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) {