 
-  int ret = this->counter;
+  int ret = counter;
 
   uint8_t *in_buf_ptr = in_buf->pBuffer;
 
   uint8_t *in_y_ptr = in_buf_ptr;
-  int in_y_stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, this->width);
-  int in_uv_stride = VENUS_UV_STRIDE(COLOR_FMT_NV12, this->width);
-  uint8_t *in_uv_ptr = in_buf_ptr + (in_y_stride * VENUS_Y_SCANLINES(COLOR_FMT_NV12, this->height));
+  int in_y_stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, width);
+  int in_uv_stride = VENUS_UV_STRIDE(COLOR_FMT_NV12, width);
+  uint8_t *in_uv_ptr = in_buf_ptr + (in_y_stride * VENUS_Y_SCANLINES(COLOR_FMT_NV12, height));
 
-  err = ABGRToNV12(ptr, this->width*4,
-                   in_y_ptr, in_y_stride,
-                   in_uv_ptr, in_uv_stride,
-                   this->width, this->height);
+  int err = ABGRToNV12(ptr, width * 4, in_y_ptr, in_y_stride, in_uv_ptr, in_uv_stride, width, height);
   assert(err == 0);
 
-  in_buf->nFilledLen = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, this->width, this->height);
+  in_buf->nFilledLen = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, width, height);
   in_buf->nFlags = OMX_BUFFERFLAG_ENDOFFRAME;
   in_buf->nOffset = 0;
-  in_buf->nTimeStamp = ts/1000LL;  // OMX_TICKS, in microseconds
-  this->last_t = in_buf->nTimeStamp;
+  in_buf->nTimeStamp = ts / 1000LL;  // OMX_TICKS, in microseconds
+  last_t = in_buf->nTimeStamp;
 
-  OMX_CHECK(OMX_EmptyThisBuffer(this->handle, in_buf));
+  OMX_CHECK(OMX_EmptyThisBuffer(handle, in_buf));
 
   // pump output
   while (true) {
     OMX_BUFFERHEADERTYPE *out_buf;
-    if (!this->done_out.try_pop(out_buf)) {
+    if (!done_out.try_pop(out_buf)) {
       break;
     }
     handle_out_buf(this, out_buf);
   }
 
-  this->dirty = true;
+  dirty = true;
 
-  this->counter++;
+  counter++;
 
   return ret;
 }
@@ -574,24 +394,24 @@ int OmxEncoder::encode_frame_rgba(const uint8_t *ptr, int in_width, int in_heigh
 // 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) {
+  if (!is_open) {
     return -1;
   }
 
   OMX_BUFFERHEADERTYPE* in_buf = nullptr;
-  while (!this->free_in.try_pop(in_buf, 20)) {
+  while (!free_in.try_pop(in_buf, 20)) {
     if (do_exit) {
       return -1;
     }
   }
 
-  int ret = this->counter;
+  int ret = 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);
+  int venus_y_stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, width);
+  int venus_uv_stride = VENUS_UV_STRIDE(COLOR_FMT_NV12, 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));
+  uint8_t *dst_uv = in_buf_ptr + (venus_y_stride * VENUS_Y_SCANLINES(COLOR_FMT_NV12, height));
 
   // Copy Y plane row by row (source stride may differ from VENUS stride)
   for (int row = 0; row < in_height; row++) {
@@ -603,100 +423,103 @@ int OmxEncoder::encode_frame_nv12(const uint8_t *y_ptr, int y_stride, const uint
     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->nFilledLen = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, width, height);
   in_buf->nFlags = OMX_BUFFERFLAG_ENDOFFRAME;
   in_buf->nOffset = 0;
   in_buf->nTimeStamp = ts / 1000LL;
-  this->last_t = in_buf->nTimeStamp;
+  last_t = in_buf->nTimeStamp;
 
