modelrevert: boot fixes + strip remaining variable-rate cruft

controlsd:
- stop writing the removed 'no_lat_lane_change' persistent param
  (key isn't in the whitelist anymore). Write to
  frogpilot_variables.no_lat_lane_change instead so the carcontroller
  read still works and the lane-change-disengage feature is preserved.
- initialize self.driving_gear = False in __init__; it's set at the
  end of step() in update_frogpilot_variables but clearpilot_state_control
  reads it on the first iteration before that's run.

modeld:
- remove the remaining CLEARPILOT variable-rate / standby code path
  that was baked into the initial-import commit (the one our first
  commit captured). Constant 20fps, no ModelStandby/ModelStandbyTs
  writes, no params_memory reads for 'no_lat_lane_change' (which
  isn't registered anymore).
- drop now-unused locals (model_standby, last_standby_ts_write,
  params_memory).

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

.gitignore

@@ -2,6 +2,8 @@ prebuilt
 system/clearpilot/dev/on_start_brian.sh
 system/clearpilot/dev/id_rsa
 system/clearpilot/dev/id_rsa.pub
+system/clearpilot/dev/id_ed25519
+system/clearpilot/dev/id_ed25519.pub
 venv/
 .venv/
 .ci_cache

CANBUS_ISSUE_INVESTIGATE.md

@@ -0,0 +1,29 @@
+# CAN-FD Issues to Investigate
+
+## Cruise Control Desync on Hot Start
+
+### Problem
+When the car is already in cruise control mode before openpilot starts (or before controlsd initializes), pressing the cruise control button causes a desync:
+
+1. Car has active cruise control when openpilot comes online
+2. Driver presses cruise button — car interprets as "toggle off" (cruise was already on)
+3. openpilot interprets it as "engage" (from its perspective, it hasn't seen a cruise enable transition)
+4. Result: car disengages cruise, but openpilot thinks it just engaged lateral mode
+
+### Proposed Fix
+When controlsd first reads carState and discovers `cruiseState.enabled` is already true:
+
+1. Set a flag `cruise_was_active_at_start = True`
+2. While this flag is set, do NOT allow openpilot to transition to engaged state on button press
+3. Only clear the flag after seeing `cruiseState.enabled` go to `False` at least once (a full stop of cruise, not just standstill/pause)
+4. After the first full off cycle, normal engagement logic resumes
+
+### Status
+- Could not reproduce on 2026-04-14 — may require specific timing (openpilot restart while driving with cruise active)
+- Need to capture telemetry data during reproduction to see exact signal sequence
+- Key telemetry groups to watch: `cruise` (enabled, available, ACCMode, VSetDis), `buttons` (cruise_button)
+
+### Relevant Code
+- `selfdrive/controls/controlsd.py` — engagement state machine
+- `selfdrive/car/hyundai/carstate.py` — CAN-FD cruise state parsing
+- `selfdrive/car/interfaces.py` — pcm_enable / cruise state transitions

CLAUDE.md

@@ -15,7 +15,7 @@ ClearPilot is a custom fork of **FrogPilot** (itself a fork of comma.ai's openpi
 - **Native dashcamd**: C++ process capturing raw camera frames via VisionIPC with OMX H.264 hardware encoding
 - **Standstill power saving**: model inference throttled to 1fps and fan quieted when car is stopped
 - **ClearPilot menu**: sidebar settings panel replacing stock home screen (Home, Dashcam, Debug panels)
-- **Status window**: live system stats (temp, fan, storage, RAM, WiFi, VPN, GPS, telemetry status)
+- **Status window**: live system stats (temp, fan, storage, RAM, WiFi, VPN, GPS, telemetry, dashcam status)
 - **Debug button (LFA)**: steering wheel button repurposed for screen toggle and future UI actions
 - **Telemetry system**: diff-based CSV logger via ZMQ IPC, toggleable from Debug panel
 - **Bench mode**: `--bench` flag for onroad UI testing without car connected
@@ -37,6 +37,20 @@ This is self-driving software. All changes must be deliberate and well-understoo
 - **Test everything thoroughly** — Brian must always be in the loop
 - **Do not refactor, clean up, or "improve" code beyond the specific request**
 
+### Logging
+
+**NEVER use `cloudlog`.** It's comma.ai's cloud telemetry pipeline, not ours — writes go to a publisher that's effectively a black hole for us (and the only thing it could do if ever reachable is bother the upstream FrogPilot developer). Our changes must always use **file logging** instead.
+
+Use `print(..., file=sys.stderr, flush=True)`. `manager.py` redirects each managed process's stderr to `/data/log2/current/{process}.log`, so these lines land in the per-process log we already grep. Prefix custom log lines with `CLP ` so they're easy to filter out from upstream noise.
+
+Example:
+```python
+import sys
+print(f"CLP frogpilotPlan valid=False: carState_freq_ok={sm.freq_ok['carState']}", file=sys.stderr, flush=True)
+```
+
+Do not use `cloudlog.warning`, `cloudlog.info`, `cloudlog.error`, `cloudlog.event`, or `cloudlog.exception` in any CLEARPILOT-added code. Existing upstream/FrogPilot `cloudlog` calls can stay untouched.
+
 ### File Ownership
 
 We operate as `root` on this device, but openpilot runs as the `comma` user (uid=1000, gid=1000). After any code changes that touch multiple files or before testing:
@@ -47,7 +61,7 @@ chown -R comma:comma /data/openpilot
 
 ### Git
 
-- Remote: `git@git.internal.hanson.xyz:brianhansonxyz/comma.git`
+- Remote: `git@git.hanson.xyz:brianhansonxyz/clearpilot.git`
 - Branch: `clearpilot`
 - Large model files are tracked in git (intentional — this is a backup)
 
@@ -84,6 +98,31 @@ ls /data/log2/current/
 cat /data/log2/current/gpsd.log
 ```
 
+### Changing a Service's Publish Rate
+
+SubMaster's `freq_ok` check requires observed rate to fall within
+`[0.8 × min_freq, 1.2 × max_freq]` of the value declared in
+`cereal/services.py`. Publishing *faster* than declared fails the check
+just as surely as publishing too slowly — it trips `all_freq_ok()` →
+`EventName.commIssue` → "TAKE CONTROL IMMEDIATELY / Communication Issue
+Between Processes".
+
+If you change how often a process publishes, you **must** update the rate
+in `cereal/services.py` to match. Example (real bug we hit):
+
+- Bumped thermald from 2Hz → 4Hz (DT_TRML 0.5→0.25) for faster fan control
+- Bumped gpsd from 1Hz → 2Hz
+- manager publishes `managerState` gated by `sm.update()` returning on
+  `deviceState`, so it picks up thermald's rate automatically
+
+`services.py` still declared `deviceState` and `managerState` as 2Hz
+(ceiling 2.4Hz) and `gpsLocation` as 1Hz (ceiling 1.2Hz), so controlsd
+fired `commIssue` on every cycle the moment any of these arrived at the
+new faster rate.
+
+Fix: update the second tuple element (Hz) in `cereal/services.py` for the
+affected service. Cereal will use the updated rate for all consumers.
+
 ### Adding New Params
 
 The params system uses a C++ whitelist. Adding a new param name in `manager.py` alone will crash with `UnknownKeyName`. You must:
@@ -92,6 +131,18 @@ The params system uses a C++ whitelist. Adding a new param name in `manager.py`
 2. Add the default value in `selfdrive/manager/manager.py` in `manager_init()`
 3. Remove `prebuilt`, `common/params.o`, and `common/libcommon.a` to force rebuild
 
+### Memory Params (paramsMemory)
+
+ClearPilot uses memory params (`/dev/shm/params/d/`) for UI toggles that should reset on boot. Key rules:
+
+- **Registration**: Register the key in `common/params.cc` as `PERSISTENT` (same as FrogPilot pattern — the registration flag does NOT control which path the param lives at)
+- **C++ access**: Use `Params{"/dev/shm/params"}` — stored as a class member `paramsMemory` in onroad.h. Do NOT use `Params("/dev/shm/params/d")` — the Params class appends `/d/` internally, so that would resolve to `/dev/shm/params/d/d/`
+- **Python access**: Use `Params("/dev/shm/params")`
+- **Defaults**: Set in `manager_init()` via `Params("/dev/shm/params").put(key, value)`
+- **UI toggles**: Use `ToggleControl` with manual `toggleFlipped` lambda that writes via `Params("/dev/shm/params")`. Do NOT use `ParamControl` for memory params — it reads/writes persistent params only
+- **Current memory params**: `TelemetryEnabled` (default "0"), `VpnEnabled` (default "1"), `ModelStandby` (default "0"), `ScreenDisplayMode`, `DashcamState` (default "stopped"), `DashcamFrames` (default "0"), `DashcamShutdown` (default "0")
+- **IMPORTANT — method names differ between C++ and Python**: C++ uses camelCase (`putBool`, `getBool`, `getInt`), Python uses snake_case (`put_bool`, `get_bool`, `get_int`). This is a common source of silent failures — the wrong casing compiles/runs but doesn't work.
+
 ### Building Native (C++) Processes
 
 - SCons is the build system. Static libraries (`common`, `messaging`, `cereal`, `visionipc`) must be imported as SCons objects, not `-l` flags
@@ -183,6 +234,43 @@ The UI process runs a ZMQ REP server at `ipc:///tmp/clearpilot_ui_rpc`. Send `"d
 - **`showDriverView` overriding transitions (fixed)**: was forcing `slayout` to onroad/home every frame at 20Hz, overriding park/drive logic. Fixed to only act when not in started state.
 - **Sidebar appearing during onroad transition (fixed)**: `MainWindow::closeSettings()` was re-enabling the sidebar. Fixed by not calling `closeSettings` during `offroadTransition`.
 
+## Performance Profiling
+
+Use `py-spy` to find CPU hotspots in any Python process. It's installed at `/home/comma/.local/bin/py-spy`. (If missing: `su - comma -c "/usr/local/pyenv/versions/3.11.4/bin/pip install py-spy"`.)
+
+```bash
+# Find the target pid
+ps -eo pid,cmd | grep -E "selfdrive.controls.controlsd" | grep -v grep
+
+# Record 10s of stacks at 200Hz, raw (folded) format
+/home/comma/.local/bin/py-spy record -o /tmp/ctrl.txt --pid <PID> --duration 10 --rate 200 --format raw
+
+# Aggregate: which line of step() is consuming the most samples
+awk -F';' '{
+  for(i=1;i<=NF;i++) if ($i ~ /step \(selfdrive\/controls\/controlsd.py/) step_line=i;
+  if (step_line && step_line < NF) {
+    n=split($NF, parts, " "); count=parts[n];
+    caller = $(step_line+1);
+    sum[caller] += count;
+  }
+  step_line=0;
+} END { for (c in sum) printf "%6d  %s\n", sum[c], c }' /tmp/ctrl.txt | sort -rn | head -15
+
+# Aggregate by a source file — shows hottest lines in that file
+awk -F';' '{
+  for(i=1;i<=NF;i++) if ($i ~ /carstate\.py:/) {
+    match($i, /:[0-9]+/); ln = substr($i, RSTART+1, RLENGTH-1);
+    n=split($NF, parts, " "); count=parts[n];
+    sum[ln] += count;
+  }
+} END { for (l in sum) printf "%5d  line %s\n", sum[l], l }' /tmp/ctrl.txt | sort -rn | head -15
+
+# Quick stack dump (single sample, no recording)
+/home/comma/.local/bin/py-spy dump --pid <PID>
+```
+
+**Known performance trap — hot `Params` writes**: `Params.put()` does `mkstemp` + `fsync` + `flock` + `rename` + `fsync_dir`. At 100Hz even on tmpfs the `flock` contention is ruinous. Cache the last-written value and skip writes when unchanged. Found this pattern in `carstate.py` and `controlsd.py` — controlsd went from 69% → 28% CPU after gating writes.
+
 ## Session Logging
 
 Per-process stderr and an aggregate event log are captured in `/data/log2/current/`.
@@ -233,20 +321,21 @@ A single `session.log` in each session directory records major events:
 - **Segment length**: 3 minutes per file
 - **Save path**: `/data/media/0/videos/YYYYMMDD-HHMMSS/YYYYMMDD-HHMMSS.mp4` (trip directories)
 - **GPS subtitles**: companion `.srt` file per segment with 1Hz entries (speed MPH, lat/lon, UTC timestamp)
-- **Trip lifecycle**: starts recording on launch with 10-min idle timer; car in drive cancels timer; park/off restarts timer; ignition cycle = new trip
+- **Trip lifecycle**: waits in WAITING state until valid system time + GPS fix + car in drive; records until car parked 10 min or ignition off; then returns to WAITING
 - **Graceful shutdown**: thermald sets `DashcamShutdown` param, dashcamd closes segment and acks within 15s
-- **Storage**: ~56 MB per 3-minute segment at 2500 kbps
+- **Storage**: ~56 MB per 3-minute segment at 2500 kbps (verified: actual bitrate ~2570 kbps)
+- **Crash handler**: SIGSEGV/SIGABRT handler writes backtrace to `/tmp/dashcamd_crash.log`
 - **Storage device**: WDC SDINDDH4-128G UFS 2.1 — automotive grade, ~384 TB write endurance, no concern for continuous writes
 
-### Key Differences from Old Screen Recorder
+### OmxEncoder
 
-| | Old (screen recorder) | New (dashcamd) |
-|---|---|---|
-| Source | `QWidget::grab()` screen capture | Raw NV12 from VisionIPC |
-| Resolution | 1440x720 | 1928x1208 |
-| Works with screen off | No (needs visible widget) | Yes (independent of UI) |
-| Process type | Part of UI process | Standalone native process |
-| Encoder input | RGBA -> NV12 conversion | NV12 direct (added `encode_frame_nv12`) |
+The OMX encoder (`selfdrive/frogpilot/screenrecorder/omx_encoder.cc`) was ported from upstream FrogPilot with the following key properties:
+
+- Each encoder instance calls `OMX_Init()` in constructor and `OMX_Deinit()` in destructor — manages its own OMX lifecycle
+- Constructor takes 5 args: `(path, width, height, fps, bitrate)` — no h265/downscale params
+- `encoder_close()` calls `av_write_trailer` + ffmpeg faststart remux (`-movflags +faststart`)
+- Destructor has null guards and error handling on all OMX state transitions
+- ClearPilot addition: `encode_frame_nv12()` for direct NV12 input (dashcamd), alongside original `encode_frame_rgba()` (screen recorder)
 
 ### Key Files
 
@@ -254,21 +343,22 @@ A single `session.log` in each session directory records major events:
 |------|------|
 | `selfdrive/clearpilot/dashcamd.cc` | Main dashcam process — VisionIPC -> OMX encoder |
 | `selfdrive/clearpilot/SConscript` | Build config for dashcamd |
-| `selfdrive/frogpilot/screenrecorder/omx_encoder.cc` | OMX encoder (added `encode_frame_nv12` method) |
+| `selfdrive/frogpilot/screenrecorder/omx_encoder.cc` | OMX encoder (upstream FrogPilot port + `encode_frame_nv12`) |
 | `selfdrive/frogpilot/screenrecorder/omx_encoder.h` | Encoder header |
 | `selfdrive/manager/process_config.py` | dashcamd registered as NativeProcess, camerad always_run, encoderd disabled |
 | `system/loggerd/deleter.py` | Trip-aware storage rotation (oldest trip first, then segments within active trip) |
 
 ### Params
 
-- `DashcamDebug` — when `"1"`, dashcamd runs even without car connected (for bench testing)
-- `DashcamShutdown` — set by thermald before power-off, dashcamd acks by clearing it
+- `DashcamShutdown` (memory param) — set by thermald before power-off, dashcamd acks by clearing it
+- `DashcamState` (memory param) — "stopped", "waiting", or "recording" — published every 5s
+- `DashcamFrames` (memory param) — per-trip encoded frame count, resets each trip — published every 5s
 
 ## Standstill Power Saving
 
 When `carState.standstill` is true:
 
-- **modeld**: skips GPU inference on 19/20 frames (1fps vs 20fps), reports 0 frame drops to avoid triggering `modeldLagging` in controlsd
+- **modeld**: skips GPU inference on 19/20 frames (1fps vs 20fps), reports 0 frame drops to avoid triggering `modeldLagging` in controlsd. Runs full 20fps during calibration (`liveCalibration.calStatus != calibrated`)
 - **dmonitoringmodeld**: same 1fps throttle, added `carState` subscription
 - **Fan controller**: uses offroad clamps (0-30%) instead of onroad (30-100%) at standstill; thermal protection still active via feedforward if temp > 60°C
 
@@ -309,6 +399,12 @@ The Hyundai Tucson's LFA steering wheel button cycles through 5 display modes vi
 
 **Not in drive (parked/off):** any except 3 → 3 (screen off), state 3 → 0 (auto-normal)
 
+**Shift to drive from screen off:** auto-resets to mode 0 (auto-normal) via `controlsd`
+
+**Shift to park from nightrider:** auto-switches to mode 3 (screen off) via `home.cc`
+
+**Tap screen while screen off:** resets to mode 0 (auto-normal) via `window.cc` touch handler
+
 ### Nightrider Mode
 
 - Camera feed suppressed (OpenGL clears to black instead of rendering camera texture)
@@ -345,7 +441,10 @@ Display power is managed by `Device::updateWakefulness()` in `selfdrive/ui/ui.cc
 
 - **Ignition off (offroad)**: screen blanks after `ScreenTimeout` seconds (default 120) of no touch. Tapping wakes it.
 - **Ignition on (onroad)**: screen stays on unconditionally — ignition=true short-circuits the timeout check.
-- **Debug button (LFA)**: cycles through display modes including screen off (state 3). Only state 3 calls `Hardware::set_display_power(false)`.
+- **ScreenDisplayMode 3 override**: `updateWakefulness` checks `ScreenDisplayMode` first — if mode 3, calls `setAwake(false)` unconditionally, preventing ignition-on from overriding screen-off.
+- **Debug button (LFA)**: cycles through display modes including screen off (state 3).
+- **Park transition**: always shows splash screen; if coming from nightrider mode, auto-switches to screen off (mode 3) via `home.cc`.
+- **Touch wake**: tapping screen while in mode 3 resets to mode 0 via `window.cc` event filter.
 
 ## Offroad UI (ClearPilot Menu)
 
@@ -463,7 +562,7 @@ Power On
 
 ### ClearPilot Processes
 
-- `dashcamd` — raw camera dashcam recording (runs onroad or with DashcamDebug flag)
+- `dashcamd` — raw camera dashcam recording (always runs; manages its own trip lifecycle)
 
 ### GPS
 
@@ -482,10 +581,13 @@ Power On
 
 - **Client**: `selfdrive/clearpilot/telemetry.py` — `tlog(group, data)` sends JSON over ZMQ PUSH
 - **Collector**: `selfdrive/clearpilot/telemetryd.py` — diffs against previous state, writes changed values to CSV
-- **Toggle**: `TelemetryEnabled` param, controlled from Debug panel in ClearPilot menu
+- **Toggle**: `TelemetryEnabled` memory param, controlled from Debug panel in ClearPilot menu
 - **Auto-disable**: disabled on every manager start; disabled if `/data` free < 5GB
 - **Hyundai CAN-FD data**: logged from `selfdrive/car/hyundai/carstate.py` `update_canfd()` — groups: `car`, `cruise`, `speed_limit`, `buttons`
+- **GPS data**: logged directly by telemetryd via cereal `gpsLocation` subscription at 1Hz — group: `gps` (latitude, longitude, speed, altitude, bearing, accuracy)
 - **CSV location**: `/data/log2/current/telemetry.csv` (or session directory)
+- **Onroad overlay**: when telemetry enabled, status bar shows temp, fan %, model FPS, and STANDSTILL indicator
+- **Speed limit**: processed by `selfdrive/clearpilot/speed_logic.py` (SpeedState class), converts m/s to display units, writes to memory params. Cruise warning signs appear when cruise set speed exceeds speed limit by threshold (10 mph if limit >= 50, 7 mph if < 50) or is 5+ mph under. Ding sound plays when warning sign appears or speed limit changes while visible (30s cooldown)
 
 ### Key Dependencies
 

body/board/SConscript

@@ -121,6 +121,7 @@ def objcopy(source, target, env, for_signature):
     return '$OBJCOPY -O binary %s %s' % (source[0], target[0])
 
 # Common autogenerated includes
+os.makedirs("obj", exist_ok=True)
 git_ver = get_version(BUILDER, BUILD_TYPE)
 with open("obj/gitversion.h", "w") as f:
   f.write(f'const uint8_t gitversion[8] = "{git_ver}";\n')

build_only.sh

@@ -29,6 +29,9 @@ export PYTHONPATH="$BASEDIR"
 sudo chgrp gpu /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0 2>/dev/null
 sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0 2>/dev/null
 
+# Preflight: create dirs git can't track
+source "$BASEDIR/build_preflight.sh"
+
 cd "$BASEDIR/selfdrive/manager"
 rm -f "$BASEDIR/prebuilt"
 

build_preflight.sh

@@ -0,0 +1,11 @@
+#!/usr/bin/bash
+# CLEARPILOT: build preflight — create directories and fix state that
+# git cannot track but the build requires.  Called by build_only.sh and
+# launch_chffrplus.sh before scons runs.
+
+BASEDIR="${BASEDIR:-/data/openpilot}"
+
+# SConscript files write generated headers into obj/ directories at
+# parse time — these must exist before scons starts.