-  OMX_CHECK(OMX_EmptyThisBuffer(this->handle, in_buf));
+  OMX_CHECK(OMX_EmptyThisBuffer(handle, in_buf));
 
   while (true) {
     OMX_BUFFERHEADERTYPE *out_buf;
-    if (!this->done_out.try_pop(out_buf)) {
+    if (!done_out.try_pop(out_buf)) {
       break;
     }
     handle_out_buf(this, out_buf);
   }
 
-
-  this->dirty = true;
-  this->counter++;
+  dirty = true;
+  counter++;
 
   return ret;
 }
 
 void OmxEncoder::encoder_open(const char* filename) {
-  int err;
+  if (!filename || strlen(filename) == 0) {
+    return;
+  }
+
+  if (strlen(filename) + path.size() + 2 > sizeof(vid_path)) {
+    return;
+  }
 
   struct stat st = {0};
-  if (stat(this->path.c_str(), &st) == -1) {
-    mkdir(this->path.c_str(), 0755);
-  }
-
-  snprintf(this->vid_path, sizeof(this->vid_path), "%s/%s", this->path.c_str(), filename);
-  printf("encoder_open %s remuxing:%d\n", this->vid_path, this->remuxing);
-
-  if (this->remuxing) {
-    avformat_alloc_output_context2(&this->ofmt_ctx, NULL, NULL, this->vid_path);
-    assert(this->ofmt_ctx);
-
-    this->out_stream = avformat_new_stream(this->ofmt_ctx, NULL);
-    assert(this->out_stream);
-
-    // set codec correctly
-    av_register_all();
-
-    AVCodec *codec = NULL;
-    codec = avcodec_find_encoder(AV_CODEC_ID_H264);
-    assert(codec);
-
-    this->codec_ctx = avcodec_alloc_context3(codec);
-    assert(this->codec_ctx);
-    this->codec_ctx->width = this->width;
-    this->codec_ctx->height = this->height;
-    this->codec_ctx->pix_fmt = AV_PIX_FMT_YUV420P;
-    this->codec_ctx->time_base = (AVRational){ 1, this->fps };
-
-    err = avio_open(&this->ofmt_ctx->pb, this->vid_path, AVIO_FLAG_WRITE);
-    assert(err >= 0);
-
-    this->wrote_codec_config = false;
-  } else {
-    this->of = fopen(this->vid_path, "wb");
-    assert(this->of);
-#ifndef QCOM2
-    if (this->codec_config_len > 0) {
-      fwrite(this->codec_config, this->codec_config_len, 1, this->of);
+  if (stat(path.c_str(), &st) == -1) {
+    if (mkdir(path.c_str(), 0755) == -1) {
+      return;
     }
-#endif
   }
 
-  // create camera lock file
-  snprintf(this->lock_path, sizeof(this->lock_path), "%s/%s.lock", this->path.c_str(), filename);
-  int lock_fd = HANDLE_EINTR(open(this->lock_path, O_RDWR | O_CREAT, 0664));
-  assert(lock_fd >= 0);
+  snprintf(vid_path, sizeof(vid_path), "%s/%s", path.c_str(), filename);
+
+  if (avformat_alloc_output_context2(&ofmt_ctx, NULL, NULL, vid_path) < 0 || !ofmt_ctx) {
+    return;
+  }
+
+  out_stream = avformat_new_stream(ofmt_ctx, NULL);
+  if (!out_stream) {
+    avformat_free_context(ofmt_ctx);
+    ofmt_ctx = nullptr;
+    return;
+  }
+
+  out_stream->time_base = AVRational{1, fps};
+
+  out_stream->codecpar->codec_id = AV_CODEC_ID_H264;
+  out_stream->codecpar->codec_type = AVMEDIA_TYPE_VIDEO;
+  out_stream->codecpar->width = width;
+  out_stream->codecpar->height = height;
+
+  int err = avio_open(&ofmt_ctx->pb, vid_path, AVIO_FLAG_WRITE);
+  if (err < 0) {
+    avformat_free_context(ofmt_ctx);
+    ofmt_ctx = nullptr;
+    return;
+  }
+
+  wrote_codec_config = false;
+
+  snprintf(lock_path, sizeof(lock_path), "%s/%s.lock", path.c_str(), filename);
+  int lock_fd = HANDLE_EINTR(open(lock_path, O_RDWR | O_CREAT, 0664));
+  if (lock_fd < 0) {
+    avio_closep(&ofmt_ctx->pb);
+    avformat_free_context(ofmt_ctx);
+    ofmt_ctx = nullptr;
+    return;
+  }
   close(lock_fd);
 