+mkdir -p "$BASEDIR/body/board/obj"
+mkdir -p "$BASEDIR/panda/board/obj"

cereal/custom.capnp

@@ -12,6 +12,9 @@ struct FrogPilotCarControl @0x81c2f05a394cf4af {
   alwaysOnLateral @0 :Bool;
   speedLimitChanged @1 :Bool;
   trafficModeActive @2 :Bool;
+  # CLEARPILOT: migrated from paramsMemory to avoid file-read syscalls in modeld/UI/carcontroller
+  latRequested @3 :Bool;        # controlsd's request to enable lat before ramp-up delay
+  noLatLaneChange @4 :Bool;     # lat is temporarily suppressed during a lane change
 }
 
 struct FrogPilotCarState @0xaedffd8f31e7b55d {

cereal/services.py

@@ -30,7 +30,7 @@ services: dict[str, tuple] = {
   "temperatureSensor": (True, 2., 200),
   "temperatureSensor2": (True, 2., 200),
   "gpsNMEA": (True, 9.),
-  "deviceState": (True, 2., 1),
+  "deviceState": (True, 5., 1),  # CLEARPILOT: 5Hz — thermald decimates pandaStates (10Hz) every 2 ticks
   "can": (True, 100., 1223),  # decimation gives ~5 msgs in a full segment
   "controlsState": (True, 100., 10),
   "pandaStates": (True, 10., 1),
@@ -50,7 +50,7 @@ services: dict[str, tuple] = {
   "longitudinalPlan": (True, 20., 5),
   "procLog": (True, 0.5, 15),
   "gpsLocationExternal": (True, 10., 10),
-  "gpsLocation": (True, 1., 1),
+  "gpsLocation": (True, 2., 1),  # CLEARPILOT: 2Hz (was 1Hz) — gpsd polls at 2Hz
   "ubloxGnss": (True, 10.),
   "qcomGnss": (True, 2.),
   "gnssMeasurements": (True, 10., 10),
@@ -70,7 +70,7 @@ services: dict[str, tuple] = {
   "wideRoadEncodeIdx": (False, 20., 1),
   "wideRoadCameraState": (True, 20., 20),
   "modelV2": (True, 20., 40),
-  "managerState": (True, 2., 1),
+  "managerState": (True, 5., 1),  # CLEARPILOT: 5Hz — gated by deviceState arrival (see thermald)
   "uploaderState": (True, 0., 1),
   "navInstruction": (True, 1., 10),
   "navRoute": (True, 0.),

common/params.cc

@@ -109,7 +109,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"CurrentBootlog", PERSISTENT},
     {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"DashcamDebug", PERSISTENT},
+    {"DashcamFrames", PERSISTENT},
+    {"DashcamState", PERSISTENT},
     {"DashcamShutdown", CLEAR_ON_MANAGER_START},
     {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"DisablePowerDown", PERSISTENT},
@@ -192,14 +193,18 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"RecordFrontLock", PERSISTENT},  // for the internal fleet
     {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"RouteCount", PERSISTENT},
+    {"ShutdownTouchReset", PERSISTENT},
     {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"SshEnabled", PERSISTENT},
     {"TermsVersion", PERSISTENT},
     {"TelemetryEnabled", PERSISTENT},
     {"Timezone", PERSISTENT},
     {"TrainingVersion", PERSISTENT},
+    {"ModelFps", PERSISTENT},
+    {"ModelStandby", PERSISTENT},
+    {"ModelStandbyTs", PERSISTENT},
     {"UbloxAvailable", PERSISTENT},
-    {"VpnEnabled", CLEAR_ON_MANAGER_START},
+    {"VpnEnabled", PERSISTENT},
     {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"UpdateFailedCount", CLEAR_ON_MANAGER_START},
     {"UpdaterAvailableBranches", PERSISTENT},
@@ -215,6 +220,7 @@ std::unordered_map<std::string, uint32_t> keys = {
 
     // FrogPilot parameters
     {"AccelerationPath", PERSISTENT},
+    {"BenchCruiseActive", CLEAR_ON_MANAGER_START},
     {"BenchCruiseSpeed", CLEAR_ON_MANAGER_START},
     {"ClpUiState", CLEAR_ON_MANAGER_START},
     {"BenchEngaged", CLEAR_ON_MANAGER_START},
@@ -243,12 +249,21 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CarMake", PERSISTENT},
     {"CarModel", PERSISTENT},
 
-    {"CarCruiseDisplayActual", PERSISTENT},
     {"CarSpeedLimit", PERSISTENT},
     
     {"CarSpeedLimitWarning", PERSISTENT},
     {"CarSpeedLimitLiteral", PERSISTENT},
-    
+    {"CarIsMetric", PERSISTENT},
+
+    {"ClearpilotSpeedDisplay", PERSISTENT},
+    {"ClearpilotSpeedLimitDisplay", PERSISTENT},
+    {"ClearpilotHasSpeed", PERSISTENT},
+    {"ClearpilotIsMetric", PERSISTENT},
+    {"ClearpilotSpeedUnit", PERSISTENT},
+    {"ClearpilotCruiseWarning", PERSISTENT},
+    {"ClearpilotCruiseWarningSpeed", PERSISTENT},
+    {"ClearpilotPlayDing", PERSISTENT},
+
     // {"SpeedLimitLatDesired", PERSISTENT},
     // {"SpeedLimitVTSC", PERSISTENT},
 
@@ -275,6 +290,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CEStopLights", PERSISTENT},
     {"CEStopLightsLead", PERSISTENT},
     {"Compass", PERSISTENT},
+    {"ClearpilotShowHealthMetrics", PERSISTENT},
     {"ConditionalExperimental", PERSISTENT},
     {"CrosstrekTorque", PERSISTENT},
     {"CurrentHolidayTheme", PERSISTENT},
@@ -492,8 +508,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"WheelIcon", PERSISTENT},
     {"WheelSpeed", PERSISTENT},
 
-    // Clearpilot
-    {"no_lat_lane_change", PERSISTENT},
 };
 
 } // namespace

common/realtime.py

@@ -12,7 +12,7 @@ from openpilot.system.hardware import PC
 # time step for each process
 DT_CTRL = 0.01  # controlsd
 DT_MDL = 0.05  # model
-DT_TRML = 0.5  # thermald and manager
+DT_TRML = 0.25  # thermald and manager — 4 Hz
 DT_DMON = 0.05  # driver monitoring
 
 

launch_chffrplus.sh

@@ -85,6 +85,9 @@ function launch {
   # write tmux scrollback to a file
   tmux capture-pane -pq -S-1000 > /tmp/launch_log
 
+  # Preflight: create dirs git can't track
+  source "$DIR/build_preflight.sh"
+
   # start manager
   cd selfdrive/manager
   if [ ! -f $DIR/prebuilt ]; then

launch_openpilot.sh

@@ -20,6 +20,9 @@ bash /data/openpilot/system/clearpilot/on_start.sh
 # CLEARPILOT: start VPN monitor (kills previous instances, runs as root)
 sudo bash -c 'nohup /data/openpilot/system/clearpilot/vpn-monitor.sh >> /tmp/vpn-monitor.log 2>&1 &'
 
+# CLEARPILOT: start nice monitor (keeps claude at nice 19)
+sudo bash -c 'nohup /data/openpilot/system/clearpilot/nice-monitor.sh > /dev/null 2>&1 &'
+
 # CLEARPILOT: pass --bench flag through to manager via env var
 if [ "$1" = "--bench" ]; then
   export BENCH_MODE=1

panda/SConscript

@@ -166,6 +166,7 @@ Export('base_project_f4', 'base_project_h7', 'build_project')
 
 
 # Common autogenerated includes
+os.makedirs("board/obj", exist_ok=True)
 with open("board/obj/gitversion.h", "w") as f:
   f.write(f'const uint8_t gitversion[] = "{get_version(BUILDER, BUILD_TYPE)}";\n')
 

selfdrive/athena/manage_athenad.py

@@ -32,7 +32,9 @@ def main():
         continue
 
       cloudlog.info("starting athena daemon")
-      proc = Process(name='athenad', target=launcher, args=('selfdrive.athena.athenad', 'athenad'))
+      from openpilot.selfdrive.manager.process import _log_dir
+      log_path = _log_dir + "/athenad.log"
+      proc = Process(name='athenad', target=launcher, args=('selfdrive.athena.athenad', 'athenad', log_path))
       proc.start()
       proc.join()
       cloudlog.event("athenad exited", exitcode=proc.exitcode)

selfdrive/car/hyundai/carcontroller.py

@@ -8,7 +8,6 @@ from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
 from openpilot.selfdrive.car.interfaces import CarControllerBase
-from openpilot.common.params import Params
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
@@ -57,6 +56,7 @@ class CarController(CarControllerBase):
     self.car_fingerprint = CP.carFingerprint
     self.last_button_frame = 0
 
+
   def update(self, CC, CS, now_nanos, frogpilot_variables):
     actuators = CC.actuators
     hud_control = CC.hudControl
@@ -112,7 +112,9 @@ class CarController(CarControllerBase):
       hda2_long = hda2 and self.CP.openpilotLongitudinalControl
 
       # steering control
-      can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_steer))
+      # CLEARPILOT: no_lat_lane_change comes via frogpilot_variables (set by controlsd in-process)
+      no_lat_lane_change = int(getattr(frogpilot_variables, 'no_lat_lane_change', False))
+      can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_steer, no_lat_lane_change))
 
       # prevent LFA from activating on HDA2 by sending "no lane lines detected" to ADAS ECU
       if self.frame % 5 == 0 and hda2:

selfdrive/car/hyundai/carstate.py

@@ -48,6 +48,10 @@ class CarState(CarStateBase):
     self.is_metric = False
     self.buttons_counter = 0
 
+    # CLEARPILOT: cache to avoid per-cycle atomic writes to /dev/shm (eats CPU via fsync/flock)
+    self._prev_car_speed_limit = None
+    self._prev_car_is_metric = None
+
     self.cruise_info = {}
 
     # On some cars, CLU15->CF_Clu_VehicleSpeed can oscillate faster than the dash updates. Sample at 5 Hz
@@ -210,10 +214,15 @@ class CarState(CarStateBase):
       self.lkas_previously_enabled = self.lkas_enabled
       self.lkas_enabled = cp.vl["BCM_PO_11"]["LFA_Pressed"]
 
-    # self.params_memory.put_int("CarSpeedLimitLiteral", self.calculate_speed_limit(cp, cp_cam))
-    self.params_memory.put_float("CarSpeedLimit", self.calculate_speed_limit(cp, cp_cam) * speed_conv)
-    self.params_memory.put_float("CarCruiseDisplayActual", cp_cruise.vl["SCC11"]["VSetDis"])
-    
+    # CLEARPILOT: gate on change — see same fix in update_canfd
+    car_speed_limit = self.calculate_speed_limit(cp, cp_cam) * speed_conv
+    if car_speed_limit != self._prev_car_speed_limit:
+      self.params_memory.put_float("CarSpeedLimit", car_speed_limit)
+      self._prev_car_speed_limit = car_speed_limit
+    if self.is_metric != self._prev_car_is_metric:
+      self.params_memory.put("CarIsMetric", "1" if self.is_metric else "0")
+      self._prev_car_is_metric = self.is_metric
+
 
     return ret
 
@@ -416,64 +425,23 @@ class CarState(CarStateBase):
     #   nonAdaptive = false,
     #   speedCluster = 0 )
 
-    # print("Set limit")
-    # print(self.calculate_speed_limit(cp, cp_cam))
-    # self.params_memory.put_float("CarSpeedLimitLiteral", self.calculate_speed_limit(cp, cp_cam))
-    self.params_memory.put_float("CarSpeedLimit", self.calculate_speed_limit(cp, cp_cam) * speed_factor)
+    # CLEARPILOT: gate on change — these writes run 100Hz, each is an atomic fsync/flock transaction
+    car_speed_limit = self.calculate_speed_limit(cp, cp_cam) * speed_factor
+    if car_speed_limit != self._prev_car_speed_limit:
+      self.params_memory.put_float("CarSpeedLimit", car_speed_limit)
+      self._prev_car_speed_limit = car_speed_limit
+    if self.is_metric != self._prev_car_is_metric:
+      self.params_memory.put("CarIsMetric", "1" if self.is_metric else "0")
+      self._prev_car_is_metric = self.is_metric
 
-    # CLEARPILOT: telemetry logging
-    speed_limit_bus = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam
-    scc = cp_cam.vl["SCC_CONTROL"] if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp.vl["SCC_CONTROL"]
-    cluster = speed_limit_bus.vl["CLUSTER_SPEED_LIMIT"]
-
-    tlog("car", {
-      "vEgo": round(ret.vEgo, 3),
-      "vEgoRaw": round(ret.vEgoRaw, 3),
-      "aEgo": round(ret.aEgo, 3),
-      "steeringAngleDeg": round(ret.steeringAngleDeg, 1),
-      "gear": str(ret.gearShifter),
-      "brakePressed": ret.brakePressed,
-      "gasPressed": ret.gasPressed,
-      "standstill": ret.standstill,
-      "leftBlinker": ret.leftBlinker,
-      "rightBlinker": ret.rightBlinker,
-    })
-
-    tlog("cruise", {
-      "enabled": ret.cruiseState.enabled,
-      "available": ret.cruiseState.available,
-      "speed": round(ret.cruiseState.speed, 3),
-      "standstill": ret.cruiseState.standstill,
-      "accFaulted": ret.accFaulted,
-      "brakePressed": ret.brakePressed,
-      "ACCMode": scc.get("ACCMode", 0),
-      "VSetDis": scc.get("VSetDis", 0),
-      "aReqRaw": round(scc.get("aReqRaw", 0), 3),
-      "aReqValue": round(scc.get("aReqValue", 0), 3),
-      "DISTANCE_SETTING": scc.get("DISTANCE_SETTING", 0),
-      "ACC_ObjDist": round(scc.get("ACC_ObjDist", 0), 1),
-    })
-
-    tlog("speed_limit", {
-      "SPEED_LIMIT_1": cluster.get("SPEED_LIMIT_1", 0),
-      "SPEED_LIMIT_2": cluster.get("SPEED_LIMIT_2", 0),
-      "SPEED_LIMIT_3": cluster.get("SPEED_LIMIT_3", 0),
-      "SCHOOL_ZONE": cluster.get("SCHOOL_ZONE", 0),
-      "CHIME_1": cluster.get("CHIME_1", 0),
-      "CHIME_2": cluster.get("CHIME_2", 0),
-      "SPEED_CHANGE_BLINKING": cluster.get("SPEED_CHANGE_BLINKING", 0),
-      "calculated": self.calculate_speed_limit(cp, cp_cam),
-      "is_metric": self.is_metric,
-    })
-
-    tlog("buttons", {
-      "cruise_button": self.cruise_buttons[-1],
-      "prev_cruise_button": self.prev_cruise_buttons,
-      "main_button": self.main_buttons[-1],
-      "prev_main_button": self.prev_main_buttons,
-      "lkas_enabled": self.lkas_enabled,
-      "main_enabled": self.main_enabled,
-    })
+    # CLEARPILOT: telemetry logging — disabled, re-enable when needed
+    # speed_limit_bus = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam
+    # scc = cp_cam.vl["SCC_CONTROL"] if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp.vl["SCC_CONTROL"]
+    # cluster = speed_limit_bus.vl["CLUSTER_SPEED_LIMIT"]
+    # tlog("car", { ... })
+    # tlog("cruise", { ... })
+    # tlog("speed_limit", { ... })
+    # tlog("buttons", { ... })
 
     return ret
 

selfdrive/car/hyundai/hyundaicanfd.py

@@ -2,7 +2,6 @@ from openpilot.common.numpy_fast import clip
 from openpilot.selfdrive.car import CanBusBase
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags
 
-from openpilot.common.params import Params
 
 class CanBus(CanBusBase):
   def __init__(self, CP, hda2=None, fingerprint=None) -> None:
@@ -36,12 +35,9 @@ class CanBus(CanBusBase):
     return self._cam
 
 
-def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
-
-  # Im sure there is a better way to do this
-  params_memory = Params("/dev/shm/params")
-  no_lat_lane_change = params_memory.get_int("no_lat_lane_change", 1)
-
+def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer, no_lat_lane_change=0):
+  # CLEARPILOT: no_lat_lane_change is passed in by the caller so we can hoist
+  # the Params read out of the 100Hz hot path (was ~5% of carcontroller time)
   ret = []
 
   values = {
@@ -130,9 +126,7 @@ def create_buttons(packer, CP, CAN, cnt, btn):
 
 def create_buttons_alt(packer, CP, CAN, cnt, btn, template):
   return
-  params_memory = Params("/dev/shm/params")
-  CarCruiseDisplayActual = params_memory.get_float("CarCruiseDisplayActual")
-  
+
   values = {
     "COUNTER": cnt,
     "NEW_SIGNAL_1": 0.0,

selfdrive/car/interfaces.py

@@ -484,10 +484,19 @@ class CarInterfaceBase(ABC):
           self.silent_steer_warning = True
           events.add(EventName.steerTempUnavailableSilent)
         else:
+          # CLEARPILOT: log once per instance of this warning
+          if not getattr(self, '_steer_fault_logged', False):
+            import sys
+            print(f"CLP steerTempUnavailable: steerFaultTemporary={cs_out.steerFaultTemporary} "
+                  f"steeringPressed={cs_out.steeringPressed} standstill={cs_out.standstill} "
+                  f"steering_unpressed={self.steering_unpressed} steeringAngleDeg={cs_out.steeringAngleDeg:.1f} "
+                  f"steeringTorque={cs_out.steeringTorque:.1f} vEgo={cs_out.vEgo:.2f}", file=sys.stderr)
+            self._steer_fault_logged = True
           events.add(EventName.steerTempUnavailable)
     else:
       self.no_steer_warning = False
       self.silent_steer_warning = False
+      self._steer_fault_logged = False
     if cs_out.steerFaultPermanent:
       events.add(EventName.steerUnavailable)
 

selfdrive/clearpilot/bench_cmd.py

@@ -7,7 +7,9 @@ Usage:
   python3 -m selfdrive.clearpilot.bench_cmd speed 20
   python3 -m selfdrive.clearpilot.bench_cmd speedlimit 45
   python3 -m selfdrive.clearpilot.bench_cmd cruise 55
+  python3 -m selfdrive.clearpilot.bench_cmd cruiseactive 0|1|2  (0=disabled, 1=active, 2=paused)
   python3 -m selfdrive.clearpilot.bench_cmd engaged 1
+  python3 -m selfdrive.clearpilot.bench_cmd ding              (trigger speed limit ding sound)
   python3 -m selfdrive.clearpilot.bench_cmd debugbutton       (simulate LKAS debug button press)
   python3 -m selfdrive.clearpilot.bench_cmd dump
   python3 -m selfdrive.clearpilot.bench_cmd wait_ready
@@ -89,6 +91,7 @@ def main():
     "speed": "BenchSpeed",
     "speedlimit": "BenchSpeedLimit",
     "cruise": "BenchCruiseSpeed",
+    "cruiseactive": "BenchCruiseActive",
     "engaged": "BenchEngaged",
   }
 
@@ -106,6 +109,10 @@ def main():
   elif cmd == "wait_ready":
     wait_ready()
 
+  elif cmd == "ding":
+    params.put("ClearpilotPlayDing", "1")
+    print("Ding triggered")
+
   elif cmd == "debugbutton":
     # Simulate LKAS debug button — same state machine as controlsd.clearpilot_state_control()
     current = params.get_int("ScreenDisplayMode")

selfdrive/clearpilot/bench_onroad.py

@@ -8,6 +8,7 @@ configurable vehicle state. Control values via params in /dev/shm/params:
   BenchSpeed         - vehicle speed in mph (default: 0)
   BenchSpeedLimit    - speed limit in mph (default: 0, 0=hidden)
   BenchCruiseSpeed   - cruise set speed in mph (default: 0, 0=not set)
+  BenchCruiseActive  - 0=disabled, 1=active, 2=paused/standstill (default: 0)
   BenchGear          - P, D, R, N (default: P)
   BenchEngaged       - 0 or 1, cruise engaged (default: 0)
 
@@ -21,8 +22,8 @@ import time
 import cereal.messaging as messaging
 from cereal import log, car
 from openpilot.common.params import Params
-
-MS_PER_MPH = 0.44704
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.clearpilot.speed_logic import SpeedState
 
 
 def main():
@@ -33,9 +34,13 @@ def main():
   params_mem.put("BenchSpeed", "0")
   params_mem.put("BenchSpeedLimit", "0")
   params_mem.put("BenchCruiseSpeed", "0")
+  params_mem.put("BenchCruiseActive", "0")
   params_mem.put("BenchGear", "P")
   params_mem.put("BenchEngaged", "0")
 
+  # ClearPilot speed processing
+  speed_state = SpeedState()
+
   # thermald handles deviceState (reads our fake pandaStates for ignition)
   pm = messaging.PubMaster([
     "pandaStates", "carState", "controlsState",
@@ -61,11 +66,25 @@ def main():
       speed_limit_mph = float((params_mem.get("BenchSpeedLimit", encoding="utf-8") or "0").strip())
       cruise_mph = float((params_mem.get("BenchCruiseSpeed", encoding="utf-8") or "0").strip())
       gear_str = (params_mem.get("BenchGear", encoding="utf-8") or "P").strip().upper()
+      cruise_active_str = (params_mem.get("BenchCruiseActive", encoding="utf-8") or "0").strip()
       engaged = (params_mem.get("BenchEngaged", encoding="utf-8") or "0").strip() == "1"
 
-      speed_ms = speed_mph * MS_PER_MPH
+      speed_ms = speed_mph * CV.MPH_TO_MS
+      speed_limit_ms = speed_limit_mph * CV.MPH_TO_MS
+      cruise_ms = cruise_mph * CV.MPH_TO_MS
       gear = gear_map.get(gear_str, car.CarState.GearShifter.park)
 
+      # Cruise state: 0=disabled, 1=active, 2=paused
+      cruise_active = cruise_active_str == "1"
+      cruise_standstill = cruise_active_str == "2"
+
+      # ClearPilot speed processing (~2 Hz at 10 Hz loop)
+      if frame % 5 == 0:
+        has_speed = speed_mph > 0
+        speed_state.update(speed_ms, has_speed, speed_limit_ms, is_metric=False,
+                           cruise_speed_ms=cruise_ms, cruise_active=cruise_active or cruise_standstill,
+                           cruise_standstill=cruise_standstill)
+
       # pandaStates — 10 Hz (thermald reads ignition from this)
       if frame % 1 == 0:
         dat = messaging.new_message("pandaStates", 1)
@@ -82,7 +101,7 @@ def main():
       cs.standstill = speed_ms < 0.1
       cs.cruiseState.available = True
       cs.cruiseState.enabled = engaged
-      cs.cruiseState.speed = cruise_mph * MS_PER_MPH if cruise_mph > 0 else 0
+      cs.cruiseState.speed = cruise_mph * CV.MPH_TO_MS if cruise_mph > 0 else 0
       pm.send("carState", dat)
 
       # controlsState — 10 Hz

selfdrive/clearpilot/dashcamd.cc

@@ -7,49 +7,41 @@
  * 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>
 #include <ctime>
 #include <string>
+#include <errno.h>
+#include <signal.h>
+#include <sched.h>
+#include <execinfo.h>
 #include <sys/stat.h>
 #include <sys/resource.h>
 #include <unistd.h>
@@ -64,7 +56,8 @@
 
 const std::string VIDEOS_BASE = "/data/media/0/videos";
 const int SEGMENT_SECONDS = 180;  // 3 minutes
-const int CAMERA_FPS = 20;
+const int SOURCE_FPS = 20;
+const int CAMERA_FPS = 10;
 const int FRAMES_PER_SEGMENT = SEGMENT_SECONDS * CAMERA_FPS;
 const int BITRATE = 2500 * 1024;  // 2500 kbps
 const double IDLE_TIMEOUT_SECONDS = 600.0;  // 10 minutes
@@ -72,10 +65,9 @@ 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() {
@@ -114,81 +106,110 @@ static std::string srt_time(int seconds) {
   return std::string(buf);
 }
 
+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);
+}
+
 int main(int argc, char *argv[]) {
+  signal(SIGSEGV, crash_handler);
+  signal(SIGABRT, crash_handler);
   setpriority(PRIO_PROCESS, 0, -10);
 
+  // CLEARPILOT: pin to cores 0-3 (little cluster). Avoids cache/memory-bandwidth
+  // contention with the RT-pinned processes on the big cluster:
+  //   core 4 = controlsd, core 5 = plannerd/radard, core 7 = modeld.
+  // OMX offloads actual H.264 work to hardware, so the main thread just copies
+  // frames and muxes MP4 — fine on the little cluster.
+  cpu_set_t mask;
+  CPU_ZERO(&mask);
+  for (int i = 0; i < 4; i++) CPU_SET(i, &mask);
+  if (sched_setaffinity(0, sizeof(mask), &mask) != 0) {
+    LOGW("dashcamd: sched_setaffinity failed (%d), continuing unpinned", errno);
+  } else {
+    LOGW("dashcamd: pinned to cores 0-3");
+  }
+
   // 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: connecting to camerad road stream");
+  LOGW("dashcamd: started, connecting to camerad road stream");
   VisionIpcClient vipc("camerad", VISION_STREAM_ROAD, false);
   while (!do_exit && !vipc.connect(false)) {
     usleep(100000);
   }
   if (do_exit) return 0;
+  LOGW("dashcamd: vipc connected, waiting for valid frame");
 
-  int width = vipc.buffers[0].width;
-  int height = vipc.buffers[0].height;
-  int y_stride = vipc.buffers[0].stride;
+  // Wait for a frame with valid dimensions (camerad may still be initializing)
+  VisionBuf *init_buf = nullptr;
+  while (!do_exit) {
+    init_buf = vipc.recv();
+    if (init_buf != nullptr && init_buf->width > 0 && init_buf->height > 0) break;
+    usleep(100000);
+  }
+  if (do_exit) return 0;
+
+  int width = init_buf->width;
+  int height = init_buf->height;
+  int y_stride = init_buf->stride;
   int uv_stride = y_stride;
-  LOGW("dashcamd: connected %dx%d, stride=%d", width, height, y_stride);
+  LOGW("dashcamd: first valid frame %dx%d stride=%d", width, height, y_stride);
 
   // 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;
 
-  // Helper: start a new trip with recording + optional idle timer
+  // Publish initial state
+  params_memory.put("DashcamState", "waiting");
+  params_memory.put("DashcamFrames", "0");
+
+  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());
 
-    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());
     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;
@@ -196,37 +217,41 @@ 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;
 
+    // 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;
+
     sm.update(0);
     double now = nanos_since_boot() / 1e9;
 
@@ -241,60 +266,54 @@ 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");
+      if (params_memory.getBool("DashcamShutdown")) {
+        LOGW("dashcamd: shutdown requested");
         if (state == RECORDING || state == IDLE_TIMEOUT) {
           close_trip();
         }
-        params.putBool("DashcamShutdown", false);
+        params_memory.putBool("DashcamShutdown", false);
         LOGW("dashcamd: shutdown ack sent, exiting");
         break;
       }
     }
 
-    // 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();
         }
@@ -325,16 +344,28 @@ int main(int argc, char *argv[]) {
 
     uint64_t ts = nanos_since_boot() - segment_start_ts;
 
+    // Validate buffer before encoding
+    if (buf->y == nullptr || buf->uv == nullptr || buf->width == 0 || buf->height == 0) {
+      LOGE("dashcamd: invalid frame buf y=%p uv=%p %zux%zu, skipping", buf->y, buf->uv, buf->width, buf->height);
+      continue;
+    }
+
     // Feed NV12 frame directly to OMX encoder
     encoder->encode_frame_nv12(buf->y, y_stride, buf->uv, uv_stride, width, height, ts);
     frame_count++;
+    trip_frames++;
+
+    // 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
     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) {
@@ -367,13 +398,11 @@ 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;

selfdrive/clearpilot/speed_logic.py

@@ -0,0 +1,114 @@
+"""
+ClearPilot speed processing module.
+
+Shared logic for converting raw speed and speed limit data into display-ready
+values. Called from controlsd (live mode) and bench_onroad (bench mode).
+
+Reads raw inputs, converts to display units (mph or kph based on car's CAN
+unit setting), detects speed limit changes, and writes results to params_memory
+for the onroad UI to read.
+"""
+import math
+import time
+from openpilot.common.params import Params
+from openpilot.common.conversions import Conversions as CV
+
+
+class SpeedState:
+  def __init__(self):
+    self.params_memory = Params("/dev/shm/params")
+    self.prev_speed_limit = 0
+
+    # Ding state tracking
+    self.last_ding_time = 0.0
+    self.prev_warning = ""
+    self.prev_warning_speed_limit = 0
+
+    # Cache last-written param values — each put() is mkstemp+fsync+flock+rename.
+    # Sentinel None so the first call always writes.
+    self._w_has_speed = None
+    self._w_speed_display = None
+    self._w_speed_limit_display = None
+    self._w_speed_unit = None
+    self._w_is_metric = None
+    self._w_cruise_warning = None
+    self._w_cruise_warning_speed = None
+
+  def _put_if_changed(self, key, value, attr):
+    if getattr(self, attr) != value:
+      self.params_memory.put(key, value)
+      setattr(self, attr, value)
+
+  def update(self, speed_ms: float, has_speed: bool, speed_limit_ms: float, is_metric: bool,
+             cruise_speed_ms: float = 0.0, cruise_active: bool = False, cruise_standstill: bool = False):
+    """
+    Convert raw m/s values to display-ready strings and write to params_memory.
+    """
+    now = time.monotonic()
+
+    if is_metric:
+      speed_display = speed_ms * CV.MS_TO_KPH
+      speed_limit_display = speed_limit_ms * CV.MS_TO_KPH
+      cruise_display = cruise_speed_ms * CV.MS_TO_KPH
+      unit = "km/h"
+    else:
+      speed_display = speed_ms * CV.MS_TO_MPH
+      speed_limit_display = speed_limit_ms * CV.MS_TO_MPH
+      cruise_display = cruise_speed_ms * CV.MS_TO_MPH
+      unit = "mph"
+
+    speed_int = int(math.floor(speed_display))
+    speed_limit_int = int(round(speed_limit_display))
+    cruise_int = int(round(cruise_display))
+
+    self.prev_speed_limit = speed_limit_int
+
+    # Write display-ready values to params_memory (gated on change)
+    self._put_if_changed("ClearpilotHasSpeed", "1" if has_speed and speed_int > 0 else "0", "_w_has_speed")
+    self._put_if_changed("ClearpilotSpeedDisplay", str(speed_int) if has_speed and speed_int > 0 else "", "_w_speed_display")
+    self._put_if_changed("ClearpilotSpeedLimitDisplay", str(speed_limit_int) if speed_limit_int > 0 else "0", "_w_speed_limit_display")
+    self._put_if_changed("ClearpilotSpeedUnit", unit, "_w_speed_unit")
+    self._put_if_changed("ClearpilotIsMetric", "1" if is_metric else "0", "_w_is_metric")
+
+    # Cruise warning logic
+    warning = ""
+    warning_speed = ""
+    cruise_engaged = cruise_active and not cruise_standstill
+
+    if speed_limit_int >= 20 and cruise_engaged and cruise_int > 0:
+      # Tiers (warning fires at >= limit + threshold):
+      #   limit >= 50:  +9 over ok, warn at +10   (e.g. 60 → warn at 70)
+      #   limit 26-49:  +6 over ok, warn at +7    (e.g. 35 → warn at 42)
+      #   limit <= 25:  +8 over ok, warn at +9    (e.g. 25 → warn at 34, so 33 is ok)
+      if speed_limit_int >= 50:
+        over_threshold = 10
+      elif speed_limit_int <= 25:
+        over_threshold = 9
+      else:
+        over_threshold = 7
+      if cruise_int >= speed_limit_int + over_threshold:
+        warning = "over"
+        warning_speed = str(cruise_int)
+      elif cruise_int <= speed_limit_int - 5:
+        warning = "under"
+        warning_speed = str(cruise_int)
+
+    self._put_if_changed("ClearpilotCruiseWarning", warning, "_w_cruise_warning")
+    self._put_if_changed("ClearpilotCruiseWarningSpeed", warning_speed, "_w_cruise_warning_speed")
+
+    # Ding logic: play when warning sign appears or speed limit changes while visible
+    should_ding = False
+    if warning:
+      if not self.prev_warning:
+        # Warning sign just appeared
+        should_ding = True
+      elif speed_limit_int != self.prev_warning_speed_limit:
+        # Speed limit changed while warning sign is visible
+        should_ding = True
+
+    if should_ding and now - self.last_ding_time >= 30:
+      self.params_memory.put("ClearpilotPlayDing", "1")
+      self.last_ding_time = now
+
+    self.prev_warning = warning
+    self.prev_warning_speed_limit = speed_limit_int if warning else 0

selfdrive/clearpilot/telemetry.py

@@ -6,20 +6,39 @@ Usage from any process:
   tlog("canbus", {"speed": 45.2, "speed_limit": 60})
 
 Sends JSON packets over ZMQ PUSH to telemetryd, which diffs and writes CSV.
+Only sends when TelemetryEnabled memory param is set — zero cost when disabled.
 """
 import json
+import os
 import time
 import zmq
 
 TELEMETRY_SOCK = "ipc:///tmp/clearpilot_telemetry"
+_PARAM_PATH = "/dev/shm/params/d/TelemetryEnabled"
 
 _ctx = None
 _sock = None
+_last_check = 0
+_enabled = False
 
 
 def tlog(group: str, data: dict):
   """Log a telemetry packet. Only changed values will be written to CSV by telemetryd."""
-  global _ctx, _sock
+  global _ctx, _sock, _last_check, _enabled
+
+  # Check param at most once per second to avoid filesystem overhead
+  now = time.monotonic()
+  if now - _last_check > 1.0:
+    _last_check = now
+    try:
+      with open(_PARAM_PATH, 'r') as f:
+        _enabled = f.read().strip() == "1"
+    except (FileNotFoundError, IOError):
+      _enabled = False
+
+  if not _enabled:
+    return
+
   if _sock is None:
     _ctx = zmq.Context.instance()
     _sock = _ctx.socket(zmq.PUSH)

selfdrive/clearpilot/telemetryd.py

@@ -17,6 +17,7 @@ import shutil
 import time
 import zmq
 
+import cereal.messaging as messaging
 from openpilot.common.params import Params
 from openpilot.selfdrive.clearpilot.telemetry import TELEMETRY_SOCK
 from openpilot.selfdrive.manager.process import _log_dir, session_log
@@ -26,12 +27,16 @@ DISK_CHECK_INTERVAL = 10  # seconds
 
 
 def main():
-  params = Params()
+  params = Params("/dev/shm/params")
   ctx = zmq.Context.instance()
   sock = ctx.socket(zmq.PULL)
   sock.setsockopt(zmq.RCVHWM, 1000)
   sock.bind(TELEMETRY_SOCK)
 
+  # GPS subscriber for location telemetry
+  sm = messaging.SubMaster(['gpsLocation'])
+  last_gps_log = 0
+
   csv_path = os.path.join(_log_dir, "telemetry.csv")
   state: dict[str, dict] = {}  # group -> {key: last_value}
   was_enabled = False
@@ -71,6 +76,34 @@ def main():
 
     was_enabled = enabled
 
+    # GPS telemetry at most 1Hz — fed through the same diff logic
+    if enabled and writer is not None:
+      sm.update(0)
+      now = time.monotonic()
+      if sm.updated['gpsLocation'] and (now - last_gps_log) >= 1.0:
+        gps = sm['gpsLocation']
+        gps_data = {
+          "latitude": f"{gps.latitude:.7f}",
+          "longitude": f"{gps.longitude:.7f}",
+          "speed": f"{gps.speed:.2f}",
+          "altitude": f"{gps.altitude:.1f}",
+          "bearing": f"{gps.bearingDeg:.1f}",
+          "accuracy": f"{gps.accuracy:.1f}",
+        }
+        ts = time.time()
+        if "gps" not in state:
+          state["gps"] = {}
+        prev_gps = state["gps"]
+        gps_changed = False
+        for key, value in gps_data.items():
+          if key not in prev_gps or prev_gps[key] != value:
+            writer.writerow([f"{ts:.6f}", "gps", key, value])
+            prev_gps[key] = value
+            gps_changed = True
+        if gps_changed:
+          f.flush()
+        last_gps_log = now
+
     # Always drain the socket (even when disabled) to avoid backpressure
     try:
       raw = sock.recv_string(zmq.NOBLOCK)

selfdrive/controls/controlsd.py

@@ -38,6 +38,7 @@ from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import CRUIS
 
 from openpilot.selfdrive.frogpilot.controls.lib.model_manager import RADARLESS_MODELS
 from openpilot.selfdrive.clearpilot.telemetry import tlog
+from openpilot.selfdrive.clearpilot.speed_logic import SpeedState
 from openpilot.selfdrive.frogpilot.controls.lib.speed_limit_controller import SpeedLimitController
 
 SOFT_DISABLE_TIME = 3  # seconds
@@ -48,7 +49,7 @@ CAMERA_OFFSET = 0.04
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
 TESTING_CLOSET = "TESTING_CLOSET" in os.environ
-IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"}
+IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd", "telemetryd", "dashcamd"}
 
 ThermalStatus = log.DeviceState.ThermalStatus
 State = log.ControlsState.OpenpilotState
@@ -80,6 +81,12 @@ class Controls:
     self.params_memory.put_bool("CPTLkasButtonAction", False)
     self.params_memory.put_int("ScreenDisplayMode", 0)
 
+    # CLEARPILOT: speed-limit/cruise-warning state machine + park→drive auto-reset
+    self.speed_state = SpeedState()
+    self.speed_state_frame = 0
+    self.was_driving_gear = False
+    self.driving_gear = False
+
     self.radarless_model = self.params.get("Model", encoding='utf-8') in RADARLESS_MODELS
 
     with car.CarParams.from_bytes(self.params.get("CarParams", block=True)) as msg:
@@ -108,8 +115,8 @@ class Controls:
     self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
-                                   'testJoystick', 'frogpilotPlan'] + self.camera_packets + self.sensor_packets,
-                                  ignore_alive=ignore, ignore_avg_freq=ignore+['radarState', 'testJoystick'], ignore_valid=['testJoystick', ],
+                                   'testJoystick', 'frogpilotPlan', 'gpsLocation'] + self.camera_packets + self.sensor_packets,
+                                  ignore_alive=ignore + ['gpsLocation'], ignore_avg_freq=ignore+['radarState', 'testJoystick', 'gpsLocation'], ignore_valid=['testJoystick', 'gpsLocation'],
                                   frequency=int(1/DT_CTRL))
 
     self.joystick_mode = self.params.get_bool("JoystickDebugMode")
@@ -442,6 +449,13 @@ class Controls:
     # All events here should at least have NO_ENTRY and SOFT_DISABLE.
     num_events = len(self.events)
 
+    # CLEARPILOT: compute model standby suppression early — used by multiple checks below
+    try:
+      standby_ts = float(self.params_memory.get("ModelStandbyTs") or "0")
+    except (ValueError, TypeError):
+      standby_ts = 0
+    model_suppress = (time.monotonic() - standby_ts) < 2.0
+
     not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning}
     if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
       self.events.add(EventName.processNotRunning)
@@ -455,9 +469,11 @@ class Controls:
         elif not self.sm.all_freq_ok(self.camera_packets):
           self.events.add(EventName.cameraFrameRate)
     if not REPLAY and self.rk.lagging:
+      import sys
+      print(f"CLP controlsdLagging: remaining={self.rk.remaining:.4f} standstill={CS.standstill} vEgo={CS.vEgo:.2f}", file=sys.stderr)
       self.events.add(EventName.controlsdLagging)
     if not self.radarless_model:
-      if len(self.sm['radarState'].radarErrors) or (not self.rk.lagging and not self.sm.all_checks(['radarState'])):
+      if not model_suppress and (len(self.sm['radarState'].radarErrors) or (not self.rk.lagging and not self.sm.all_checks(['radarState']))):
         self.events.add(EventName.radarFault)
     if not self.sm.valid['pandaStates']:
       self.events.add(EventName.usbError)
@@ -469,7 +485,7 @@ class Controls:
     # generic catch-all. ideally, a more specific event should be added above instead
     has_disable_events = self.events.contains(ET.NO_ENTRY) and (self.events.contains(ET.SOFT_DISABLE) or self.events.contains(ET.IMMEDIATE_DISABLE))
     no_system_errors = (not has_disable_events) or (len(self.events) == num_events)
-    if (not self.sm.all_checks() or self.card.can_rcv_timeout) and no_system_errors:
+    if (not self.sm.all_checks() or self.card.can_rcv_timeout) and no_system_errors and not model_suppress:
       if not self.sm.all_alive():
         self.events.add(EventName.commIssue)
       elif not self.sm.all_freq_ok():
@@ -490,13 +506,13 @@ class Controls:
       self.logged_comm_issue = None
 
     if not (self.CP.notCar and self.joystick_mode):
-      if not self.sm['liveLocationKalman'].posenetOK:
+      if not self.sm['liveLocationKalman'].posenetOK and not model_suppress:
         self.events.add(EventName.posenetInvalid)
       if not self.sm['liveLocationKalman'].deviceStable:
         self.events.add(EventName.deviceFalling)
-      if not self.sm['liveLocationKalman'].inputsOK:
+      if not self.sm['liveLocationKalman'].inputsOK and not model_suppress:
         self.events.add(EventName.locationdTemporaryError)
-      if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY):
+      if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY) and not model_suppress:
         self.events.add(EventName.paramsdTemporaryError)
 
     # conservative HW alert. if the data or frequency are off, locationd will throw an error
@@ -542,7 +558,7 @@ class Controls:
         self.distance_traveled = 0
       self.distance_traveled += CS.vEgo * DT_CTRL
 
-      if self.sm['modelV2'].frameDropPerc > 20:
+      if self.sm['modelV2'].frameDropPerc > 20 and not model_suppress:
         self.events.add(EventName.modeldLagging)
 
 
@@ -630,15 +646,13 @@ class Controls:
     self.enabled = self.state in ENABLED_STATES
     self.active = self.state in ACTIVE_STATES
 
-    # CLEARPILOT: log engagement state for debugging cruise desync issues
-    tlog("engage", {
-      "state": self.state.name if hasattr(self.state, 'name') else str(self.state),
-      "enabled": self.enabled,
-      "active": self.active,
-      "cruise_enabled": CS.cruiseState.enabled,
-      "cruise_available": CS.cruiseState.available,
-      "brakePressed": CS.brakePressed,
-    })
+    # CLEARPILOT: engagement telemetry disabled — was running at 100Hz, causing CPU load
+    # tlog("engage", {
+    #   "state": self.state.name if hasattr(self.state, 'name') else str(self.state),
+    #   "enabled": self.enabled, "active": self.active,
+    #   "cruise_enabled": CS.cruiseState.enabled, "cruise_available": CS.cruiseState.available,
+    #   "brakePressed": CS.brakePressed,
+    # })
     if self.active:
       self.current_alert_types.append(ET.WARNING)
 
@@ -687,9 +701,9 @@ class Controls:
 
     if model_v2.meta.laneChangeState == LaneChangeState.laneChangeStarting and clearpilot_disable_lat_on_lane_change:
       CC.latActive = False
-      self.params_memory.put_bool("no_lat_lane_change", True)
+      self.frogpilot_variables.no_lat_lane_change = True
     else:
-      self.params_memory.put_bool("no_lat_lane_change", False)
+      self.frogpilot_variables.no_lat_lane_change = False
 
     if CS.leftBlinker or CS.rightBlinker:
       self.last_blinker_frame = self.sm.frame
@@ -1250,6 +1264,12 @@ class Controls:
       self.events.add(EventName.clpDebug)
 
   def clearpilot_state_control(self, CC, CS):
+    # CLEARPILOT: auto-reset display when shifting into drive from screen-off
+    if self.driving_gear and not self.was_driving_gear:
+      if self.params_memory.get_int("ScreenDisplayMode") == 3:
+        self.params_memory.put_int("ScreenDisplayMode", 0)
+    self.was_driving_gear = self.driving_gear
+
     if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
       current = self.params_memory.get_int("ScreenDisplayMode")
 
@@ -1262,6 +1282,21 @@ class Controls:
         new_mode = 0 if current == 3 else 3
 
       self.params_memory.put_int("ScreenDisplayMode", new_mode)
+
+    # ClearPilot speed processing (~2 Hz at 100 Hz loop) — drives speed-limit sign
+    # and cruise over/under warning sign via memory params read by the UI.
+    self.speed_state_frame += 1
+    if self.speed_state_frame % 50 == 0:
+      gps = self.sm['gpsLocation']
+      has_gps = self.sm.valid['gpsLocation'] and gps.hasFix
+      speed_ms = gps.speed if has_gps else 0.0
+      speed_limit_ms = self.params_memory.get_float("CarSpeedLimit")
+      is_metric = (self.params_memory.get("CarIsMetric", encoding="utf-8") or "0") == "1"
+      cruise_speed_ms = CS.cruiseState.speed
+      cruise_active = CS.cruiseState.enabled
+      cruise_standstill = CS.cruiseState.standstill
+      self.speed_state.update(speed_ms, has_gps, speed_limit_ms, is_metric,
+                              cruise_speed_ms, cruise_active, cruise_standstill)
     return CC
 
 def main():

selfdrive/frogpilot/controls/frogpilot_planner.py

@@ -58,6 +58,9 @@ class FrogPilotPlanner:
     self.params = Params()
     self.params_memory = Params("/dev/shm/params")
 
+    # CLEARPILOT: track valid transitions so we only log when it flips, not every cycle
+    self._dbg_prev_valid = True
+
     self.cem = ConditionalExperimentalMode()
     self.lead_one = Lead()
     self.mtsc = MapTurnSpeedController()
@@ -242,7 +245,18 @@ class FrogPilotPlanner:
 
   def publish(self, sm, pm):
     frogpilot_plan_send = messaging.new_message('frogpilotPlan')
-    frogpilot_plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
+    valid = sm.all_checks(service_list=['carState', 'controlsState'])
+    # CLEARPILOT: log on transition into invalid — stderr goes to our plannerd.log
+    if valid != self._dbg_prev_valid and not valid:
+      import sys
+      print(
+        "CLP frogpilotPlan valid=False: "
+        f"carState(a={sm.alive['carState']},v={sm.valid['carState']},f={sm.freq_ok['carState']}) "
+        f"controlsState(a={sm.alive['controlsState']},v={sm.valid['controlsState']},f={sm.freq_ok['controlsState']})",
+        file=sys.stderr, flush=True
+      )
+    self._dbg_prev_valid = valid
+    frogpilot_plan_send.valid = valid
     frogpilotPlan = frogpilot_plan_send.frogpilotPlan
 
     frogpilotPlan.accelerationJerk = A_CHANGE_COST * (float(self.jerk) if self.lead_one.status else 1)

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);
   }
 }
 
@@ -236,270 +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;
   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
@@ -508,59 +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;
 }
@@ -568,24 +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++) {
@@ -597,99 +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);
 
@@ -697,55 +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

@@ -83,9 +83,26 @@ def manager_init(frogpilot_functions) -> None:
   params_storage = Params("/persist/params")
   params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
 
-  # CLEARPILOT: always start with telemetry disabled, VPN enabled
-  params.put("TelemetryEnabled", "0")
-  params.put("VpnEnabled", "1")
+  # CLEARPILOT: always start with telemetry disabled, VPN enabled (memory params)
+  params_memory = Params("/dev/shm/params")
+  params_memory.put("TelemetryEnabled", "0")
+  params_memory.put("VpnEnabled", "1")
+  params_memory.put("DashcamFrames", "0")
+  params_memory.put("DashcamState", "stopped")
+  params_memory.put("DashcamShutdown", "0")
+  params_memory.put("ModelFps", "20")
+  params_memory.put("ModelStandby", "0")
+  params_memory.put("ShutdownTouchReset", "0")
+  params_memory.put("ModelStandbyTs", "0")
+  params_memory.put("CarIsMetric", "0")
+  params_memory.put("ClearpilotSpeedDisplay", "")
+  params_memory.put("ClearpilotSpeedLimitDisplay", "0")
+  params_memory.put("ClearpilotHasSpeed", "0")
+  params_memory.put("ClearpilotIsMetric", "0")
+  params_memory.put("ClearpilotSpeedUnit", "mph")
+  params_memory.put("ClearpilotCruiseWarning", "")
+  params_memory.put("ClearpilotCruiseWarningSpeed", "")
+  params_memory.put("ClearpilotPlayDing", "0")
   params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
   params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
   if is_release_branch():
@@ -161,7 +178,6 @@ def manager_init(frogpilot_functions) -> None:
     ("DisableOpenpilotLongitudinal", "0"),
     ("DisableVTSCSmoothing", "0"),
     ("DisengageVolume", "100"),
-    ("DashcamDebug", "1"),
     ("TelemetryEnabled", "0"),
     ("DragonPilotTune", "0"),
     ("DriverCamera", "0"),

selfdrive/manager/process_config.py

@@ -54,7 +54,7 @@ def allow_uploads(started, params, CP: car.CarParams) -> bool:
 
 # ClearPilot functions
 def dashcam_should_run(started, params, CP: car.CarParams) -> bool:
-  return started or params.get_bool("DashcamDebug")
+  return True  # CLEARPILOT: dashcamd manages its own trip lifecycle
 
 procs = [
   DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
@@ -85,7 +85,7 @@ procs = [
   PythonProcess("deleter", "system.loggerd.deleter", always_run),
   PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
   # PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
-  # PythonProcess("gpsd", "system.clearpilot.gpsd", qcomgps, enabled=TICI),  # DISABLED: testing perf
+  PythonProcess("gpsd", "system.clearpilot.gpsd", qcomgps, enabled=TICI),
   # PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
   #PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
   PythonProcess("pandad", "selfdrive.boardd.pandad", always_run),
@@ -110,7 +110,7 @@ procs = [
   PythonProcess("frogpilot_process", "selfdrive.frogpilot.frogpilot_process", always_run),
 
   # ClearPilot processes
-  # NativeProcess("dashcamd", "selfdrive/clearpilot", ["./dashcamd"], dashcam_should_run),  # DISABLED: testing perf
+  NativeProcess("dashcamd", "selfdrive/clearpilot", ["./dashcamd"], dashcam_should_run),
   PythonProcess("telemetryd", "selfdrive.clearpilot.telemetryd", always_run),
   PythonProcess("bench_onroad", "selfdrive.clearpilot.bench_onroad", always_run, enabled=BENCH_MODE),
 ]

selfdrive/modeld/modeld.py

@@ -134,11 +134,15 @@ def main(demo=False):
   setproctitle(PROCESS_NAME)
   config_realtime_process(7, 54)
 
+  import time as _time
   cloudlog.warning("setting up CL context")
+  _t0 = _time.monotonic()
   cl_context = CLContext()
-  cloudlog.warning("CL context ready; loading model")
+  _t1 = _time.monotonic()
+  cloudlog.warning("CL context ready in %.3fs; loading model", _t1 - _t0)
   model = ModelState(cl_context)
-  cloudlog.warning("models loaded, modeld starting")
+  _t2 = _time.monotonic()
+  cloudlog.warning("model loaded in %.3fs (total init %.3fs), modeld starting", _t2 - _t1, _t2 - _t0)
 
   # visionipc clients
   while True:
@@ -233,6 +237,12 @@ def main(demo=False):
       meta_extra = meta_main
 
     sm.update(0)
+
+    # CLEARPILOT: constant 20fps. Variable-rate + standby logic removed — the
+    # variable-rate path caused freq_ok cascades in downstream consumers
+    # (calibrationd/locationd/paramsd). Running at the camera's native rate is
+    # simpler and keeps the full-stack localization chain happy.