-  this->is_open = true;
-  this->counter = 0;
+  is_open = true;
+  counter = 0;
 }
 
 void OmxEncoder::encoder_close() {
-  if (this->is_open) {
-    if (this->dirty) {
-      // drain output only if there could be frames in the encoder
+  if (!is_open) return;
 
-      OMX_BUFFERHEADERTYPE* in_buf = this->free_in.pop();
+  if (dirty) {
+    OMX_BUFFERHEADERTYPE* in_buf = free_in.pop();
+    if (in_buf) {
       in_buf->nFilledLen = 0;
       in_buf->nOffset = 0;
       in_buf->nFlags = OMX_BUFFERFLAG_EOS;
-      in_buf->nTimeStamp = this->last_t + 1000000LL/this->fps;
+      in_buf->nTimeStamp = last_t + 1000000LL / fps;
 
-      OMX_CHECK(OMX_EmptyThisBuffer(this->handle, in_buf));
+      OMX_CHECK(OMX_EmptyThisBuffer(handle, in_buf));
 
       while (true) {
-        OMX_BUFFERHEADERTYPE *out_buf = this->done_out.pop();
+        OMX_BUFFERHEADERTYPE *out_buf = done_out.pop();
+        if (!out_buf) break;
 
         handle_out_buf(this, out_buf);
 
@@ -704,55 +527,112 @@ void OmxEncoder::encoder_close() {
           break;
         }
       }
-      this->dirty = false;
     }
-
-    if (this->remuxing) {
-      av_write_trailer(this->ofmt_ctx);
-      avcodec_free_context(&this->codec_ctx);
-      avio_closep(&this->ofmt_ctx->pb);
-      avformat_free_context(this->ofmt_ctx);
-    } else {
-      fclose(this->of);
-      this->of = nullptr;
-    }
-    unlink(this->lock_path);
+    dirty = false;
+  }
+
+  if (out_stream) {
+    out_stream->nb_frames = counter;
+    out_stream->duration = av_rescale_q(counter, AVRational{1, fps}, out_stream->time_base);
+  }
+
+  if (ofmt_ctx) {
+    av_write_trailer(ofmt_ctx);
+    ofmt_ctx->duration = out_stream ? out_stream->duration : 0;
+    avio_closep(&ofmt_ctx->pb);
+    avformat_free_context(ofmt_ctx);
+    ofmt_ctx = nullptr;
+    out_stream = nullptr;
+  }
+
+  if (lock_path[0] != '\0') {
+    unlink(lock_path);
+  }
+
+  is_open = false;
+
+  // Remux with faststart for streaming/seeking support
+  if (strlen(vid_path) > 0) {
+    char fixed_path[1024];
+    snprintf(fixed_path, sizeof(fixed_path), "%s.fixed.mp4", vid_path);
+
+    char cmd[2048];
+    snprintf(cmd, sizeof(cmd), "ffmpeg -y -i \"%s\" -c copy -movflags +faststart \"%s\" && mv \"%s\" \"%s\"",
+             vid_path, fixed_path, fixed_path, vid_path);
+
+    int ret = system(cmd);
+    if (ret != 0) {
+      LOGW("ffmpeg faststart remux failed with exit code %d", ret);
+    }
   }
-  this->is_open = false;
 }
 