+
     desire = DH.desire
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId

selfdrive/monitoring/dmonitoringd.py

@@ -21,6 +21,7 @@ def dmonitoringd_thread():
 
   v_cruise_last = 0
   driver_engaged = False
+  dbg_prev_valid = True  # CLEARPILOT: track valid transitions
 
   # 10Hz <- dmonitoringmodeld
   while True:
@@ -43,7 +44,18 @@ def dmonitoringd_thread():
     # Get data from dmonitoringmodeld
     events = Events()
 
-    if sm.all_checks() and len(sm['liveCalibration'].rpyCalib):
+    # CLEARPILOT: narrow update_states gate. The original sm.all_checks() also
+    # required modelV2 fresh (stops at standstill in two-state modeld) and
+    # liveCalibration.valid (calibrationd cascades its own freq_ok to valid, which
+    # flaps). Both made DM freeze pose → face_detected stuck False → awareness
+    # decayed to 0 within 6s of engagement. Narrow the gate to the subs
+    # update_states actually reads, and only to alive+valid (skip freq_ok and
+    # skip liveCalibration.valid). rpyCalib presence is sufficient to know
+    # calibration has produced output.
+    if (sm.alive['driverStateV2'] and sm.valid['driverStateV2'] and
+        sm.alive['carState'] and sm.valid['carState'] and
+        sm.alive['controlsState'] and sm.valid['controlsState'] and
+        sm.alive['liveCalibration'] and len(sm['liveCalibration'].rpyCalib) > 0):
       driver_status.update_states(sm['driverStateV2'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled)
 
     # Block engaging after max number of distrations
@@ -54,8 +66,16 @@ def dmonitoringd_thread():
     # Update events from driver state
     driver_status.update_events(events, driver_engaged, sm['controlsState'].enabled, sm['carState'].standstill)
 
+    # CLEARPILOT: log on transition to invalid so we can see which sub caused the cascade
+    dm_valid = sm.all_checks()
+    if dm_valid != dbg_prev_valid and not dm_valid:
+      import sys
+      bad = [s for s in sm.alive if not (sm.alive[s] and sm.valid[s] and sm.freq_ok.get(s, True))]
+      details = [f"{s}(a={sm.alive[s]},v={sm.valid[s]},f={sm.freq_ok[s]})" for s in bad]
+      print(f"CLP driverMonitoringState valid=False: {' '.join(details)}", file=sys.stderr, flush=True)
+    dbg_prev_valid = dm_valid
     # build driverMonitoringState packet
-    dat = messaging.new_message('driverMonitoringState', valid=sm.all_checks())
+    dat = messaging.new_message('driverMonitoringState', valid=dm_valid)
     dat.driverMonitoringState = {
       "events": events.to_msg(),
       "faceDetected": driver_status.face_detected,

selfdrive/thermald/fan_controller.py

@@ -6,9 +6,11 @@ from openpilot.common.numpy_fast import interp
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.controls.lib.pid import PIDController
 
+
 class BaseFanController(ABC):
   @abstractmethod
-  def update(self, cur_temp: float, ignition: bool) -> int:
+  def update(self, cur_temp: float, ignition: bool, standstill: bool = False,
+             is_parked: bool = True, cruise_engaged: bool = False) -> int:
     pass
 
 
@@ -20,9 +22,27 @@ class TiciFanController(BaseFanController):
     self.last_ignition = False
     self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_TRML))
 
-  def update(self, cur_temp: float, ignition: bool) -> int:
-    self.controller.neg_limit = -(100 if ignition else 30)
-    self.controller.pos_limit = -(30 if ignition else 0)
+  def update(self, cur_temp: float, ignition: bool, standstill: bool = False,
+             is_parked: bool = True, cruise_engaged: bool = False) -> int:
+    # CLEARPILOT fan range rules:
+    #   parked                                              → 0-100% (full, no floor)
+    #   in drive + cruise engaged (any speed, inc standstill) → 30-100%
+    #   in drive + cruise off + standstill                  → 10-100%
+    #   in drive + cruise off + moving                      → 30-100%
+    # In the PID output, neg_limit is how negative it can go (= max fan as %),
+    # pos_limit is how positive (= negative of min fan %).
+    if is_parked:
+      self.controller.neg_limit = -100
+      self.controller.pos_limit = 0
+    elif cruise_engaged:
+      self.controller.neg_limit = -100
+      self.controller.pos_limit = -30
+    elif standstill:
+      self.controller.neg_limit = -100
+      self.controller.pos_limit = -10
+    else:
+      self.controller.neg_limit = -100
+      self.controller.pos_limit = -30
 
     if ignition != self.last_ignition:
       self.controller.reset()

selfdrive/thermald/power_monitoring.py

@@ -36,12 +36,9 @@ class PowerMonitoring:
     # Reset capacity if it's low
     self.car_battery_capacity_uWh = max((CAR_BATTERY_CAPACITY_uWh / 10), int(car_battery_capacity_uWh))
 
-    # FrogPilot variables
-    device_management = self.params.get_bool("DeviceManagement")
-    device_shutdown_setting = self.params.get_int("DeviceShutdown") if device_management else 33
-    # If the toggle is set for < 1 hour, configure by 15 minute increments
-    self.device_shutdown_time = (device_shutdown_setting - 3) * 3600 if device_shutdown_setting >= 4 else device_shutdown_setting * (60 * 15)
-    self.low_voltage_shutdown = self.params.get_float("LowVoltageShutdown") if device_management else VBATT_PAUSE_CHARGING
+    # CLEARPILOT: hardcoded 30 minute shutdown timer (not user-configurable)
+    self.device_shutdown_time = 1800
+    self.low_voltage_shutdown = VBATT_PAUSE_CHARGING
 
   # Calculation tick
   def calculate(self, voltage: int | None, ignition: bool):
@@ -125,7 +122,13 @@ class PowerMonitoring:
                             offroad_time > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S)
     should_shutdown |= offroad_time > self.device_shutdown_time
     should_shutdown |= low_voltage_shutdown
-    should_shutdown |= (self.car_battery_capacity_uWh <= 0)
+    # CLEARPILOT: removed `car_battery_capacity_uWh <= 0` trigger. That's a virtual
+    # capacity counter floor-limited to 3e6 µWh on boot which drains in ~12 min at
+    # typical device power. With a short drive that doesn't fully recharge (charges
+    # at 45W, cap 30e6 µWh = 36 min to full), a quick store stop could trip shutdown
+    # well before the intended 30-min idle timer. The real protection we want here
+    # is the car battery voltage check (kept above) — the virtual counter is now
+    # retained only for telemetry.
     should_shutdown &= not ignition
     should_shutdown &= (not self.params.get_bool("DisablePowerDown"))
     should_shutdown &= in_car

selfdrive/thermald/thermald.py

@@ -10,7 +10,7 @@ from pathlib import Path
 import psutil
 
 import cereal.messaging as messaging
-from cereal import log
+from cereal import car, log
 from cereal.services import SERVICE_LIST
 from openpilot.common.dict_helpers import strip_deprecated_keys
 from openpilot.common.filter_simple import FirstOrderFilter
@@ -164,7 +164,7 @@ def hw_state_thread(end_event, hw_queue):
 
 def thermald_thread(end_event, hw_queue) -> None:
   pm = messaging.PubMaster(['deviceState', 'frogpilotDeviceState'])
-  sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "controlsState", "pandaStates"], poll="pandaStates")
+  sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "controlsState", "pandaStates", "carState"], poll="pandaStates")
 
   count = 0
 
@@ -197,7 +197,9 @@ def thermald_thread(end_event, hw_queue) -> None:
   engaged_prev = False
 
   params = Params()
+  params_memory = Params("/dev/shm/params")
   power_monitor = PowerMonitoring()
+  last_touch_reset = "0"  # CLEARPILOT: track last seen touch reset value
 
   HARDWARE.initialize_hardware()
   thermal_config = HARDWARE.get_thermal_config()
@@ -290,7 +292,18 @@ def thermald_thread(end_event, hw_queue) -> None:
     msg.deviceState.maxTempC = all_comp_temp
 
     if fan_controller is not None:
-      msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"])
+      # CLEARPILOT: fan rules based on gear (parked vs drive) and cruise-engaged state
+      if sm.seen['carState']:
+        cs = sm['carState']
+        standstill = cs.standstill
+        is_parked = cs.gearShifter == car.CarState.GearShifter.park
+      else:
+        standstill = False
+        is_parked = True  # default safe: assume parked, no fan floor
+      cruise_engaged = sm['controlsState'].enabled if sm.seen['controlsState'] else False
+      msg.deviceState.fanSpeedPercentDesired = fan_controller.update(
+        all_comp_temp, onroad_conditions["ignition"], standstill,
+        is_parked=is_parked, cruise_engaged=cruise_engaged)
 
     is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (time.monotonic() - off_ts > 60 * 5))
     if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP:
@@ -408,14 +421,21 @@ def thermald_thread(end_event, hw_queue) -> None:
     statlog.sample("som_power_draw", som_power_draw)
     msg.deviceState.somPowerDrawW = som_power_draw
 
+    # CLEARPILOT: screen tap resets shutdown timer (off_ts) while offroad
+    touch_reset = params_memory.get("ShutdownTouchReset")
+    if touch_reset is not None and touch_reset != last_touch_reset and off_ts is not None:
+      off_ts = time.monotonic()
+      cloudlog.info("shutdown timer reset by screen touch")
+    last_touch_reset = touch_reset
+
     # Check if we need to shut down
     if power_monitor.should_shutdown(onroad_conditions["ignition"], in_car, off_ts, started_seen):
       cloudlog.warning(f"shutting device down, offroad since {off_ts}")
       # CLEARPILOT: signal dashcamd to close recording gracefully before power-off
-      params.put_bool("DashcamShutdown", True)
+      params_memory.put_bool("DashcamShutdown", True)
       deadline = time.monotonic() + 15.0
       while time.monotonic() < deadline:
-        if not params.getBool("DashcamShutdown"):
+        if not params_memory.get_bool("DashcamShutdown"):
           cloudlog.info("dashcamd shutdown ack received")
           break
         time.sleep(0.5)

selfdrive/ui/SConscript

@@ -77,20 +77,11 @@ qt_env.Program("_text", ["qt/text.cc"], LIBS=qt_libs)
 qt_env.Program("_spinner", ["qt/spinner.cc"], LIBS=qt_libs)
 
 
-# Clearpilot
-# Add qtwebengine to build paths
-qt_env['CXXFLAGS'] += ["-I/usr/include/aarch64-linux-gnu/qt5/QtWebEngine"]
-qt_env['CXXFLAGS'] += ["-I/usr/include/aarch64-linux-gnu/qt5/QtWebEngineCore"]
-qt_env['CXXFLAGS'] += ["-I/usr/include/aarch64-linux-gnu/qt5/QtWebEngineWidgets"]
-qt_env['CXXFLAGS'] += ["-I/usr/include/aarch64-linux-gnu/qt5/QtWebChannel"]
-qt_webengine_libs = qt_libs + ['Qt5WebEngineWidgets']
-
-# Create clearpilot tools
+# Clearpilot tools
 qt_env.Program("/data/openpilot/system/clearpilot/tools/qt_shell", ["/data/openpilot/system/clearpilot/tools/qt_shell.cc"], LIBS=qt_libs)
-# qt_env.Program("/data/openpilot/system/clearpilot/tools/qt_webview", ["/data/openpilot/system/clearpilot/tools/qt_webview.cc"], LIBS=qt_webengine_libs)
 
 # build main UI
-qt_env.Program("ui", qt_src + [asset_obj], LIBS=qt_webengine_libs)
+qt_env.Program("ui", qt_src + [asset_obj], LIBS=qt_libs)
 if GetOption('extras'):
   qt_src.remove("main.cc")  # replaced by test_runner
   qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs)

selfdrive/ui/qt/home.cc

@@ -86,18 +86,25 @@ void HomeWindow::updateState(const UIState &s) {
 
     // CLEARPILOT: show splash screen when onroad but in park
     bool parked = s.scene.parked;
+    int screenMode = paramsMemory.getInt("ScreenDisplayMode");
+    bool nightrider = (screenMode == 1 || screenMode == 4);
+
     if (parked && !was_parked_onroad) {
       LOGW("CLP UI: park transition -> showing splash");
       slayout->setCurrentWidget(ready);
+      // If we were in nightrider mode, switch to screen off
+      if (nightrider) {
+        paramsMemory.putInt("ScreenDisplayMode", 3);
+      }
     } else if (!parked && was_parked_onroad) {
       LOGW("CLP UI: drive transition -> showing onroad");
       slayout->setCurrentWidget(onroad);
+      ready->has_driven = true;
     }
     was_parked_onroad = parked;
 
-    // CLEARPILOT: honor display on/off while showing splash in park
+    // CLEARPILOT: honor display on/off while showing splash in park (normal mode only)
     if (parked && ready->isVisible()) {
-      int screenMode = paramsMemory.getInt("ScreenDisplayMode");
       if (screenMode == 3) {
         Hardware::set_display_power(false);
       } else {
@@ -115,9 +122,11 @@ void HomeWindow::offroadTransition(bool offroad) {
     slayout->setCurrentWidget(ready);
   } else {
     // CLEARPILOT: start onroad in splash — updateState will switch to
-    // camera view once the car shifts out of park
+    // camera view once the car shifts out of park. Reset has_driven so
+    // fresh ignition shows the READY text (not the post-drive textless splash).
     LOGW("CLP UI: onroad transition -> showing splash (parked)");
     was_parked_onroad = true;
+    ready->has_driven = false;
     slayout->setCurrentWidget(ready);
   }
 }
@@ -172,13 +181,6 @@ static const char *clpSidebarBtnStyle = R"(
 
 // clpActionBtnStyle removed — no longer used
 
-// Shutdown timer: param value -> display label
-static QString shutdownLabel(int val) {
-  if (val == 0) return "5 mins";
-  if (val <= 3) return QString::number(val * 15) + " mins";
-  int hours = val - 3;
-  return QString::number(hours) + (hours == 1 ? " hour" : " hours");
-}
 
 ClearPilotPanel::ClearPilotPanel(QWidget* parent) : QFrame(parent) {
   // Sidebar
@@ -249,27 +251,6 @@ ClearPilotPanel::ClearPilotPanel(QWidget* parent) : QFrame(parent) {
   });
   general_panel->addItem(resetCalibBtn);
 
-  // Shutdown Timer
-  int cur_shutdown = Params().getInt("DeviceShutdown");
-  auto shutdownBtn = new ButtonControl("Shutdown Timer", shutdownLabel(cur_shutdown),
-    "How long the device stays on after the car is turned off.");
-  connect(shutdownBtn, &ButtonControl::clicked, [=]() {
-    QStringList options;
-    for (int i = 0; i <= 33; i++) {
-      options << shutdownLabel(i);
-    }
-    int current = Params().getInt("DeviceShutdown");
-    QString sel = MultiOptionDialog::getSelection("Shutdown Timer", options, shutdownLabel(current), this);
-    if (!sel.isEmpty()) {
-      int idx = options.indexOf(sel);
-      if (idx >= 0) {
-        Params().putInt("DeviceShutdown", idx);
-        shutdownBtn->setValue(shutdownLabel(idx));
-      }
-    }
-  });
-  general_panel->addItem(shutdownBtn);
-
   // Power buttons
   QHBoxLayout *power_layout = new QHBoxLayout();
   power_layout->setSpacing(30);
@@ -350,15 +331,30 @@ ClearPilotPanel::ClearPilotPanel(QWidget* parent) : QFrame(parent) {
   ListWidget *debug_panel = new ListWidget(this);
   debug_panel->setContentsMargins(50, 25, 50, 25);
 
-  auto *telemetry_toggle = new ParamControl("TelemetryEnabled", "Telemetry Logging",
+  auto *telemetry_toggle = new ToggleControl("Telemetry Logging",
     "Record telemetry data to CSV in the session log directory. "
-    "Captures only changed values for efficiency.", "", this);
+    "Captures only changed values for efficiency.", "",
+    Params("/dev/shm/params").getBool("TelemetryEnabled"), this);
+  QObject::connect(telemetry_toggle, &ToggleControl::toggleFlipped, [](bool on) {
+    Params("/dev/shm/params").putBool("TelemetryEnabled", on);
+  });
   debug_panel->addItem(telemetry_toggle);
 
-  auto *vpn_toggle = new ParamControl("VpnEnabled", "VPN",
+  auto *health_metrics_toggle = new ToggleControl("System Health Overlay",
+    "Show controls lag, model frame drops, temperature, CPU, and memory usage "
+    "in the lower-right of the onroad UI. For diagnosing slowdown issues.", "",
+    Params().getBool("ClearpilotShowHealthMetrics"), this);
+  QObject::connect(health_metrics_toggle, &ToggleControl::toggleFlipped, [](bool on) {
+    Params().putBool("ClearpilotShowHealthMetrics", on);
+  });
+  debug_panel->addItem(health_metrics_toggle);
+
+  auto *vpn_toggle = new ToggleControl("VPN",
     "Connect to vpn.hanson.xyz for remote SSH access. "
-    "Disabling kills the active tunnel and stops reconnection attempts.", "", this);
+    "Disabling kills the active tunnel and stops reconnection attempts.", "",
+    Params("/dev/shm/params").getBool("VpnEnabled"), this);
   QObject::connect(vpn_toggle, &ToggleControl::toggleFlipped, [](bool on) {
+    Params("/dev/shm/params").putBool("VpnEnabled", on);
     if (on) {
       std::system("sudo bash -c 'nohup /data/openpilot/system/clearpilot/vpn-monitor.sh >> /tmp/vpn-monitor.log 2>&1 &'");
     } else {

selfdrive/ui/qt/onroad.cc

@@ -79,9 +79,10 @@ void OnroadWindow::updateState(const UIState &s) {
   nvg->update();  // CLEARPILOT: force repaint every frame for HUD elements
 
   QColor bgColor = bg_colors[s.status];
-  if (paramsMemory.getBool("no_lat_lane_change") == 1) {
+  // CLEARPILOT: read from frogpilotCarControl cereal message (was paramsMemory)
+  if ((*s.sm)["frogpilotCarControl"].getFrogpilotCarControl().getNoLatLaneChange()) {
     bgColor = bg_colors[STATUS_DISENGAGED];
-  } 
+  }
 
   if (bg != bgColor) {
     bg = bgColor;
@@ -177,7 +178,14 @@ void OnroadWindow::offroadTransition(bool offroad) {
 
 void OnroadWindow::paintEvent(QPaintEvent *event) {
   QPainter p(this);
-  p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255));
+  // CLEARPILOT: hide engagement border in nightrider mode
+  int dm = paramsMemory.getInt("ScreenDisplayMode");
+  bool nightrider = (dm == 1 || dm == 4);
+  if (nightrider) {
+    p.fillRect(rect(), Qt::black);
+  } else {
+    p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255));
+  }
 
   QString logicsDisplayString = QString();
   if (scene.show_jerk) {
@@ -348,14 +356,15 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
     setSpeed *= KM_TO_MILE;
   }
 
-  // CLEARPILOT: use GPS speed if available, hide speed display if no GPS fix
-  has_gps_speed = sm.valid("gpsLocation") && sm["gpsLocation"].getGpsLocation().getHasFix();
-  if (has_gps_speed) {
-    float gps_speed_ms = sm["gpsLocation"].getGpsLocation().getSpeed();
-    speed = std::max<float>(0.0, gps_speed_ms);
-    speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
-  } else {
-    speed = 0.0;
+  // CLEARPILOT: read speed and speed limit from params (written by speed_logic.py ~2Hz)
+  clpParamFrame++;
+  if (clpParamFrame % 10 == 0) {  // ~2Hz at 20Hz UI update rate
+    clpHasSpeed = paramsMemory.get("ClearpilotHasSpeed") == "1";
+    clpSpeedDisplay = QString::fromStdString(paramsMemory.get("ClearpilotSpeedDisplay"));
+    clpSpeedLimitDisplay = QString::fromStdString(paramsMemory.get("ClearpilotSpeedLimitDisplay"));
+    clpSpeedUnit = QString::fromStdString(paramsMemory.get("ClearpilotSpeedUnit"));
+    clpCruiseWarning = QString::fromStdString(paramsMemory.get("ClearpilotCruiseWarning"));
+    clpCruiseWarningSpeed = QString::fromStdString(paramsMemory.get("ClearpilotCruiseWarningSpeed"));
   }
 
   // auto speed_limit_sign = nav_instruction.getSpeedLimitSign();
@@ -404,7 +413,7 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
   }
 
   // CLEARPILOT: blinking blue circle when telemetry is recording
-  if (Params().getBool("TelemetryEnabled")) {
+  if (paramsMemory.getBool("TelemetryEnabled")) {
     // Blink: visible for 500ms, hidden for 500ms
     int phase = (QDateTime::currentMSecsSinceEpoch() / 500) % 2;
     if (phase == 0) {
@@ -424,7 +433,7 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
 
   // QString speedLimitStr = (speedLimit > 1) ? QString::number(std::nearbyint(speedLimit)) : "–";
   // QString speedLimitOffsetStr = slcSpeedLimitOffset == 0 ? "–" : QString::number(slcSpeedLimitOffset, 'f', 0).prepend(slcSpeedLimitOffset > 0 ? "+" : "");
-  QString speedStr = QString::number(std::nearbyint(speed));
+  // QString speedStr = QString::number(std::nearbyint(speed));
   QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed - cruiseAdjustment)) : "–";
 
   p.restore();
@@ -448,14 +457,21 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
   // Todo: lead speed
   // Todo: Experimental speed
 
-  // CLEARPILOT: show GPS speed, hide when no fix
-  if (has_gps_speed && !scene.hide_speed) {
+  // CLEARPILOT: show speed from speed_logic params, hide when no speed or speed=0
+  if (clpHasSpeed && !clpSpeedDisplay.isEmpty() && !scene.hide_speed) {
     p.setFont(InterFont(140, QFont::Bold));
-    drawText(p, rect().center().x(), 210, speedStr);
+    drawText(p, rect().center().x(), 210, clpSpeedDisplay);
     p.setFont(InterFont(50));
-    drawText(p, rect().center().x(), 290, speedUnit, 200);
+    drawText(p, rect().center().x(), 290, clpSpeedUnit, 200);
   }
-  
+
+  // CLEARPILOT: speed limit sign in lower-left, cruise warning above it
+  drawSpeedLimitSign(p);
+  drawCruiseWarningSign(p);
+
+  // CLEARPILOT: system health metrics in lower-right (debug overlay)
+  drawHealthMetrics(p);
+
   // Draw FrogPilot widgets
   paintFrogPilotWidgets(p);
 }
@@ -549,6 +565,164 @@ void AnnotatedCameraWidget::drawSpeedWidget(QPainter &p, int x, int y, const QSt
 }
 
 
+void AnnotatedCameraWidget::drawSpeedLimitSign(QPainter &p) {
+  // Hide when no speed limit or speed limit is 0
+  if (clpSpeedLimitDisplay.isEmpty() || clpSpeedLimitDisplay == "0") return;
+
+  p.save();
+
+  const int signW = 189;
+  const int signH = 239;
+  const int margin = 20;
+  const int borderW = 6;
+  const int innerBorderW = 4;
+  const int innerMargin = 10;
+  const int cornerR = 15;
+
+  // Position: 20px from lower-left corner
+  QRect signRect(margin, height() - signH - margin, signW, signH);
+
+  if (nightriderMode) {
+    // Nightrider: black background, light gray-blue border and text
+    QColor borderColor(160, 180, 210);
+    QColor textColor(160, 180, 210);
+
+    // Outer border
+    p.setPen(QPen(borderColor, borderW));
+    p.setBrush(QColor(0, 0, 0, 220));
+    p.drawRoundedRect(signRect, cornerR, cornerR);
+
+    // Inner border
+    QRect innerRect = signRect.adjusted(innerMargin, innerMargin, -innerMargin, -innerMargin);
+    p.setPen(QPen(borderColor, innerBorderW));
+    p.setBrush(Qt::NoBrush);
+    p.drawRoundedRect(innerRect, cornerR - 4, cornerR - 4);
+
+    // "SPEED" text
+    p.setPen(textColor);
+    p.setFont(InterFont(30, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 15, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "SPEED");
+
+    // "LIMIT" text
+    p.setFont(InterFont(30, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 48, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "LIMIT");
+
+    // Speed limit number — shifted down ~10% of innerRect height via extra top inset
+    p.setFont(InterFont(90, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 86, 0, 0), Qt::AlignCenter, clpSpeedLimitDisplay);
+  } else {
+    // Normal: white background, black border and text
+    QColor borderColor(0, 0, 0);
+    QColor textColor(0, 0, 0);
+
+    // Outer border
+    p.setPen(QPen(borderColor, borderW));
+    p.setBrush(QColor(255, 255, 255, 240));
+    p.drawRoundedRect(signRect, cornerR, cornerR);
+
+    // Inner border
+    QRect innerRect = signRect.adjusted(innerMargin, innerMargin, -innerMargin, -innerMargin);
+    p.setPen(QPen(borderColor, innerBorderW));
+    p.setBrush(Qt::NoBrush);
+    p.drawRoundedRect(innerRect, cornerR - 4, cornerR - 4);
+
+    // "SPEED" text
+    p.setPen(textColor);
+    p.setFont(InterFont(30, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 15, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "SPEED");
+
+    // "LIMIT" text
+    p.setFont(InterFont(30, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 48, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "LIMIT");
+
+    // Speed limit number — shifted down ~10% of innerRect height via extra top inset
+    p.setFont(InterFont(90, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 86, 0, 0), Qt::AlignCenter, clpSpeedLimitDisplay);
+  }
+
+  p.restore();
+}
+
+void AnnotatedCameraWidget::drawCruiseWarningSign(QPainter &p) {
+  // Only show when there's an active warning and the speed limit sign is visible
+  if (clpCruiseWarning.isEmpty() || clpCruiseWarningSpeed.isEmpty()) return;
+  if (clpSpeedLimitDisplay.isEmpty() || clpSpeedLimitDisplay == "0") return;
+
+  bool isOver = (clpCruiseWarning == "over");
+  if (!isOver && clpCruiseWarning != "under") return;
+
+  p.save();
+
+  // Same dimensions as speed limit sign
+  const int signW = 189;
+  const int signH = 239;
+  const int margin = 20;
+  const int borderW = 6;
+  const int innerBorderW = 4;
+  const int innerMargin = 10;
+  const int cornerR = 15;
+  const int gap = 20;
+
+  // Position: directly above the speed limit sign
+  int speedLimitY = height() - signH - margin;
+  QRect signRect(margin, speedLimitY - signH - gap, signW, signH);
+
+  if (nightriderMode) {
+    // Nightrider: black background with colored border/text
+    QColor accentColor = isOver ? QColor(220, 50, 50) : QColor(50, 180, 80);
+
+    p.setPen(QPen(accentColor, borderW));
+    p.setBrush(QColor(0, 0, 0, 220));
+    p.drawRoundedRect(signRect, cornerR, cornerR);
+
+    QRect innerRect = signRect.adjusted(innerMargin, innerMargin, -innerMargin, -innerMargin);
+    p.setPen(QPen(accentColor, innerBorderW));
+    p.setBrush(Qt::NoBrush);
+    p.drawRoundedRect(innerRect, cornerR - 4, cornerR - 4);
+
+    // "CRUISE" text
+    p.setPen(accentColor);
+    p.setFont(InterFont(26, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 15, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "CRUISE");
+
+    // "SET" text
+    p.setFont(InterFont(26, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 45, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "SET");
+
+    // Cruise speed number
+    p.setFont(InterFont(90, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 86, 0, 0), Qt::AlignCenter, clpCruiseWarningSpeed);
+  } else {
+    // Normal: colored background with white border/text
+    QColor bgColor = isOver ? QColor(200, 30, 30, 240) : QColor(40, 160, 60, 240);
+    QColor fgColor(255, 255, 255);
+
+    p.setPen(QPen(fgColor, borderW));
+    p.setBrush(bgColor);
+    p.drawRoundedRect(signRect, cornerR, cornerR);
+
+    QRect innerRect = signRect.adjusted(innerMargin, innerMargin, -innerMargin, -innerMargin);
+    p.setPen(QPen(fgColor, innerBorderW));
+    p.setBrush(Qt::NoBrush);
+    p.drawRoundedRect(innerRect, cornerR - 4, cornerR - 4);
+
+    // "CRUISE" text
+    p.setPen(fgColor);
+    p.setFont(InterFont(26, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 15, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "CRUISE");
+
+    // "SET" text
+    p.setFont(InterFont(26, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 45, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "SET");
+
+    // Cruise speed number
+    p.setFont(InterFont(90, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 86, 0, 0), Qt::AlignCenter, clpCruiseWarningSpeed);
+  }
+
+  p.restore();
+}
+
 void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
   QRect real_rect = p.fontMetrics().boundingRect(text);
   real_rect.moveCenter({x, y - real_rect.height() / 2});
@@ -557,6 +731,87 @@ void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &t
   p.drawText(real_rect.x(), real_rect.bottom(), text);
 }
 
+// CLEARPILOT: System health overlay — shows metrics that indicate the system
+// is overburdened or behind. Toggled via ClearpilotShowHealthMetrics param.