 OmxEncoder::~OmxEncoder() {
-  assert(!this->is_open);
-
-  OMX_CHECK(OMX_SendCommand(this->handle, OMX_CommandStateSet, OMX_StateIdle, NULL));
-
-  wait_for_state(OMX_StateIdle);
-
-  OMX_CHECK(OMX_SendCommand(this->handle, OMX_CommandStateSet, OMX_StateLoaded, NULL));
-
-  for (auto &buf : this->in_buf_headers) {
-    OMX_CHECK(OMX_FreeBuffer(this->handle, PORT_INDEX_IN, buf));
+  if (is_open) {
+    LOGE("OmxEncoder closed with is_open=true, calling encoder_close()");
+    encoder_close();
   }
 
-  for (auto &buf : this->out_buf_headers) {
-    OMX_CHECK(OMX_FreeBuffer(this->handle, PORT_INDEX_OUT, buf));
+  if (!handle) {
+    LOGE("OMX handle is null in destructor, skipping teardown.");
+    return;
+  }
+
+  OMX_ERRORTYPE err;
+
+  err = OMX_SendCommand(handle, OMX_CommandStateSet, OMX_StateIdle, NULL);
+  if (err != OMX_ErrorNone) {
+    LOGE("Failed to set OMX state to Idle: %x", err);
+  } else {
+    wait_for_state(OMX_StateIdle);
+  }
+
+  err = OMX_SendCommand(handle, OMX_CommandStateSet, OMX_StateLoaded, NULL);
+  if (err != OMX_ErrorNone) {
+    LOGE("Failed to set OMX state to Loaded: %x", err);
+  }
+
+  for (OMX_BUFFERHEADERTYPE *buf : in_buf_headers) {
+    if (buf) {
+      err = OMX_FreeBuffer(handle, PORT_INDEX_IN, buf);
+      if (err != OMX_ErrorNone) {
+        LOGE("Failed to free input buffer: %x", err);
+      }
+    }
+  }
+
+  for (OMX_BUFFERHEADERTYPE *buf : out_buf_headers) {
+    if (buf) {
+      err = OMX_FreeBuffer(handle, PORT_INDEX_OUT, buf);
+      if (err != OMX_ErrorNone) {
+        LOGE("Failed to free output buffer: %x", err);
+      }
+    }
   }
 
   wait_for_state(OMX_StateLoaded);
 
-  OMX_CHECK(OMX_FreeHandle(this->handle));
+  err = OMX_FreeHandle(handle);
+  if (err != OMX_ErrorNone) {
+    LOGE("Failed to free OMX handle: %x", err);
+  }
+
+  handle = nullptr;
+
+  err = OMX_Deinit();
+  if (err != OMX_ErrorNone) {
+    LOGE("OMX_Deinit failed: %x", err);
+  }
 
   OMX_BUFFERHEADERTYPE *out_buf;
-  while (this->free_in.try_pop(out_buf));
-  while (this->done_out.try_pop(out_buf));
+  while (free_in.try_pop(out_buf));
+  while (done_out.try_pop(out_buf));
 
-  if (this->codec_config) {
-    free(this->codec_config);
+  if (codec_config) {
+    free(codec_config);
+    codec_config = nullptr;
   }
 
-  if (this->downscale) {
-    free(this->y_ptr2);
-    free(this->u_ptr2);
-    free(this->v_ptr2);
-  }
+  in_buf_headers.clear();
+  out_buf_headers.clear();
 }

selfdrive/frogpilot/screenrecorder/omx_encoder.h

@@ -12,10 +12,10 @@ extern "C" {
 
 #include "common/queue.h"
 
-// OmxEncoder, lossey codec using hardware hevc
+// OmxEncoder, lossey codec using hardware H.264
 class OmxEncoder {
 public:
-  OmxEncoder(const char* path, int width, int height, int fps, int bitrate, bool h265, bool downscale);
+  OmxEncoder(const char* path, int width, int height, int fps, int bitrate);
   ~OmxEncoder();
 
   int encode_frame_rgba(const uint8_t *ptr, int in_width, int in_height, uint64_t ts);
@@ -44,31 +44,26 @@ private:
   int counter = 0;
 
   std::string path;
-  FILE *of;
+  FILE *of = nullptr;
 
-  size_t codec_config_len;
-  uint8_t *codec_config = NULL;
-  bool wrote_codec_config;
+  size_t codec_config_len = 0;
+  uint8_t *codec_config = nullptr;
+  bool wrote_codec_config = false;
 
   std::mutex state_lock;
   std::condition_variable state_cv;
   OMX_STATETYPE state = OMX_StateLoaded;
 
-  OMX_HANDLETYPE handle;
+  OMX_HANDLETYPE handle = nullptr;
 
   std::vector<OMX_BUFFERHEADERTYPE *> in_buf_headers;
   std::vector<OMX_BUFFERHEADERTYPE *> out_buf_headers;
 
-  uint64_t last_t;
+  uint64_t last_t = 0;
 
   SafeQueue<OMX_BUFFERHEADERTYPE *> free_in;
   SafeQueue<OMX_BUFFERHEADERTYPE *> done_out;
 
-  AVFormatContext *ofmt_ctx;
-  AVCodecContext *codec_ctx;
-  AVStream *out_stream;
-  bool remuxing;
-
-  bool downscale;
-  uint8_t *y_ptr2, *u_ptr2, *v_ptr2;
+  AVFormatContext *ofmt_ctx = nullptr;
+  AVStream *out_stream = nullptr;
 };

selfdrive/frogpilot/screenrecorder/screenrecorder.cc

@@ -27,7 +27,7 @@ ScreenRecorder::ScreenRecorder(QWidget *parent) : QPushButton(parent), image_que
 
 void ScreenRecorder::initializeEncoder() {
   const std::string path = "/data/media/0/videos";
-  encoder = std::make_unique<OmxEncoder>(path.c_str(), recording_width, recording_height, 60, 2 * 1024 * 1024, false, false);
+  encoder = std::make_unique<OmxEncoder>(path.c_str(), recording_width, recording_height, 60, 2 * 1024 * 1024);
 }
 
 ScreenRecorder::~ScreenRecorder() {

selfdrive/manager/manager.py

@@ -87,6 +87,7 @@ def manager_init(frogpilot_functions) -> None:
   params_memory = Params("/dev/shm/params")
   params_memory.put("TelemetryEnabled", "0")
   params_memory.put("VpnEnabled", "1")
+  params_memory.put("DashcamFrames", "0")
   params_memory.put("ModelStandby", "0")
   params_memory.put("ModelStandbyTs", "0")
   params_memory.put("CarIsMetric", "0")

selfdrive/ui/qt/window.cc

@@ -266,7 +266,7 @@ static StatusWindow::StatusData collectStatus() {
   // Dashcam
   QString dashcam_pid = shellCmd("pgrep -x dashcamd");
   d.dashcam_status = dashcam_pid.isEmpty() ? "stopped" : "recording";
-  d.dashcam_size = shellCmd("du -sh /data/media/0/videos 2>/dev/null | awk '{print $1}'");
+  d.dashcam_frames = readFile("/dev/shm/params/d/DashcamFrames");
 
   // Panda: checked on UI thread in applyResults() via scene.pandaType
 
@@ -385,7 +385,7 @@ void StatusWindow::applyResults() {
 
   if (d.dashcam_status == "recording") {
     QString text = "Recording";
-    if (!d.dashcam_size.isEmpty()) text += " (" + d.dashcam_size + ")";
+    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 {

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_size;
+    QString dashcam_status, dashcam_frames;
     float temp_c = 0;
   };