+// Metrics (top→bottom): FPS, DROP, TEMP, CPU, MEM, FAN
+//   FPS: modeld framerate — 20 normally, 0 in park. Read from ModelFps memory
+//        param which modeld writes only on transition.
+//   DROP (%): modelV2 frameDropPerc — modeld losing frames; controlsd errors >20%
+//   TEMP (°C): deviceState.maxTempC — thermal throttling starts ~75, serious >88
+//   CPU (%): max core from deviceState.cpuUsagePercent
+//   MEM (%): deviceState.memoryUsagePercent
+//   FAN (%): actual fan duty from peripheralState RPM (scaled to 6500 RPM = 100%)
+// Each value color-codes green/yellow/red by severity.
+void AnnotatedCameraWidget::drawHealthMetrics(QPainter &p) {
+  static bool enabled = Params().getBool("ClearpilotShowHealthMetrics");
+  static int check_counter = 0;
+  // re-check the param every ~2s without a toggle signal path
+  if (++check_counter >= 40) {
+    check_counter = 0;
+    enabled = Params().getBool("ClearpilotShowHealthMetrics");
+  }
+  if (!enabled) return;
+
+  SubMaster &sm = *(uiState()->sm);
+  auto ds = sm["deviceState"].getDeviceState();
+  auto mv = sm["modelV2"].getModelV2();
+  auto ps = sm["peripheralState"].getPeripheralState();
+
+  int model_fps = paramsMemory.getInt("ModelFps");
+  float drop_pct = mv.getFrameDropPerc();
+  float temp_c = ds.getMaxTempC();
+  int mem_pct = ds.getMemoryUsagePercent();
+  int cpu_pct = 0;
+  for (auto v : ds.getCpuUsagePercent()) cpu_pct = std::max(cpu_pct, (int)v);
+  // Actual fan (not commanded): scale RPM to 0-100 using 6500 RPM as full scale
+  int fan_pct = std::min(100, (int)(ps.getFanSpeedRpm() * 100 / 6500));
+
+  auto color_for = [](float v, float warn, float crit) {
+    if (v >= crit) return QColor(0xff, 0x50, 0x50);   // red
+    if (v >= warn) return QColor(0xff, 0xd0, 0x40);   // yellow
+    return QColor(0xff, 0xff, 0xff);                   // white (ok)
+  };
+
+  struct Row { QString label; QString value; QColor color; };
+  Row rows[] = {
+    {"FPS",  QString::number(model_fps),    QColor(0xff, 0xff, 0xff)},
+    {"DROP", QString::number((int)drop_pct),color_for(drop_pct, 5.f,  15.f)},
+    {"TEMP", QString::number((int)temp_c),  color_for(temp_c,  75.f,  88.f)},
+    {"CPU",  QString::number(cpu_pct),      color_for((float)cpu_pct, 75.f, 90.f)},
+    {"MEM",  QString::number(mem_pct),      color_for((float)mem_pct, 70.f, 85.f)},
+    {"FAN",  QString::number(fan_pct),      QColor(0xff, 0xff, 0xff)},
+  };
+
+  p.save();
+  p.setFont(InterFont(90, QFont::Bold));
+  QFontMetrics fm = p.fontMetrics();
+  int row_h = fm.height();              // natural line height at 90pt bold
+  int gap = 40;                         // requested 40px between values
+  int margin = 30;                      // requested 30px margin
+  int panel_w = 360;                    // fixed width — fits "TEMP 99"
+  int n = sizeof(rows) / sizeof(rows[0]);
+  int panel_h = n * row_h + (n - 1) * gap + 2 * margin;
+  int x = width() - panel_w - margin;
+  int y = height() - panel_h - margin;
+
+  // black background
+  p.setPen(Qt::NoPen);
+  p.setBrush(QColor(0, 0, 0, 200));
+  p.drawRoundedRect(QRect(x, y, panel_w, panel_h), 20, 20);
+
+  // rows
+  int text_y = y + margin + fm.ascent();
+  for (int i = 0; i < n; i++) {
+    p.setPen(rows[i].color);
+    // label left (shifted -50px per user request), value right
+    p.drawText(x + margin - 50, text_y, rows[i].label);
+    QRect vrect = fm.boundingRect(rows[i].value);
+    p.drawText(x + panel_w - margin - vrect.width(), text_y, rows[i].value);
+    text_y += row_h + gap;
+  }
+  p.restore();
+}
+
 void AnnotatedCameraWidget::initializeGL() {
   CameraWidget::initializeGL();
   qInfo() << "OpenGL version:" << QString((const char*)glGetString(GL_VERSION));
@@ -596,11 +851,22 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   // CLEARPILOT: nightrider mode — outline only, no fill
   bool outlineOnly = nightriderMode;
 
+  // CLEARPILOT: in nightrider mode, hide all lines when not engaged
+  if (outlineOnly && edgeColor == bg_colors[STATUS_DISENGAGED]) {
+    painter.restore();
+    return;
+  }
+
+  // CLEARPILOT: nightrider lines are 1px wider (3 instead of 2)
+  int outlineWidth = outlineOnly ? 3 : 2;
+  // CLEARPILOT: lane lines 5% thinner than the generic outline (QPen accepts float width)
+  float laneLineWidth = outlineOnly ? (float)outlineWidth * 0.95f : (float)outlineWidth;
+
   // lanelines
   for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) {
     QColor lineColor = QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(scene.lane_line_probs[i], 0.0, 0.7));
     if (outlineOnly) {
-      painter.setPen(QPen(lineColor, 2));
+      painter.setPen(QPen(lineColor, laneLineWidth));
       painter.setBrush(Qt::NoBrush);
     } else {
       painter.setPen(Qt::NoPen);
@@ -614,7 +880,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) {
     QColor edgeCol = QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0));
     if (outlineOnly) {
-      painter.setPen(QPen(edgeCol, 2));
+      painter.setPen(QPen(edgeCol, outlineWidth));
       painter.setBrush(Qt::NoBrush);
     } else {
       painter.setPen(Qt::NoPen);
@@ -627,7 +893,8 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   // paint center lane path
   // QColor bg_colors[CHANGE_LANE_PATH_COLOR];
 
-  bool is_no_lat_lane_change = paramsMemory.getBool("no_lat_lane_change");
+  // CLEARPILOT: read from frogpilotCarControl cereal message (was paramsMemory)
+  bool is_no_lat_lane_change = sm["frogpilotCarControl"].getFrogpilotCarControl().getNoLatLaneChange();
 
   QColor center_lane_color;
   
@@ -688,8 +955,11 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
     }
 
     if (outlineOnly) {
-      painter.setPen(QPen(QColor(center_lane_color.red(), center_lane_color.green(),
-                                 center_lane_color.blue(), 180), 2));
+      // CLEARPILOT: in nightrider, the tire path outline is light blue at 3px.
+      // Uses a fixed light-blue instead of center_lane_color (which is status-tinted) so
+      // the path reads as a neutral guide, not as engagement/status feedback.
+      QColor lightBlue(153, 204, 255, 220);  // #99CCFF light blue, mostly opaque
+      painter.setPen(QPen(lightBlue, 3));
       painter.setBrush(Qt::NoBrush);
     } else {
       painter.setPen(Qt::NoPen);
@@ -718,7 +988,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   if (scene.blind_spot_path) {
     QColor bsColor = QColor::fromHslF(0 / 360., 0.75, 0.50, 0.6);
     if (outlineOnly) {
-      painter.setPen(QPen(bsColor, 2));
+      painter.setPen(QPen(bsColor, outlineWidth));
       painter.setBrush(Qt::NoBrush);
     } else {
       QLinearGradient bs(0, height(), 0, 0);
@@ -888,6 +1158,10 @@ void AnnotatedCameraWidget::paintEvent(QPaintEvent *event) {
     } else {
       CameraWidget::updateCalibration(DEFAULT_CALIBRATION);
     }
+    // CLEARPILOT: force CameraWidget bg to black in nightrider to prevent color bleed
+    if (nightriderMode) {
+      CameraWidget::setBackgroundColor(Qt::black);
+    }
     painter.beginNativePainting();
     if (nightriderMode) {
       // CLEARPILOT: black background, no camera feed
@@ -1059,7 +1333,8 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets() {
 }
 
 void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &p) {
-  if ((showAlwaysOnLateralStatusBar || showConditionalExperimentalStatusBar || roadNameUI)) {
+  // CLEARPILOT: only show status bar when telemetry is enabled
+  if (paramsMemory.getBool("TelemetryEnabled")) {
     drawStatusBar(p);
   }
 
@@ -1260,7 +1535,30 @@ void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
 
   QString roadName = roadNameUI ? QString::fromStdString(paramsMemory.get("RoadName")) : QString();
 
-  if (alwaysOnLateralActive && showAlwaysOnLateralStatusBar) {
+  // CLEARPILOT: telemetry status bar — show live stats when telemetry enabled
+  if (paramsMemory.getBool("TelemetryEnabled")) {
+    SubMaster &sm = *(uiState()->sm);
+    auto deviceState = sm["deviceState"].getDeviceState();
+    int maxTempC = deviceState.getMaxTempC();
+    int fanPct = deviceState.getFanSpeedPercentDesired();
+    bool standstill = sm["carState"].getCarState().getStandstill();
+
+    static double last_model_status_t = 0;
+    static float model_status_fps = 0;
+    if (sm.updated("modelV2")) {
+      double now = millis_since_boot();
+      if (last_model_status_t > 0) {
+        double dt = now - last_model_status_t;
+        if (dt > 0) model_status_fps = model_status_fps * 0.8 + (1000.0 / dt) * 0.2;
+      }
+      last_model_status_t = now;
+    }
+
+    newStatus = QString("%1\u00B0C  FAN %2%  MDL %3")
+      .arg(maxTempC).arg(fanPct).arg(model_status_fps, 0, 'f', 0);
+    if (standstill) newStatus += "  STANDSTILL";
+  // CLEARPILOT: suppress "Always On Lateral active" status bar message
+  } else if (false && alwaysOnLateralActive && showAlwaysOnLateralStatusBar) {
     newStatus = tr("Always On Lateral active") + (tr(". Press the \"Cruise Control\" button to disable"));
   } else if (showConditionalExperimentalStatusBar) {
     newStatus = conditionalStatusMap[status != STATUS_DISENGAGED ? conditionalStatus : 0];

selfdrive/ui/qt/onroad.h

@@ -51,6 +51,9 @@ public:
 private:
   void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
   void drawSpeedWidget(QPainter &p, int x, int y, const QString &title, const QString &speedLimitStr, QColor colorSpeed, int width = 176);
+  void drawSpeedLimitSign(QPainter &p);
+  void drawCruiseWarningSign(QPainter &p);
+  void drawHealthMetrics(QPainter &p);
 
   QVBoxLayout *main_layout;
   QPixmap dm_img;
@@ -59,6 +62,16 @@ private:
   bool nightriderMode = false;
   int displayMode = 0;
   QString speedUnit;
+
+  // ClearPilot speed state (from params_memory, updated ~2Hz)
+  bool clpHasSpeed = false;
+  QString clpSpeedDisplay;
+  QString clpSpeedLimitDisplay;
+  QString clpSpeedUnit;
+  QString clpCruiseWarning;
+  QString clpCruiseWarningSpeed;
+  int clpParamFrame = 0;
+
   float setSpeed;
   float speedLimit;
   bool is_cruise_set = false;

selfdrive/ui/qt/ready.cc

@@ -70,14 +70,13 @@ void ReadyWindow::paintEvent(QPaintEvent *event) {
             painter.drawPixmap(x, y, scaled);
         }
 
-        if (error_msg.isEmpty()) {
-            // "READY!" 8-bit text sprite, 2x size, 15% below center
+        if (error_msg.isEmpty() && !has_driven) {
+            // "READY!" 8-bit text sprite, 15% below center — only before first drive
             static QPixmap ready_text("/data/openpilot/selfdrive/clearpilot/theme/clearpilot/images/ready_text.png");
             if (!ready_text.isNull()) {
-                QPixmap scaled = ready_text.scaled(ready_text.width() * 3 / 2, ready_text.height() * 3 / 2, Qt::KeepAspectRatio, Qt::FastTransformation);
-                int tx = (width() - scaled.width()) / 2;
+                int tx = (width() - ready_text.width()) / 2;
                 int ty = height() / 2 + height() * 15 / 100;
-                painter.drawPixmap(tx, ty, scaled);
+                painter.drawPixmap(tx, ty, ready_text);
             }
         } else {
             // Error state: red text at 25% below center
@@ -126,5 +125,13 @@ void ReadyWindow::refresh() {
         if (error_msg != prev_error) changed = true;
     }
 
+    // Reset has_driven on ignition off→on (power cycle)
+    bool started = uiState()->scene.started;
+    if (!last_started && started) {
+      has_driven = false;
+      changed = true;
+    }
+    last_started = started;
+
     if (changed) update();
 }

selfdrive/ui/qt/ready.h

@@ -18,6 +18,7 @@ class ReadyWindow : public QWidget {
     Q_OBJECT
 public:
     ReadyWindow(QWidget* parent = nullptr);
+    bool has_driven = false;
 private:
     void showEvent(QShowEvent *event) override;
     void hideEvent(QHideEvent *event) override;
@@ -29,6 +30,7 @@ private:
     QString cur_temp;
     QString error_msg;  // non-empty = show red error instead of READY!
     QElapsedTimer uptime;
+    bool last_started = false;
     QPixmap img_bg;
     QPixmap img_hot;
 };

selfdrive/ui/qt/window.cc

@@ -171,6 +171,16 @@ bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
     case QEvent::TouchEnd:
     case QEvent::MouseButtonPress:
     case QEvent::MouseMove: {
+      // CLEARPILOT: tap while screen-off (mode 3) -> wake to auto-normal (mode 0)
+      Params pmem{"/dev/shm/params"};
+      if (!device()->isAwake()) {
+        if (pmem.getInt("ScreenDisplayMode") == 3) {
+          pmem.putInt("ScreenDisplayMode", 0);
+        }
+      }
+      // CLEARPILOT: reset shutdown timer on any screen touch
+      static int touch_counter = 0;
+      pmem.put("ShutdownTouchReset", std::to_string(++touch_counter));
       // ignore events when device is awakened by resetInteractiveTimeout
       ignore = !device()->isAwake();
       device()->resetInteractiveTimeout(uiState()->scene.screen_timeout, uiState()->scene.screen_timeout_onroad);
@@ -256,6 +266,11 @@ static StatusWindow::StatusData collectStatus() {
   // Telemetry
   d.telemetry = readFile("/data/params/d/TelemetryEnabled");
 
+  // Dashcam
+  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
 
   return d;
@@ -298,6 +313,7 @@ StatusWindow::StatusWindow(QWidget *parent) : QFrame(parent) {
   vpn_label = makeRow("VPN");
   gps_label = makeRow("GPS");
   telemetry_label = makeRow("Telemetry");
+  dashcam_label = makeRow("Dashcam");
 
   layout->addStretch();
 
@@ -369,6 +385,19 @@ void StatusWindow::applyResults() {
     telemetry_label->setText("Disabled");
     telemetry_label->setStyleSheet("color: grey; font-size: 38px;");
   }
+
+  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;");
+  }
 }
 
 void StatusWindow::mousePressEvent(QMouseEvent *e) {

selfdrive/ui/qt/window.h

@@ -20,6 +20,7 @@ public:
   struct StatusData {
     QString time, storage, ram, load, temp, fan, ip, wifi;
     QString vpn_status, vpn_ip, gps, telemetry;
+    QString dashcam_state, dashcam_frames;
     float temp_c = 0;
   };
 
@@ -49,6 +50,7 @@ private:
   QLabel *gps_label;
   QLabel *time_label;
   QLabel *telemetry_label;
+  QLabel *dashcam_label;
   QLabel *panda_label;
 };
 

selfdrive/ui/soundd.py

@@ -93,6 +93,27 @@ class Soundd:
 
     self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
 
+    # ClearPilot ding (plays independently of alerts)
+    self.ding_sound = None
+    self.ding_frame = 0
+    self.ding_playing = False
+    self.ding_check_counter = 0
+    self._load_ding()
+
+  def _load_ding(self):
+    ding_path = BASEDIR + "/selfdrive/clearpilot/sounds/ding.wav"
+    try:
+      wavefile = wave.open(ding_path, 'r')
+      assert wavefile.getnchannels() == 1
+      assert wavefile.getsampwidth() == 2
+      assert wavefile.getframerate() == SAMPLE_RATE
+      length = wavefile.getnframes()
+      self.ding_sound = np.frombuffer(wavefile.readframes(length), dtype=np.int16).astype(np.float32) / (2**16/2)
+      cloudlog.info(f"ClearPilot ding loaded: {length} frames")
+    except Exception as e:
+      cloudlog.error(f"Failed to load ding sound: {e}")
+      self.ding_sound = None
+
   def load_sounds(self):
     self.loaded_sounds: dict[int, np.ndarray] = {}
 
@@ -137,7 +158,20 @@ class Soundd:
         written_frames += frames_to_write
         self.current_sound_frame += frames_to_write
 
-    return ret * self.current_volume
+    ret = ret * self.current_volume
+
+    # Mix in ClearPilot ding (independent of alerts, always max volume)
+    if self.ding_playing and self.ding_sound is not None:
+      ding_remaining = len(self.ding_sound) - self.ding_frame
+      if ding_remaining > 0:
+        frames_to_write = min(ding_remaining, frames)
+        ret[:frames_to_write] += self.ding_sound[self.ding_frame:self.ding_frame + frames_to_write] * MAX_VOLUME
+        self.ding_frame += frames_to_write
+      else:
+        self.ding_playing = False
+        self.ding_frame = 0
+
+    return ret
 
   def callback(self, data_out: np.ndarray, frames: int, time, status) -> None:
     if status:
@@ -197,6 +231,14 @@ class Soundd:
 
         self.get_audible_alert(sm)
 
+        # ClearPilot: check for ding trigger at ~2Hz
+        self.ding_check_counter += 1
+        if self.ding_check_counter % 10 == 0 and self.ding_sound is not None:
+          if self.params_memory.get("ClearpilotPlayDing") == b"1":
+            self.params_memory.put("ClearpilotPlayDing", "0")
+            self.ding_playing = True
+            self.ding_frame = 0
+
         rk.keep_time()
 
         assert stream.active

selfdrive/ui/ui.cc

@@ -118,8 +118,10 @@ void update_model(UIState *s,
   }
 
   // update path
+  // CLEARPILOT: read from frogpilotCarControl cereal message (was paramsMemory)
+  bool no_lat_lane_change = (*s->sm)["frogpilotCarControl"].getFrogpilotCarControl().getNoLatLaneChange();
   float path;
-  if (paramsMemory.getBool("no_lat_lane_change")) {
+  if (no_lat_lane_change) {
     path = (float)LANE_CHANGE_NO_LAT_PATH_WIDTH / 20;  // Release: better calc for EU users
   } else {
     path = (float)CENTER_LANE_WIDTH / 20; // Release: better calc for EU users
@@ -439,7 +441,7 @@ void UIState::updateStatus() {
 UIState::UIState(QObject *parent) : QObject(parent) {
   sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
-    "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
+    "pandaStates", "peripheralState", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
     "wideRoadCameraState", "managerState", "uiPlan", "liveTorqueParameters",
     "frogpilotCarControl", "frogpilotDeviceState", "frogpilotPlan",
     "gpsLocation",
@@ -556,7 +558,10 @@ void Device::updateWakefulness(const UIState &s) {
   }
 
   if (ignition_state_changed) {
-    if (ignition_on && s.scene.screen_brightness_onroad == 0 && !s.scene.standby_mode) {
+    if (!ignition_on) {
+      // CLEARPILOT: ignition on→off blanks the screen immediately (tap still wakes).
+      resetInteractiveTimeout(0, 0);
+    } else if (s.scene.screen_brightness_onroad == 0 && !s.scene.standby_mode) {
       resetInteractiveTimeout(0, 0);
     } else {
       resetInteractiveTimeout(s.scene.screen_timeout, s.scene.screen_timeout_onroad);
@@ -565,7 +570,10 @@ void Device::updateWakefulness(const UIState &s) {
     emit interactiveTimeout();
   }
 
-  if (s.scene.screen_brightness_onroad != 0) {
+  // CLEARPILOT: ScreenDisplayMode 3 = screen off — override awake state
+  if (paramsMemory.getInt("ScreenDisplayMode") == 3) {
+    setAwake(false);
+  } else if (s.scene.screen_brightness_onroad != 0) {
     setAwake(s.scene.ignition || interactive_timeout > 0);
   } else {
     setAwake(interactive_timeout > 0);

system/clearpilot/dev/GithubSshKeys

@@ -1,3 +1,5 @@
 ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABgQDQtHTzkeRlOXDWyK/IvO2RgjSdoq6V81u3YtcyIxBZVX2zCj1xzE9zWcUcVxloe63rB/DBasChODIRBtp1vGnWb/EkLWAuOqS2V5rzhlcSfM103++TI81e04A7HDspWSNUXRh5OD/mUvwtYIH7S4QAkBiCro5lAgSToXNAOR4b4cXgNQecf+RhPc0Nm3K8Is1wEeQajmlC1E22YWBDDV+uoB3Uagl90e58Psbp8PunCdbeY9EfqQsymyloiTeqzKwHnmHnMXSlZluh7A+ifoKgohDsarT1FixAgxT0LSIxxINORhE4P6em/7y3xpgubPhNpbuQSzDlb3op3fwMoFcAEEYKWg+d9OGOrdiWa13aV0g7UNdW/XmmF/BAaBdSOZeomVNnxmftmmJWfu3jtFdwTDRQpZn7nDYC+aZ1R3Q0Xd4lLuqkA/9smUXLZuiBDJXwM5nDyWQR9tESIwlTLcdKAUpj0gQqpcozVehksNksTekZBAg/mYb6DKyYCTY0ti0=
 ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQCm/Vq50kqf94allqGq9luBGjDh2Do/rOCA719CRlDOErCvdY+ZaYNumQZ5AbFfU5KcPZwirJLBvhEoH/G0lEAg9TUaUgH/VvqBBztlpcmA1eplZHzEFLnTDn0oO4Tk46bXwjL0anOZfNaUGhbaO4Th7m+9+o16WUduEabPiyVbnqD6P44CANsvBJNKlyUDBzsdkE9z5gULp06i1+JqqXiGV81HoFWZe5YCFv4j4QUPvfmFhcBHViVrOFs87hS4Eu0gWNxQmQBhh6R1ZbjaBlGdE5GyDZQZwlofjfuO06e0HvCDuIAELSYqlGFCmUhlM/LZ6YkF79/HFrg5sS3gsuY5
 ssh-ed25519 AAAAC3NzaC1lZDI1NTE5AAAAIHbrOZrByUb2Ci21DdJkhWv/4Bz4oghL9joraQYFq4Om
+ssh-ed25519 AAAAC3NzaC1lZDI1NTE5AAAAIOkbLtbZ6jRwmvYiAtXDp7JZ+IBVJIrxY3ZPJ93aQCha root@concordia
+ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABgQCWTdewQ+jCUj9+ZJfte5h0meZhXayd7owIGyXHV0ELCeRAyQrurBPsdTTr7QhcugVuibI+Tr8L3BNuCN8nID5DH+BFAUejulGyMEmQ4Vh22p6Nt0niJHkfiJ2stfayPqe3qGRScVCcY3TpQqlzjyBWOvtwI9/118Gq/lKsjN7DYVwVMHhe1Yzh4SDHOKpsnmDfguRvCSzsg3ZeR1AduaqqM2y0sLZ09Cjpj/vJC/QQ2q2EWtzfmQPejFtjdbqvgoDEQ1OttD5dBgwCMOTPmPMmJ5ns6YJ4L+bi6hynO4/xn3efSHS2mSC6ACwiD/LtTMpsjbUVQsJ4pM/5GY08UoIdnH7P1N+6DA/hah+KAJe8U3WznT6OSXdwWXnYyV+hx4VHBz+/3MnbB1CwtoZoJDnQVpnT3IxBK+pnLHzZJh/g+bFrFbbAC50MRDsoV8nbYvHG3HJQ5GvK96S5NvllGTC/6zo/39ARvfrGtK/2NgNU+NZRjNN67cXjgcUIRdu6eJs= root@concordia

system/clearpilot/dev/encrypt.sh

@@ -1,17 +1,19 @@
 #!/bin/bash
 
-dongle_id=$(cat /data/params/d/DongleId)
-if [[ ! $dongle_id == 90bb71* ]]; then
+# Uses hardware serial as identity check and encryption key
+serial=$(sed 's/.*androidboot.serialno=\([^ ]*\).*/\1/' /proc/cmdline)
+if [[ $serial != 3889765b ]]; then
+    echo "Wrong device (serial=$serial)"
     exit 1
 fi
 
 # Encrypt SSH keys if source files exist using the custom encrypt tool
-if [ -f /data/openpilot/system/clearpilot/dev/id_rsa.pub ]; then
-   bash /data/openpilot/system/clearpilot/tools/encrypt /data/openpilot/system/clearpilot/dev/id_rsa.pub /data/openpilot/system/clearpilot/dev/id_rsa.pub.cpt
+if [ -f /data/openpilot/system/clearpilot/dev/id_ed25519.pub ]; then
+   bash /data/openpilot/system/clearpilot/tools/encrypt /data/openpilot/system/clearpilot/dev/id_ed25519.pub /data/openpilot/system/clearpilot/dev/id_ed25519.pub.cpt
 fi
 
-if [ -f /data/openpilot/system/clearpilot/dev/id_rsa ]; then
-   bash /data/openpilot/system/clearpilot/tools/encrypt /data/openpilot/system/clearpilot/dev/id_rsa /data/openpilot/system/clearpilot/dev/id_rsa.cpt
+if [ -f /data/openpilot/system/clearpilot/dev/id_ed25519 ]; then
+   bash /data/openpilot/system/clearpilot/tools/encrypt /data/openpilot/system/clearpilot/dev/id_ed25519 /data/openpilot/system/clearpilot/dev/id_ed25519.cpt
 fi
 
 if [ -f /data/openpilot/system/clearpilot/dev/reverse_ssh ]; then

system/clearpilot/dev/id_ed25519.pub.cpt

@@ -0,0 +1,2 @@
+•í-À‘-j¦ñqã	A†3ä"|}ôÚÁñžš.\ñ`þQ¥¶ßA^´­Ð×~LìbýÊ	ÞÔm!Òzï[®�Wí(¯«rýfo¼À˜¦Miê[&ÄoúÏV=�ˆQ�"2�A“i8ÐpÀ­"Á!þ1­“æ–G:š4ïá<-Ý
+#

system/clearpilot/dev/on_start.sh

@@ -1,17 +0,0 @@
-#!/bin/bash
-
-# tmp for debugging
-date >> /tmp/dongles
-echo check dongle >> /tmp/dongles
-cat /data/params/d/DongleId >> /tmp/dongles
-echo done >> /tmp/dongles
-
-dongle_id=$(cat /data/params/d/DongleId)
-if [[ ! $dongle_id == 90bb71* ]]; then
-    exit 1
-fi
-
-echo Bringing up brian dev environment
-
-bash /data/openpilot/system/clearpilot/dev/provision.sh
-bash /data/openpilot/system/clearpilot/dev/on_start_brian.sh

system/clearpilot/dev/on_start_brian.sh.cpt

@@ -1,2 +0,0 @@
-•Í’T4üoŠd¿á¹³€å–³!qús^§‘1E�Œ½—ðÓÉQ¯Åe|0b.7ša|Þ¶$Âï)x‰ ÷9‘Sü8BÌQÛ÷øÃ;TÝ`~?Q!hj2ÔŒwqô/[´ Xðt¬Ç5‡ü,«Ë�ñm¾^v�¯$vf‚ÇH°)J½A
-²W°n`<@’‹.¬ç&>­�&}m8˜‰àÃ;½\$^`Aª›Œ

system/clearpilot/dev/provision.sh

@@ -1,48 +0,0 @@
-#!/bin/bash
-
-# Provision script for BrianBot
-# These actions only occur on BrianBot's comma device.
-
-# 1. Check the string in /data/params/d/DongleId
-dongle_id=$(cat /data/params/d/DongleId)
-if [[ ! $dongle_id == 90bb71* ]]; then
-    exit 1
-fi
-
-echo "BrianBot dongle ID detected."
-
-# 2. Check if ccrypt is installed, install if not
-if ! command -v ccrypt >/dev/null 2>&1; then
-    echo "Installing ccrypt..."
-    sudo apt-get update
-    sudo apt-get install -y ccrypt
-fi
-
-# 3. Decrypt SSH keys if they have not been decrypted yet
-if [ ! -f /data/openpilot/system/clearpilot/dev/id_rsa.pub ]; then
-   echo "Decrypting SSH keys..."
-   bash /data/openpilot/system/clearpilot/tools/decrypt /data/openpilot/system/clearpilot/dev/id_rsa.pub.cpt /data/openpilot/system/clearpilot/dev/id_rsa.pub
-   bash /data/openpilot/system/clearpilot/tools/decrypt /data/openpilot/system/clearpilot/dev/id_rsa.cpt /data/openpilot/system/clearpilot/dev/id_rsa
-   bash /data/openpilot/system/clearpilot/tools/decrypt /data/openpilot/system/clearpilot/dev/on_start_brian.sh.cpt /data/openpilot/system/clearpilot/dev/on_start_brian.sh
-fi
-
-# 4. Ensure .ssh directory and keys exist
-ssh_dir="/data/ssh/.ssh"
-if [[ ! -f "$ssh_dir/id_rsa" || ! -f "$ssh_dir/id_rsa.pub" ]]; then
-    echo "Setting up SSH directory and keys..."
-    mkdir -p "$ssh_dir"
-    cp /data/openpilot/system/clearpilot/dev/id_rsa /data/openpilot/system/clearpilot/dev/id_rsa.pub "$ssh_dir"
-    chmod 700 "$ssh_dir"
-    chmod 600 "$ssh_dir/id_rsa" "$ssh_dir/id_rsa.pub"
-    echo hansonxyz > /data/params/d/GithubUsername
-    cat /data/openpilot/system/clearpilot/dev/GithubSshKeys > /data/params/d/GithubSshKeys
-    echo 1 > /data/params/d/SshEnabled
-    sudo systemctl restart ssh
-    cd /data/openpilot
-    git remote remove origin
-    git remote add origin git@privategit.hanson.xyz:brianhansonxyz/clearpilot.git
-fi
-
-echo "Script execution complete."
-
-

system/clearpilot/gpsd.py

@@ -20,17 +20,16 @@ from openpilot.common.time import system_time_valid
 from openpilot.system.hardware.tici.pins import GPIO
 
 
-def is_daylight(lat: float, lon: float, utc_dt: datetime.datetime) -> bool:
-  """Return True if it's between sunrise and sunset at the given location.
-  Uses NOAA simplified solar position equations. Pure math, no external libs."""
+def _sunrise_sunset_min(lat: float, lon: float, utc_dt: datetime.datetime):
+  """Compute (sunrise_min, sunset_min) in UTC minutes since midnight of utc_dt's day.
+  Values can be negative or >1440 for western/eastern longitudes. Returns
+  (None, None) for polar night, ('always', 'always') for midnight sun."""
   n = utc_dt.timetuple().tm_yday
   gamma = 2 * math.pi / 365 * (n - 1 + (utc_dt.hour - 12) / 24)
-  # Equation of time (minutes)
   eqtime = 229.18 * (0.000075 + 0.001868 * math.cos(gamma)
            - 0.032077 * math.sin(gamma)
            - 0.014615 * math.cos(2 * gamma)
            - 0.040849 * math.sin(2 * gamma))
-  # Solar declination (radians)
   decl = (0.006918 - 0.399912 * math.cos(gamma)
           + 0.070257 * math.sin(gamma)
           - 0.006758 * math.cos(2 * gamma)
@@ -42,14 +41,41 @@ def is_daylight(lat: float, lon: float, utc_dt: datetime.datetime) -> bool:
   cos_ha = (math.cos(zenith) / (math.cos(lat_rad) * math.cos(decl))
             - math.tan(lat_rad) * math.tan(decl))
   if cos_ha < -1:
-    return True   # midnight sun
+    return ('always', 'always')   # midnight sun
   if cos_ha > 1:
-    return False  # polar night
+    return (None, None)           # polar night
   ha = math.degrees(math.acos(cos_ha))
   sunrise_min = 720 - 4 * (lon + ha) - eqtime
   sunset_min = 720 - 4 * (lon - ha) - eqtime
+  return (sunrise_min, sunset_min)
+
+
+def is_daylight(lat: float, lon: float, utc_dt: datetime.datetime) -> bool:
+  """Return True if the sun is currently above the horizon at (lat, lon).
+
+  Handles west-of-Greenwich correctly: at UTC midnight it may still be
+  evening local time, and the relevant sunset is the PREVIOUS UTC day's
+  value (which is >1440 min if we re-ref to that day, i.e. it's past
+  midnight UTC). Symmetric case for east-of-Greenwich at the other end.
+
+  Strategy: compute sunrise/sunset for yesterday, today, and tomorrow (each
+  relative to its own UTC midnight), shift them all onto today's clock
+  (yesterday = -1440, tomorrow = +1440), and check if now_min falls inside
+  any of the three [sunrise, sunset] intervals.
+  """
   now_min = utc_dt.hour * 60 + utc_dt.minute + utc_dt.second / 60
-  return sunrise_min <= now_min <= sunset_min
+  for day_offset in (-1, 0, 1):
+    d = utc_dt + datetime.timedelta(days=day_offset)
+    sr, ss = _sunrise_sunset_min(lat, lon, d)
+    if sr == 'always':
+      return True
+    if sr is None:
+      continue  # polar night this day
+    sr += day_offset * 1440
+    ss += day_offset * 1440
+    if sr <= now_min <= ss:
+      return True
+  return False
 
 
 def at_cmd(cmd: str) -> str:
@@ -159,6 +185,7 @@ def main():
   params_memory = Params("/dev/shm/params")
   last_daylight_check = 0.0
   daylight_computed = False
+  prev_daylight = None  # CLEARPILOT: gate IsDaylight write on change
   print("gpsd: entering main loop", file=sys.stderr, flush=True)
 
   while True:
@@ -205,7 +232,10 @@ def main():
           last_daylight_check = now_mono
           utc_now = datetime.datetime.utcfromtimestamp(fix["timestamp_ms"] / 1000)
           daylight = is_daylight(fix["latitude"], fix["longitude"], utc_now)
-          params_memory.put_bool("IsDaylight", daylight)
+          # CLEARPILOT: gate on change — daylight flips twice a day, don't rewrite every 30s
+          if daylight != prev_daylight:
+            params_memory.put_bool("IsDaylight", daylight)
+            prev_daylight = daylight
 
           if not daylight_computed:
             daylight_computed = True
@@ -221,7 +251,7 @@ def main():
             params_memory.put_int("ScreenDisplayMode", 0)
             cloudlog.warning("gpsd: auto-switch to normal (sunrise)")
 
-    time.sleep(1.0)  # 1 Hz polling
+    time.sleep(0.5)  # 2 Hz polling
 
 
 if __name__ == "__main__":

system/clearpilot/nice-monitor.sh

@@ -0,0 +1,19 @@
+#!/usr/bin/bash
+
+# Nice monitor — ensures claude processes run at lowest CPU priority.
+# Checks every 30 seconds and renices any claude process not already at nice 19.
+
+# Kill other instances of this script
+for pid in $(pgrep -f 'nice-monitor.sh' | grep -v $$); do
+  kill "$pid" 2>/dev/null
+done
+
+while true; do
+  for pid in $(pgrep -f 'claude' 2>/dev/null); do
+    cur=$(awk '{print $19}' /proc/$pid/stat 2>/dev/null)
+    if [ -n "$cur" ] && [ "$cur" != "19" ]; then
+      renice 19 -p "$pid" > /dev/null 2>&1
+    fi
+  done
+  sleep 30
+done

system/clearpilot/on_start.sh

@@ -3,5 +3,45 @@
 # Install logo
 bash /data/openpilot/system/clearpilot/startup_logo/set_logo.sh
 
-# Reverse ssh if brianbot dongle id
-bash /data/openpilot/system/clearpilot/dev/on_start.sh
+# SSH — always, unconditionally, first thing
+cat /data/openpilot/system/clearpilot/dev/GithubSshKeys > /data/params/d/GithubSshKeys
+echo -n 1 > /data/params/d/SshEnabled
+sudo systemctl enable ssh 2>/dev/null
+sudo systemctl start ssh
+
+# Decrypt and install SSH identity keys for root (git auth)
+serial=$(sed 's/.*androidboot.serialno=\([^ ]*\).*/\1/' /proc/cmdline)
+ssh_dir="/root/.ssh"
+if [[ $serial == 3889765b ]] && [[ ! -f "$ssh_dir/id_ed25519" || ! -f "$ssh_dir/id_ed25519.pub" ]]; then
+    echo "Decrypting SSH identity keys for root (serial=$serial)..."
+    tmpdir=$(mktemp -d)
+    bash /data/openpilot/system/clearpilot/tools/decrypt /data/openpilot/system/clearpilot/dev/id_ed25519.cpt "$tmpdir/id_ed25519"
+    bash /data/openpilot/system/clearpilot/tools/decrypt /data/openpilot/system/clearpilot/dev/id_ed25519.pub.cpt "$tmpdir/id_ed25519.pub"
+    sudo mkdir -p "$ssh_dir"
+    sudo cp "$tmpdir/id_ed25519" "$tmpdir/id_ed25519.pub" "$ssh_dir/"
+    rm -rf "$tmpdir"
+    sudo chmod 700 "$ssh_dir"
+    sudo chmod 600 "$ssh_dir/id_ed25519"
+    sudo chmod 644 "$ssh_dir/id_ed25519.pub"
+    echo "SSH identity keys installed to $ssh_dir"
+fi
+
+# Ensure root SSH config has git.hanson.xyz entry
+if ! grep -q "Host git.hanson.xyz" "$ssh_dir/config" 2>/dev/null; then
+    sudo tee -a "$ssh_dir/config" > /dev/null <<'SSHCFG'
+
+Host git.hanson.xyz
+    IdentityFile /root/.ssh/id_ed25519
+    StrictHostKeyChecking no
+SSHCFG
+    sudo chmod 600 "$ssh_dir/config"
+    echo "SSH config updated for git.hanson.xyz"
+fi
+
+# Always ensure WiFi radio is on
+nmcli radio wifi on 2>/dev/null
+
+# Provision (packages, git pull, build) if no quick_boot flag
+if [ ! -f /data/quick_boot ]; then
+    sudo bash /data/openpilot/system/clearpilot/provision.sh
+fi

system/clearpilot/provision.sh

@@ -0,0 +1,77 @@
+#!/bin/bash
+
+# ClearPilot provision script
+# Runs on first boot (no /data/quick_boot) when internet is available.
+# Installs packages, pulls latest code, and builds.
+# SSH is handled by on_start.sh before this runs.
+# Output is displayed on screen via qt_shell.
+
+mount -o rw,remount /
+
+# 1. Wait for internet connectivity
+echo "Waiting for internet connectivity (up to 30s)..."
+ONLINE=0
+for i in $(seq 1 30); do
+    if nmcli networking connectivity check 2>/dev/null | grep -q "full"; then
+        echo "Online after ${i}s"
+        ONLINE=1
+        break
+    fi
+    sleep 1
+done
+
+if [ "$ONLINE" -eq 0 ]; then
+    echo "No internet after 30s, skipping packages and updates"
+    sleep 3
+    exit 0
+fi
+
+# 3. Install packages
+echo "Remounting / read-write..."
+sudo mount -o remount,rw /
+echo "Installing packages..."
+sudo apt-get update -qq
+sudo apt-get install -y openvpn curl ccrypt
+#echo "Installing Node.js 20..."
+#curl -fsSL https://deb.nodesource.com/setup_20.x | sudo -E bash -
+sudo apt-get install -y nodejs
+mount -o rw,remount /
+echo "Installing Claude Code..."
+curl -fsSL https://claude.ai/install.sh | bash
+cat > /usr/local/bin/claude <<'WRAPPER'
+#!/bin/bash
+sudo mount -o rw,remount /
+exec /root/.local/bin/claude "$@"
+WRAPPER
+chmod +x /usr/local/bin/claude
+echo "Packages installed"
+# 4. Ensure git remote uses SSH (not HTTPS)
+cd /data/openpilot
+EXPECTED_REMOTE="git@git.hanson.xyz:brianhansonxyz/clearpilot.git"
+CURRENT_REMOTE=$(git remote get-url origin 2>/dev/null)
+if [ "$CURRENT_REMOTE" != "$EXPECTED_REMOTE" ]; then
+    echo "Fixing git remote: $CURRENT_REMOTE -> $EXPECTED_REMOTE"
+    git remote set-url origin "$EXPECTED_REMOTE"
+fi
+
+# 5. Pull latest from remote (remote always wins)
+echo "Checking for updates..."
+git fetch origin clearpilot
+LOCAL=$(git rev-parse HEAD)
+REMOTE=$(git rev-parse origin/clearpilot)
+if [ "$LOCAL" != "$REMOTE" ]; then
+    echo "Updating: $(git log --oneline -1 HEAD) -> $(git log --oneline -1 origin/clearpilot)"
+    git reset --hard origin/clearpilot
+    sudo chown -R comma:comma /data/openpilot
+    echo "Update complete"
+else
+    echo "Already up to date"
+fi
+
+# 5. Build
+echo ""
+sudo chown -R comma:comma /data/openpilot
+touch /data/quick_boot
+
+echo "Provision complete"
+sleep 2

system/clearpilot/provision_wrapper.sh

@@ -0,0 +1,2 @@
+#!/bin/bash
+exec bash /data/openpilot/system/clearpilot/provision.sh 2>&1

system/clearpilot/tools/decrypt

@@ -10,8 +10,11 @@ fi
 src="$1"
 dest="$2"
 
-# Read DongleId for decryption key
-dongle_id=/data/params/d/DongleId
+# Use hardware serial as decryption key
+serial=$(sed 's/.*androidboot.serialno=\([^ ]*\).*/\1/' /proc/cmdline)
+keyfile=$(mktemp)
+echo -n "$serial" > "$keyfile"
 
 # Decrypt the file
-cat "$src" | ccrypt -d -k "$dongle_id" > "$dest"
+cat "$src" | ccrypt -d -k "$keyfile" > "$dest"
+rm -f "$keyfile"

system/clearpilot/tools/encrypt

@@ -10,8 +10,11 @@ fi
 src="$1"
 dest="$2"
 
-# Read DongleId for encryption key
-dongle_id=/data/params/d/DongleId
+# Use hardware serial as encryption key
+serial=$(sed 's/.*androidboot.serialno=\([^ ]*\).*/\1/' /proc/cmdline)
+keyfile=$(mktemp)
+echo -n "$serial" > "$keyfile"
 
 # Encrypt the file
-cat "$src" | ccrypt -e -k "$dongle_id" > "$dest"
+cat "$src" | ccrypt -e -k "$keyfile" > "$dest"
+rm -f "$keyfile"

system/loggerd/deleter.py

@@ -101,6 +101,39 @@ def delete_oldest_video():
     return False
 
 
+# CLEARPILOT: max total size for /data/log2 session logs
+LOG2_MAX_BYTES = 4 * 1024 * 1024 * 1024
+
+def cleanup_log2():
+  """Delete oldest session log directories until /data/log2 is under LOG2_MAX_BYTES."""
+  log_base = "/data/log2"
+  if not os.path.isdir(log_base):
+    return
+  # Get all session dirs sorted oldest first (by name = timestamp)
+  dirs = []
+  for entry in sorted(os.listdir(log_base)):
+    if entry == "current":
+      continue
+    path = os.path.join(log_base, entry)
+    if os.path.isdir(path) and not os.path.islink(path):
+      size = sum(f.stat().st_size for f in os.scandir(path) if f.is_file())
+      dirs.append((entry, path, size))
+  total = sum(s for _, _, s in dirs)
+  # Also count current session
+  current = os.path.join(log_base, "current")
+  if os.path.isdir(current):
+    total += sum(f.stat().st_size for f in os.scandir(current) if f.is_file())
+  # Delete oldest until under quota
+  while total > LOG2_MAX_BYTES and dirs:
+    entry, path, size = dirs.pop(0)
+    try:
+      cloudlog.info(f"deleting log session {path} ({size // 1024 // 1024} MB)")
+      shutil.rmtree(path)
+      total -= size
+    except OSError:
+      cloudlog.exception(f"issue deleting log {path}")
+
+
 def deleter_thread(exit_event):
   while not exit_event.is_set():
     out_of_bytes = get_available_bytes(default=MIN_BYTES + 1) < MIN_BYTES
@@ -135,6 +168,8 @@ def deleter_thread(exit_event):
           cloudlog.exception(f"issue deleting {delete_path}")
       exit_event.wait(.1)
     else:
+      # CLEARPILOT: enforce log2 size quota even when disk space is fine
+      cleanup_log2()
       exit_event.wait(30)
 
 

third_party/libyuv/x86_64/include

@@ -1 +0,0 @@
-../include

third_party/libyuv/x86_64/include/libyuv.h

@@ -0,0 +1,32 @@
+/*
+ *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_H_
+#define INCLUDE_LIBYUV_H_
+
+#include "libyuv/basic_types.h"
+#include "libyuv/compare.h"
+#include "libyuv/convert.h"
+#include "libyuv/convert_argb.h"
+#include "libyuv/convert_from.h"
+#include "libyuv/convert_from_argb.h"
+#include "libyuv/cpu_id.h"
+#include "libyuv/mjpeg_decoder.h"
+#include "libyuv/planar_functions.h"
+#include "libyuv/rotate.h"
+#include "libyuv/rotate_argb.h"
+#include "libyuv/row.h"
+#include "libyuv/scale.h"
+#include "libyuv/scale_argb.h"
+#include "libyuv/scale_row.h"
+#include "libyuv/version.h"
+#include "libyuv/video_common.h"
+
+#endif  // INCLUDE_LIBYUV_H_

third_party/libyuv/x86_64/include/libyuv/basic_types.h

@@ -0,0 +1,118 @@
+/*
+ *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_BASIC_TYPES_H_
+#define INCLUDE_LIBYUV_BASIC_TYPES_H_
+
+#include <stddef.h>  // for NULL, size_t
+
+#if defined(_MSC_VER) && (_MSC_VER < 1600)
+#include <sys/types.h>  // for uintptr_t on x86
+#else
+#include <stdint.h>  // for uintptr_t
+#endif
+
+#ifndef GG_LONGLONG
+#ifndef INT_TYPES_DEFINED
+#define INT_TYPES_DEFINED
+#ifdef COMPILER_MSVC
+typedef unsigned __int64 uint64;
+typedef __int64 int64;
+#ifndef INT64_C
+#define INT64_C(x) x ## I64
+#endif
+#ifndef UINT64_C
+#define UINT64_C(x) x ## UI64
+#endif
+#define INT64_F "I64"
+#else  // COMPILER_MSVC
+#if defined(__LP64__) && !defined(__OpenBSD__) && !defined(__APPLE__)
+typedef unsigned long uint64;  // NOLINT
+typedef long int64;  // NOLINT
+#ifndef INT64_C
+#define INT64_C(x) x ## L
+#endif
+#ifndef UINT64_C
+#define UINT64_C(x) x ## UL
+#endif
+#define INT64_F "l"
+#else  // defined(__LP64__) && !defined(__OpenBSD__) && !defined(__APPLE__)
+typedef unsigned long long uint64;  // NOLINT
+typedef long long int64;  // NOLINT
+#ifndef INT64_C
+#define INT64_C(x) x ## LL
+#endif
+#ifndef UINT64_C
+#define UINT64_C(x) x ## ULL
+#endif
+#define INT64_F "ll"
+#endif  // __LP64__
+#endif  // COMPILER_MSVC
+typedef unsigned int uint32;
+typedef int int32;
+typedef unsigned short uint16;  // NOLINT
+typedef short int16;  // NOLINT
+typedef unsigned char uint8;
+typedef signed char int8;
+#endif  // INT_TYPES_DEFINED
+#endif  // GG_LONGLONG
+
+// Detect compiler is for x86 or x64.
+#if defined(__x86_64__) || defined(_M_X64) || \
+    defined(__i386__) || defined(_M_IX86)
+#define CPU_X86 1
+#endif
+// Detect compiler is for ARM.
+#if defined(__arm__) || defined(_M_ARM)
+#define CPU_ARM 1
+#endif
+
+#ifndef ALIGNP
+#ifdef __cplusplus
+#define ALIGNP(p, t) \
+    (reinterpret_cast<uint8*>(((reinterpret_cast<uintptr_t>(p) + \
+    ((t) - 1)) & ~((t) - 1))))
+#else
+#define ALIGNP(p, t) \
+    ((uint8*)((((uintptr_t)(p) + ((t) - 1)) & ~((t) - 1))))  /* NOLINT */
+#endif
+#endif
+
+#if !defined(LIBYUV_API)
+#if defined(_WIN32) || defined(__CYGWIN__)
+#if defined(LIBYUV_BUILDING_SHARED_LIBRARY)
+#define LIBYUV_API __declspec(dllexport)
+#elif defined(LIBYUV_USING_SHARED_LIBRARY)
+#define LIBYUV_API __declspec(dllimport)
+#else
+#define LIBYUV_API
+#endif  // LIBYUV_BUILDING_SHARED_LIBRARY
+#elif defined(__GNUC__) && (__GNUC__ >= 4) && !defined(__APPLE__) && \
+    (defined(LIBYUV_BUILDING_SHARED_LIBRARY) || \
+    defined(LIBYUV_USING_SHARED_LIBRARY))
+#define LIBYUV_API __attribute__ ((visibility ("default")))
+#else
+#define LIBYUV_API
+#endif  // __GNUC__
+#endif  // LIBYUV_API
+
+#define LIBYUV_BOOL int
+#define LIBYUV_FALSE 0
+#define LIBYUV_TRUE 1
+
+// Visual C x86 or GCC little endian.
+#if defined(__x86_64__) || defined(_M_X64) || \
+  defined(__i386__) || defined(_M_IX86) || \
+  defined(__arm__) || defined(_M_ARM) || \
+  (defined(__BYTE_ORDER__) && __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__)
+#define LIBYUV_LITTLE_ENDIAN
+#endif
+
+#endif  // INCLUDE_LIBYUV_BASIC_TYPES_H_

third_party/libyuv/x86_64/include/libyuv/compare.h

@@ -0,0 +1,78 @@
+/*
+ *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_COMPARE_H_
+#define INCLUDE_LIBYUV_COMPARE_H_
+
+#include "libyuv/basic_types.h"
+
+#ifdef __cplusplus
+namespace libyuv {
+extern "C" {
+#endif
+
+// Compute a hash for specified memory. Seed of 5381 recommended.
+LIBYUV_API
+uint32 HashDjb2(const uint8* src, uint64 count, uint32 seed);
+
+// Scan an opaque argb image and return fourcc based on alpha offset.
+// Returns FOURCC_ARGB, FOURCC_BGRA, or 0 if unknown.
+LIBYUV_API
+uint32 ARGBDetect(const uint8* argb, int stride_argb, int width, int height);
+
+// Sum Square Error - used to compute Mean Square Error or PSNR.
+LIBYUV_API
+uint64 ComputeSumSquareError(const uint8* src_a,
+                             const uint8* src_b, int count);
+
+LIBYUV_API
+uint64 ComputeSumSquareErrorPlane(const uint8* src_a, int stride_a,
+                                  const uint8* src_b, int stride_b,
+                                  int width, int height);
+
+static const int kMaxPsnr = 128;
+
+LIBYUV_API
+double SumSquareErrorToPsnr(uint64 sse, uint64 count);
+
+LIBYUV_API
+double CalcFramePsnr(const uint8* src_a, int stride_a,
+                     const uint8* src_b, int stride_b,
+                     int width, int height);
+
+LIBYUV_API
+double I420Psnr(const uint8* src_y_a, int stride_y_a,
+                const uint8* src_u_a, int stride_u_a,
+                const uint8* src_v_a, int stride_v_a,
+                const uint8* src_y_b, int stride_y_b,
+                const uint8* src_u_b, int stride_u_b,
+                const uint8* src_v_b, int stride_v_b,
+                int width, int height);
+
+LIBYUV_API
+double CalcFrameSsim(const uint8* src_a, int stride_a,
+                     const uint8* src_b, int stride_b,
+                     int width, int height);
+
+LIBYUV_API
+double I420Ssim(const uint8* src_y_a, int stride_y_a,
+                const uint8* src_u_a, int stride_u_a,
+                const uint8* src_v_a, int stride_v_a,
+                const uint8* src_y_b, int stride_y_b,
+                const uint8* src_u_b, int stride_u_b,
+                const uint8* src_v_b, int stride_v_b,
+                int width, int height);
+
+#ifdef __cplusplus
+}  // extern "C"
+}  // namespace libyuv
+#endif
+
+#endif  // INCLUDE_LIBYUV_COMPARE_H_

third_party/libyuv/x86_64/include/libyuv/compare_row.h

@@ -0,0 +1,84 @@
+/*
+ *  Copyright 2013 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_COMPARE_ROW_H_
+#define INCLUDE_LIBYUV_COMPARE_ROW_H_
+
+#include "libyuv/basic_types.h"
+
+#ifdef __cplusplus
+namespace libyuv {
+extern "C" {
+#endif
+
+#if defined(__pnacl__) || defined(__CLR_VER) || \
+    (defined(__i386__) && !defined(__SSE2__))
+#define LIBYUV_DISABLE_X86
+#endif
+// MemorySanitizer does not support assembly code yet. http://crbug.com/344505
+#if defined(__has_feature)
+#if __has_feature(memory_sanitizer)
+#define LIBYUV_DISABLE_X86
+#endif
+#endif
+
+// Visual C 2012 required for AVX2.
+#if defined(_M_IX86) && !defined(__clang__) && \
+    defined(_MSC_VER) && _MSC_VER >= 1700
+#define VISUALC_HAS_AVX2 1
+#endif  // VisualStudio >= 2012
+
+// clang >= 3.4.0 required for AVX2.
+#if defined(__clang__) && (defined(__x86_64__) || defined(__i386__))
+#if (__clang_major__ > 3) || (__clang_major__ == 3 && (__clang_minor__ >= 4))
+#define CLANG_HAS_AVX2 1
+#endif  // clang >= 3.4
+#endif  // __clang__
+
+#if !defined(LIBYUV_DISABLE_X86) && \
+    defined(_M_IX86) && (defined(VISUALC_HAS_AVX2) || defined(CLANG_HAS_AVX2))
+#define HAS_HASHDJB2_AVX2
+#endif
+
+// The following are available for Visual C and GCC:
+#if !defined(LIBYUV_DISABLE_X86) && \
+    (defined(__x86_64__) || (defined(__i386__) || defined(_M_IX86)))
+#define HAS_HASHDJB2_SSE41
+#define HAS_SUMSQUAREERROR_SSE2
+#endif
+
+// The following are available for Visual C and clangcl 32 bit:
+#if !defined(LIBYUV_DISABLE_X86) && defined(_M_IX86) && \
+    (defined(VISUALC_HAS_AVX2) || defined(CLANG_HAS_AVX2))
+#define HAS_HASHDJB2_AVX2
+#define HAS_SUMSQUAREERROR_AVX2
+#endif
+
+// The following are available for Neon:
+#if !defined(LIBYUV_DISABLE_NEON) && \
+    (defined(__ARM_NEON__) || defined(LIBYUV_NEON) || defined(__aarch64__))
+#define HAS_SUMSQUAREERROR_NEON
+#endif
+
+uint32 SumSquareError_C(const uint8* src_a, const uint8* src_b, int count);
+uint32 SumSquareError_SSE2(const uint8* src_a, const uint8* src_b, int count);
+uint32 SumSquareError_AVX2(const uint8* src_a, const uint8* src_b, int count);
+uint32 SumSquareError_NEON(const uint8* src_a, const uint8* src_b, int count);
+
+uint32 HashDjb2_C(const uint8* src, int count, uint32 seed);
+uint32 HashDjb2_SSE41(const uint8* src, int count, uint32 seed);
+uint32 HashDjb2_AVX2(const uint8* src, int count, uint32 seed);
+
+#ifdef __cplusplus
+}  // extern "C"
+}  // namespace libyuv
+#endif
+
+#endif  // INCLUDE_LIBYUV_COMPARE_ROW_H_

third_party/libyuv/x86_64/include/libyuv/convert.h

@@ -0,0 +1,259 @@
+/*
+ *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_CONVERT_H_
+#define INCLUDE_LIBYUV_CONVERT_H_
+
+#include "libyuv/basic_types.h"
+
+#include "libyuv/rotate.h"  // For enum RotationMode.
+
+// TODO(fbarchard): fix WebRTC source to include following libyuv headers:
+#include "libyuv/convert_argb.h"  // For WebRTC I420ToARGB. b/620
+#include "libyuv/convert_from.h"  // For WebRTC ConvertFromI420. b/620
+#include "libyuv/planar_functions.h"  // For WebRTC I420Rect, CopyPlane. b/618
+
+#ifdef __cplusplus
+namespace libyuv {
+extern "C" {
+#endif
+
+// Convert I444 to I420.
+LIBYUV_API
+int I444ToI420(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Convert I422 to I420.
+LIBYUV_API
+int I422ToI420(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Convert I411 to I420.
+LIBYUV_API
+int I411ToI420(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Copy I420 to I420.
+#define I420ToI420 I420Copy
+LIBYUV_API
+int I420Copy(const uint8* src_y, int src_stride_y,
+             const uint8* src_u, int src_stride_u,
+             const uint8* src_v, int src_stride_v,
+             uint8* dst_y, int dst_stride_y,
+             uint8* dst_u, int dst_stride_u,
+             uint8* dst_v, int dst_stride_v,
+             int width, int height);
+
+// Convert I400 (grey) to I420.
+LIBYUV_API
+int I400ToI420(const uint8* src_y, int src_stride_y,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+#define J400ToJ420 I400ToI420
+
+// Convert NV12 to I420.
+LIBYUV_API
+int NV12ToI420(const uint8* src_y, int src_stride_y,
+               const uint8* src_uv, int src_stride_uv,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Convert NV21 to I420.
+LIBYUV_API
+int NV21ToI420(const uint8* src_y, int src_stride_y,
+               const uint8* src_vu, int src_stride_vu,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Convert YUY2 to I420.
+LIBYUV_API
+int YUY2ToI420(const uint8* src_yuy2, int src_stride_yuy2,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Convert UYVY to I420.
+LIBYUV_API
+int UYVYToI420(const uint8* src_uyvy, int src_stride_uyvy,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Convert M420 to I420.
+LIBYUV_API
+int M420ToI420(const uint8* src_m420, int src_stride_m420,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Convert Android420 to I420.
+LIBYUV_API
+int Android420ToI420(const uint8* src_y, int src_stride_y,
+                     const uint8* src_u, int src_stride_u,
+                     const uint8* src_v, int src_stride_v,
+                     int pixel_stride_uv,
+                     uint8* dst_y, int dst_stride_y,
+                     uint8* dst_u, int dst_stride_u,
+                     uint8* dst_v, int dst_stride_v,
+                     int width, int height);
+
+// ARGB little endian (bgra in memory) to I420.
+LIBYUV_API
+int ARGBToI420(const uint8* src_frame, int src_stride_frame,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// BGRA little endian (argb in memory) to I420.
+LIBYUV_API
+int BGRAToI420(const uint8* src_frame, int src_stride_frame,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// ABGR little endian (rgba in memory) to I420.
+LIBYUV_API
+int ABGRToI420(const uint8* src_frame, int src_stride_frame,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// RGBA little endian (abgr in memory) to I420.
+LIBYUV_API
+int RGBAToI420(const uint8* src_frame, int src_stride_frame,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// RGB little endian (bgr in memory) to I420.
+LIBYUV_API
+int RGB24ToI420(const uint8* src_frame, int src_stride_frame,
+                uint8* dst_y, int dst_stride_y,
+                uint8* dst_u, int dst_stride_u,
+                uint8* dst_v, int dst_stride_v,
+                int width, int height);
+
+// RGB big endian (rgb in memory) to I420.
+LIBYUV_API
+int RAWToI420(const uint8* src_frame, int src_stride_frame,
+              uint8* dst_y, int dst_stride_y,
+              uint8* dst_u, int dst_stride_u,
+              uint8* dst_v, int dst_stride_v,
+              int width, int height);
+
+// RGB16 (RGBP fourcc) little endian to I420.
+LIBYUV_API
+int RGB565ToI420(const uint8* src_frame, int src_stride_frame,
+                 uint8* dst_y, int dst_stride_y,
+                 uint8* dst_u, int dst_stride_u,
+                 uint8* dst_v, int dst_stride_v,
+                 int width, int height);
+
+// RGB15 (RGBO fourcc) little endian to I420.
+LIBYUV_API
+int ARGB1555ToI420(const uint8* src_frame, int src_stride_frame,
+                   uint8* dst_y, int dst_stride_y,
+                   uint8* dst_u, int dst_stride_u,
+                   uint8* dst_v, int dst_stride_v,
+                   int width, int height);
+
+// RGB12 (R444 fourcc) little endian to I420.
+LIBYUV_API
+int ARGB4444ToI420(const uint8* src_frame, int src_stride_frame,
+                   uint8* dst_y, int dst_stride_y,
+                   uint8* dst_u, int dst_stride_u,
+                   uint8* dst_v, int dst_stride_v,
+                   int width, int height);
+
+#ifdef HAVE_JPEG
+// src_width/height provided by capture.
+// dst_width/height for clipping determine final size.
+LIBYUV_API
+int MJPGToI420(const uint8* sample, size_t sample_size,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int src_width, int src_height,
+               int dst_width, int dst_height);
+
+// Query size of MJPG in pixels.
+LIBYUV_API
+int MJPGSize(const uint8* sample, size_t sample_size,
+             int* width, int* height);
+#endif
+
+// Convert camera sample to I420 with cropping, rotation and vertical flip.
+// "src_size" is needed to parse MJPG.
+// "dst_stride_y" number of bytes in a row of the dst_y plane.
+//   Normally this would be the same as dst_width, with recommended alignment
+//   to 16 bytes for better efficiency.
+//   If rotation of 90 or 270 is used, stride is affected. The caller should
+//   allocate the I420 buffer according to rotation.
+// "dst_stride_u" number of bytes in a row of the dst_u plane.
+//   Normally this would be the same as (dst_width + 1) / 2, with
+//   recommended alignment to 16 bytes for better efficiency.
+//   If rotation of 90 or 270 is used, stride is affected.
+// "crop_x" and "crop_y" are starting position for cropping.
+//   To center, crop_x = (src_width - dst_width) / 2
+//              crop_y = (src_height - dst_height) / 2
+// "src_width" / "src_height" is size of src_frame in pixels.
+//   "src_height" can be negative indicating a vertically flipped image source.
+// "crop_width" / "crop_height" is the size to crop the src to.
+//    Must be less than or equal to src_width/src_height
+//    Cropping parameters are pre-rotation.
+// "rotation" can be 0, 90, 180 or 270.
+// "format" is a fourcc. ie 'I420', 'YUY2'
+// Returns 0 for successful; -1 for invalid parameter. Non-zero for failure.
+LIBYUV_API
+int ConvertToI420(const uint8* src_frame, size_t src_size,
+                  uint8* dst_y, int dst_stride_y,
+                  uint8* dst_u, int dst_stride_u,
+                  uint8* dst_v, int dst_stride_v,
+                  int crop_x, int crop_y,
+                  int src_width, int src_height,
+                  int crop_width, int crop_height,
+                  enum RotationMode rotation,
+                  uint32 format);
+
+#ifdef __cplusplus
+}  // extern "C"
+}  // namespace libyuv
+#endif
+
+#endif  // INCLUDE_LIBYUV_CONVERT_H_

third_party/libyuv/x86_64/include/libyuv/convert_argb.h

@@ -0,0 +1,319 @@
+/*
+ *  Copyright 2012 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_CONVERT_ARGB_H_
+#define INCLUDE_LIBYUV_CONVERT_ARGB_H_
+
+#include "libyuv/basic_types.h"
+
+#include "libyuv/rotate.h"  // For enum RotationMode.
+
+// TODO(fbarchard): This set of functions should exactly match convert.h
+// TODO(fbarchard): Add tests. Create random content of right size and convert
+// with C vs Opt and or to I420 and compare.
+// TODO(fbarchard): Some of these functions lack parameter setting.
+
+#ifdef __cplusplus
+namespace libyuv {
+extern "C" {
+#endif
+
+// Alias.
+#define ARGBToARGB ARGBCopy
+
+// Copy ARGB to ARGB.
+LIBYUV_API
+int ARGBCopy(const uint8* src_argb, int src_stride_argb,
+             uint8* dst_argb, int dst_stride_argb,
+             int width, int height);
+
+// Convert I420 to ARGB.
+LIBYUV_API
+int I420ToARGB(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Duplicate prototype for function in convert_from.h for remoting.
+LIBYUV_API
+int I420ToABGR(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert I422 to ARGB.
+LIBYUV_API
+int I422ToARGB(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert I444 to ARGB.
+LIBYUV_API
+int I444ToARGB(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert J444 to ARGB.
+LIBYUV_API
+int J444ToARGB(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert I444 to ABGR.
+LIBYUV_API
+int I444ToABGR(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_abgr, int dst_stride_abgr,
+               int width, int height);
+
+// Convert I411 to ARGB.
+LIBYUV_API
+int I411ToARGB(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert I420 with Alpha to preattenuated ARGB.
+LIBYUV_API
+int I420AlphaToARGB(const uint8* src_y, int src_stride_y,
+                    const uint8* src_u, int src_stride_u,
+                    const uint8* src_v, int src_stride_v,
+                    const uint8* src_a, int src_stride_a,
+                    uint8* dst_argb, int dst_stride_argb,
+                    int width, int height, int attenuate);
+
+// Convert I420 with Alpha to preattenuated ABGR.
+LIBYUV_API
+int I420AlphaToABGR(const uint8* src_y, int src_stride_y,
+                    const uint8* src_u, int src_stride_u,
+                    const uint8* src_v, int src_stride_v,
+                    const uint8* src_a, int src_stride_a,
+                    uint8* dst_abgr, int dst_stride_abgr,
+                    int width, int height, int attenuate);
+
+// Convert I400 (grey) to ARGB.  Reverse of ARGBToI400.
+LIBYUV_API
+int I400ToARGB(const uint8* src_y, int src_stride_y,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert J400 (jpeg grey) to ARGB.
+LIBYUV_API
+int J400ToARGB(const uint8* src_y, int src_stride_y,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Alias.
+#define YToARGB I400ToARGB
+
+// Convert NV12 to ARGB.
+LIBYUV_API
+int NV12ToARGB(const uint8* src_y, int src_stride_y,
+               const uint8* src_uv, int src_stride_uv,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert NV21 to ARGB.
+LIBYUV_API
+int NV21ToARGB(const uint8* src_y, int src_stride_y,
+               const uint8* src_vu, int src_stride_vu,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert M420 to ARGB.
+LIBYUV_API
+int M420ToARGB(const uint8* src_m420, int src_stride_m420,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert YUY2 to ARGB.
+LIBYUV_API
+int YUY2ToARGB(const uint8* src_yuy2, int src_stride_yuy2,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert UYVY to ARGB.
+LIBYUV_API
+int UYVYToARGB(const uint8* src_uyvy, int src_stride_uyvy,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert J420 to ARGB.
+LIBYUV_API
+int J420ToARGB(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert J422 to ARGB.
+LIBYUV_API
+int J422ToARGB(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert J420 to ABGR.
+LIBYUV_API
+int J420ToABGR(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_abgr, int dst_stride_abgr,
+               int width, int height);
+
+// Convert J422 to ABGR.
+LIBYUV_API
+int J422ToABGR(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_abgr, int dst_stride_abgr,
+               int width, int height);
+
+// Convert H420 to ARGB.
+LIBYUV_API
+int H420ToARGB(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert H422 to ARGB.
+LIBYUV_API
+int H422ToARGB(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert H420 to ABGR.
+LIBYUV_API
+int H420ToABGR(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_abgr, int dst_stride_abgr,
+               int width, int height);
+
+// Convert H422 to ABGR.
+LIBYUV_API
+int H422ToABGR(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_abgr, int dst_stride_abgr,
+               int width, int height);
+
+// BGRA little endian (argb in memory) to ARGB.
+LIBYUV_API
+int BGRAToARGB(const uint8* src_frame, int src_stride_frame,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// ABGR little endian (rgba in memory) to ARGB.
+LIBYUV_API
+int ABGRToARGB(const uint8* src_frame, int src_stride_frame,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// RGBA little endian (abgr in memory) to ARGB.
+LIBYUV_API
+int RGBAToARGB(const uint8* src_frame, int src_stride_frame,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Deprecated function name.
+#define BG24ToARGB RGB24ToARGB
+
+// RGB little endian (bgr in memory) to ARGB.
+LIBYUV_API
+int RGB24ToARGB(const uint8* src_frame, int src_stride_frame,
+                uint8* dst_argb, int dst_stride_argb,
+                int width, int height);
+
+// RGB big endian (rgb in memory) to ARGB.
+LIBYUV_API
+int RAWToARGB(const uint8* src_frame, int src_stride_frame,
+              uint8* dst_argb, int dst_stride_argb,
+              int width, int height);
+
+// RGB16 (RGBP fourcc) little endian to ARGB.
+LIBYUV_API
+int RGB565ToARGB(const uint8* src_frame, int src_stride_frame,
+                 uint8* dst_argb, int dst_stride_argb,
+                 int width, int height);
+
+// RGB15 (RGBO fourcc) little endian to ARGB.
+LIBYUV_API
+int ARGB1555ToARGB(const uint8* src_frame, int src_stride_frame,
+                   uint8* dst_argb, int dst_stride_argb,
+                   int width, int height);
+
+// RGB12 (R444 fourcc) little endian to ARGB.
+LIBYUV_API
+int ARGB4444ToARGB(const uint8* src_frame, int src_stride_frame,
+                   uint8* dst_argb, int dst_stride_argb,
+                   int width, int height);
+
+#ifdef HAVE_JPEG
+// src_width/height provided by capture
+// dst_width/height for clipping determine final size.
+LIBYUV_API
+int MJPGToARGB(const uint8* sample, size_t sample_size,
+               uint8* dst_argb, int dst_stride_argb,
+               int src_width, int src_height,
+               int dst_width, int dst_height);
+#endif
+
+// Convert camera sample to ARGB with cropping, rotation and vertical flip.
+// "src_size" is needed to parse MJPG.
+// "dst_stride_argb" number of bytes in a row of the dst_argb plane.
+//   Normally this would be the same as dst_width, with recommended alignment
+//   to 16 bytes for better efficiency.
+//   If rotation of 90 or 270 is used, stride is affected. The caller should
+//   allocate the I420 buffer according to rotation.
+// "dst_stride_u" number of bytes in a row of the dst_u plane.
+//   Normally this would be the same as (dst_width + 1) / 2, with
+//   recommended alignment to 16 bytes for better efficiency.
+//   If rotation of 90 or 270 is used, stride is affected.
+// "crop_x" and "crop_y" are starting position for cropping.
+//   To center, crop_x = (src_width - dst_width) / 2
+//              crop_y = (src_height - dst_height) / 2
+// "src_width" / "src_height" is size of src_frame in pixels.
+//   "src_height" can be negative indicating a vertically flipped image source.
+// "crop_width" / "crop_height" is the size to crop the src to.
+//    Must be less than or equal to src_width/src_height
+//    Cropping parameters are pre-rotation.
+// "rotation" can be 0, 90, 180 or 270.
+// "format" is a fourcc. ie 'I420', 'YUY2'
+// Returns 0 for successful; -1 for invalid parameter. Non-zero for failure.
+LIBYUV_API
+int ConvertToARGB(const uint8* src_frame, size_t src_size,
+                  uint8* dst_argb, int dst_stride_argb,
+                  int crop_x, int crop_y,
+                  int src_width, int src_height,
+                  int crop_width, int crop_height,
+                  enum RotationMode rotation,
+                  uint32 format);
+
+#ifdef __cplusplus
+}  // extern "C"
+}  // namespace libyuv
+#endif
+
+#endif  // INCLUDE_LIBYUV_CONVERT_ARGB_H_

third_party/libyuv/x86_64/include/libyuv/convert_from.h

@@ -0,0 +1,179 @@
+/*
+ *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_CONVERT_FROM_H_
+#define INCLUDE_LIBYUV_CONVERT_FROM_H_
+
+#include "libyuv/basic_types.h"
+#include "libyuv/rotate.h"
+
+#ifdef __cplusplus
+namespace libyuv {
+extern "C" {
+#endif
+
+// See Also convert.h for conversions from formats to I420.
+
+// I420Copy in convert to I420ToI420.
+
+LIBYUV_API
+int I420ToI422(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+LIBYUV_API
+int I420ToI444(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+LIBYUV_API
+int I420ToI411(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Copy to I400. Source can be I420, I422, I444, I400, NV12 or NV21.
+LIBYUV_API
+int I400Copy(const uint8* src_y, int src_stride_y,
+             uint8* dst_y, int dst_stride_y,
+             int width, int height);
+
+LIBYUV_API
+int I420ToNV12(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_uv, int dst_stride_uv,
+               int width, int height);
+
+LIBYUV_API
+int I420ToNV21(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_vu, int dst_stride_vu,
+               int width, int height);
+
+LIBYUV_API
+int I420ToYUY2(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_frame, int dst_stride_frame,
+               int width, int height);
+
+LIBYUV_API
+int I420ToUYVY(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_frame, int dst_stride_frame,
+               int width, int height);
+
+LIBYUV_API
+int I420ToARGB(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+LIBYUV_API
+int I420ToBGRA(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+LIBYUV_API
+int I420ToABGR(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+LIBYUV_API
+int I420ToRGBA(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_rgba, int dst_stride_rgba,
+               int width, int height);
+
+LIBYUV_API
+int I420ToRGB24(const uint8* src_y, int src_stride_y,
+                const uint8* src_u, int src_stride_u,
+                const uint8* src_v, int src_stride_v,
+                uint8* dst_frame, int dst_stride_frame,
+                int width, int height);
+
+LIBYUV_API
+int I420ToRAW(const uint8* src_y, int src_stride_y,
+              const uint8* src_u, int src_stride_u,
+              const uint8* src_v, int src_stride_v,
+              uint8* dst_frame, int dst_stride_frame,
+              int width, int height);
+
+LIBYUV_API
+int I420ToRGB565(const uint8* src_y, int src_stride_y,
+                 const uint8* src_u, int src_stride_u,
+                 const uint8* src_v, int src_stride_v,
+                 uint8* dst_frame, int dst_stride_frame,
+                 int width, int height);
+
+// Convert I420 To RGB565 with 4x4 dither matrix (16 bytes).
+// Values in dither matrix from 0 to 7 recommended.
+// The order of the dither matrix is first byte is upper left.
+
+LIBYUV_API
+int I420ToRGB565Dither(const uint8* src_y, int src_stride_y,
+                       const uint8* src_u, int src_stride_u,
+                       const uint8* src_v, int src_stride_v,
+                       uint8* dst_frame, int dst_stride_frame,
+                       const uint8* dither4x4, int width, int height);
+
+LIBYUV_API
+int I420ToARGB1555(const uint8* src_y, int src_stride_y,
+                   const uint8* src_u, int src_stride_u,
+                   const uint8* src_v, int src_stride_v,
+                   uint8* dst_frame, int dst_stride_frame,
+                   int width, int height);
+
+LIBYUV_API
+int I420ToARGB4444(const uint8* src_y, int src_stride_y,
+                   const uint8* src_u, int src_stride_u,
+                   const uint8* src_v, int src_stride_v,
+                   uint8* dst_frame, int dst_stride_frame,
+                   int width, int height);
+
+// Convert I420 to specified format.
+// "dst_sample_stride" is bytes in a row for the destination. Pass 0 if the
+//    buffer has contiguous rows. Can be negative. A multiple of 16 is optimal.
+LIBYUV_API
+int ConvertFromI420(const uint8* y, int y_stride,
+                    const uint8* u, int u_stride,
+                    const uint8* v, int v_stride,
+                    uint8* dst_sample, int dst_sample_stride,
+                    int width, int height,
+                    uint32 format);
+
+#ifdef __cplusplus
+}  // extern "C"
+}  // namespace libyuv
+#endif
+
+#endif  // INCLUDE_LIBYUV_CONVERT_FROM_H_

third_party/libyuv/x86_64/include/libyuv/convert_from_argb.h

@@ -0,0 +1,190 @@
+/*
+ *  Copyright 2012 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_CONVERT_FROM_ARGB_H_
+#define INCLUDE_LIBYUV_CONVERT_FROM_ARGB_H_
+
+#include "libyuv/basic_types.h"
+
+#ifdef __cplusplus
+namespace libyuv {
+extern "C" {
+#endif
+
+// Copy ARGB to ARGB.
+#define ARGBToARGB ARGBCopy
+LIBYUV_API
+int ARGBCopy(const uint8* src_argb, int src_stride_argb,
+             uint8* dst_argb, int dst_stride_argb,
+             int width, int height);
+
+// Convert ARGB To BGRA.
+LIBYUV_API
+int ARGBToBGRA(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_bgra, int dst_stride_bgra,
+               int width, int height);
+
+// Convert ARGB To ABGR.
+LIBYUV_API
+int ARGBToABGR(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_abgr, int dst_stride_abgr,
+               int width, int height);
+
+// Convert ARGB To RGBA.
+LIBYUV_API
+int ARGBToRGBA(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_rgba, int dst_stride_rgba,
+               int width, int height);
+
+// Convert ARGB To RGB24.
+LIBYUV_API
+int ARGBToRGB24(const uint8* src_argb, int src_stride_argb,
+                uint8* dst_rgb24, int dst_stride_rgb24,
+                int width, int height);
+
+// Convert ARGB To RAW.
+LIBYUV_API
+int ARGBToRAW(const uint8* src_argb, int src_stride_argb,
+              uint8* dst_rgb, int dst_stride_rgb,
+              int width, int height);
+
+// Convert ARGB To RGB565.
+LIBYUV_API
+int ARGBToRGB565(const uint8* src_argb, int src_stride_argb,
+                 uint8* dst_rgb565, int dst_stride_rgb565,
+                 int width, int height);
+
+// Convert ARGB To RGB565 with 4x4 dither matrix (16 bytes).
+// Values in dither matrix from 0 to 7 recommended.
+// The order of the dither matrix is first byte is upper left.
+// TODO(fbarchard): Consider pointer to 2d array for dither4x4.
+// const uint8(*dither)[4][4];
+LIBYUV_API
+int ARGBToRGB565Dither(const uint8* src_argb, int src_stride_argb,
+                       uint8* dst_rgb565, int dst_stride_rgb565,
+                       const uint8* dither4x4, int width, int height);
+
+// Convert ARGB To ARGB1555.
+LIBYUV_API
+int ARGBToARGB1555(const uint8* src_argb, int src_stride_argb,
+                   uint8* dst_argb1555, int dst_stride_argb1555,
+                   int width, int height);
+
+// Convert ARGB To ARGB4444.
+LIBYUV_API
+int ARGBToARGB4444(const uint8* src_argb, int src_stride_argb,
+                   uint8* dst_argb4444, int dst_stride_argb4444,
+                   int width, int height);
+
+// Convert ARGB To I444.
+LIBYUV_API
+int ARGBToI444(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Convert ARGB To I422.
+LIBYUV_API
+int ARGBToI422(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Convert ARGB To I420. (also in convert.h)
+LIBYUV_API
+int ARGBToI420(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Convert ARGB to J420. (JPeg full range I420).
+LIBYUV_API
+int ARGBToJ420(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_yj, int dst_stride_yj,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Convert ARGB to J422.
+LIBYUV_API
+int ARGBToJ422(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_yj, int dst_stride_yj,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Convert ARGB To I411.
+LIBYUV_API
+int ARGBToI411(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Convert ARGB to J400. (JPeg full range).
+LIBYUV_API
+int ARGBToJ400(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_yj, int dst_stride_yj,
+               int width, int height);
+
+// Convert ARGB to I400.
+LIBYUV_API
+int ARGBToI400(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_y, int dst_stride_y,
+               int width, int height);
+
+// Convert ARGB to G. (Reverse of J400toARGB, which replicates G back to ARGB)
+LIBYUV_API
+int ARGBToG(const uint8* src_argb, int src_stride_argb,
+            uint8* dst_g, int dst_stride_g,
+            int width, int height);
+
+// Convert ARGB To NV12.
+LIBYUV_API
+int ARGBToNV12(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_uv, int dst_stride_uv,
+               int width, int height);
+
+// Convert ARGB To NV21.
+LIBYUV_API
+int ARGBToNV21(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_vu, int dst_stride_vu,
+               int width, int height);
+
+// Convert ARGB To NV21.
+LIBYUV_API
+int ARGBToNV21(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_vu, int dst_stride_vu,
+               int width, int height);
+
+// Convert ARGB To YUY2.
+LIBYUV_API
+int ARGBToYUY2(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_yuy2, int dst_stride_yuy2,
+               int width, int height);
+
+// Convert ARGB To UYVY.
+LIBYUV_API
+int ARGBToUYVY(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_uyvy, int dst_stride_uyvy,
+               int width, int height);
+
+#ifdef __cplusplus
+}  // extern "C"
+}  // namespace libyuv
+#endif
+
+#endif  // INCLUDE_LIBYUV_CONVERT_FROM_ARGB_H_

third_party/libyuv/x86_64/include/libyuv/cpu_id.h

@@ -0,0 +1,81 @@
+/*
+ *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_CPU_ID_H_
+#define INCLUDE_LIBYUV_CPU_ID_H_
+
+#include "libyuv/basic_types.h"
+
+#ifdef __cplusplus
+namespace libyuv {
+extern "C" {
+#endif
+
+// Internal flag to indicate cpuid requires initialization.
+static const int kCpuInitialized = 0x1;
+
+// These flags are only valid on ARM processors.
+static const int kCpuHasARM = 0x2;
+static const int kCpuHasNEON = 0x4;
+// 0x8 reserved for future ARM flag.
+
+// These flags are only valid on x86 processors.
+static const int kCpuHasX86 = 0x10;
+static const int kCpuHasSSE2 = 0x20;
+static const int kCpuHasSSSE3 = 0x40;
+static const int kCpuHasSSE41 = 0x80;
+static const int kCpuHasSSE42 = 0x100;
+static const int kCpuHasAVX = 0x200;
+static const int kCpuHasAVX2 = 0x400;
+static const int kCpuHasERMS = 0x800;
+static const int kCpuHasFMA3 = 0x1000;
+static const int kCpuHasAVX3 = 0x2000;
+// 0x2000, 0x4000, 0x8000 reserved for future X86 flags.
+
+// These flags are only valid on MIPS processors.
+static const int kCpuHasMIPS = 0x10000;
+static const int kCpuHasDSPR2 = 0x20000;
+static const int kCpuHasMSA = 0x40000;
+
+// Internal function used to auto-init.
+LIBYUV_API
+int InitCpuFlags(void);
+
+// Internal function for parsing /proc/cpuinfo.
+LIBYUV_API
+int ArmCpuCaps(const char* cpuinfo_name);
+
+// Detect CPU has SSE2 etc.
+// Test_flag parameter should be one of kCpuHas constants above.
+// returns non-zero if instruction set is detected
+static __inline int TestCpuFlag(int test_flag) {
+  LIBYUV_API extern int cpu_info_;
+  return (!cpu_info_ ? InitCpuFlags() : cpu_info_) & test_flag;
+}
+
+// For testing, allow CPU flags to be disabled.
+// ie MaskCpuFlags(~kCpuHasSSSE3) to disable SSSE3.
+// MaskCpuFlags(-1) to enable all cpu specific optimizations.
+// MaskCpuFlags(1) to disable all cpu specific optimizations.
+LIBYUV_API
+void MaskCpuFlags(int enable_flags);
+
+// Low level cpuid for X86. Returns zeros on other CPUs.
+// eax is the info type that you want.
+// ecx is typically the cpu number, and should normally be zero.
+LIBYUV_API
+void CpuId(uint32 eax, uint32 ecx, uint32* cpu_info);
+
+#ifdef __cplusplus
+}  // extern "C"
+}  // namespace libyuv
+#endif
+
+#endif  // INCLUDE_LIBYUV_CPU_ID_H_

third_party/libyuv/x86_64/include/libyuv/macros_msa.h

@@ -0,0 +1,76 @@
+/*
+ *  Copyright 2016 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_MACROS_MSA_H_
+#define INCLUDE_LIBYUV_MACROS_MSA_H_
+
+#if !defined(LIBYUV_DISABLE_MSA) && defined(__mips_msa)
+#include <stdint.h>
+#include <msa.h>
+
+#define LD_B(RTYPE, psrc) *((RTYPE*)(psrc))   /* NOLINT */
+#define LD_UB(...) LD_B(v16u8, __VA_ARGS__)
+
+#define ST_B(RTYPE, in, pdst) *((RTYPE*)(pdst)) = (in)  /* NOLINT */
+#define ST_UB(...) ST_B(v16u8, __VA_ARGS__)
+
+/* Description : Load two vectors with 16 'byte' sized elements
+   Arguments   : Inputs  - psrc, stride
+                 Outputs - out0, out1
+                 Return Type - as per RTYPE
+   Details     : Load 16 byte elements in 'out0' from (psrc)
+                 Load 16 byte elements in 'out1' from (psrc + stride)
+*/
+#define LD_B2(RTYPE, psrc, stride, out0, out1) {  \
+  out0 = LD_B(RTYPE, (psrc));                     \
+  out1 = LD_B(RTYPE, (psrc) + stride);            \
+}
+#define LD_UB2(...) LD_B2(v16u8, __VA_ARGS__)
+
+#define LD_B4(RTYPE, psrc, stride, out0, out1, out2, out3) {  \
+  LD_B2(RTYPE, (psrc), stride, out0, out1);                   \
+  LD_B2(RTYPE, (psrc) + 2 * stride , stride, out2, out3);     \
+}
+#define LD_UB4(...) LD_B4(v16u8, __VA_ARGS__)
+
+/* Description : Store two vectors with stride each having 16 'byte' sized
+                 elements
+   Arguments   : Inputs - in0, in1, pdst, stride
+   Details     : Store 16 byte elements from 'in0' to (pdst)
+                 Store 16 byte elements from 'in1' to (pdst + stride)
+*/
+#define ST_B2(RTYPE, in0, in1, pdst, stride) {  \
+  ST_B(RTYPE, in0, (pdst));                     \
+  ST_B(RTYPE, in1, (pdst) + stride);            \
+}
+#define ST_UB2(...) ST_B2(v16u8, __VA_ARGS__)
+#
+#define ST_B4(RTYPE, in0, in1, in2, in3, pdst, stride) {  \
+  ST_B2(RTYPE, in0, in1, (pdst), stride);                 \
+  ST_B2(RTYPE, in2, in3, (pdst) + 2 * stride, stride);    \
+}
+#define ST_UB4(...) ST_B4(v16u8, __VA_ARGS__)
+#
+/* Description : Shuffle byte vector elements as per mask vector
+   Arguments   : Inputs  - in0, in1, in2, in3, mask0, mask1
+                 Outputs - out0, out1
+                 Return Type - as per RTYPE
+   Details     : Byte elements from 'in0' & 'in1' are copied selectively to
+                 'out0' as per control vector 'mask0'
+*/
+#define VSHF_B2(RTYPE, in0, in1, in2, in3, mask0, mask1, out0, out1) {   \
+  out0 = (RTYPE) __msa_vshf_b((v16i8) mask0, (v16i8) in1, (v16i8) in0);  \
+  out1 = (RTYPE) __msa_vshf_b((v16i8) mask1, (v16i8) in3, (v16i8) in2);  \
+}
+#define VSHF_B2_UB(...) VSHF_B2(v16u8, __VA_ARGS__)
+
+#endif  /* !defined(LIBYUV_DISABLE_MSA) && defined(__mips_msa) */
+
+#endif  // INCLUDE_LIBYUV_MACROS_MSA_H_

third_party/libyuv/x86_64/include/libyuv/mjpeg_decoder.h

@@ -0,0 +1,192 @@
+/*
+ *  Copyright 2012 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_MJPEG_DECODER_H_
+#define INCLUDE_LIBYUV_MJPEG_DECODER_H_
+
+#include "libyuv/basic_types.h"
+
+#ifdef __cplusplus
+// NOTE: For a simplified public API use convert.h MJPGToI420().
+
+struct jpeg_common_struct;
+struct jpeg_decompress_struct;
+struct jpeg_source_mgr;
+
+namespace libyuv {
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+LIBYUV_BOOL ValidateJpeg(const uint8* sample, size_t sample_size);
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif
+
+static const uint32 kUnknownDataSize = 0xFFFFFFFF;
+
+enum JpegSubsamplingType {
+  kJpegYuv420,
+  kJpegYuv422,
+  kJpegYuv411,
+  kJpegYuv444,
+  kJpegYuv400,
+  kJpegUnknown
+};
+
+struct Buffer {
+  const uint8* data;
+  int len;
+};
+
+struct BufferVector {
+  Buffer* buffers;
+  int len;
+  int pos;
+};
+
+struct SetJmpErrorMgr;
+
+// MJPEG ("Motion JPEG") is a pseudo-standard video codec where the frames are
+// simply independent JPEG images with a fixed huffman table (which is omitted).
+// It is rarely used in video transmission, but is common as a camera capture
+// format, especially in Logitech devices. This class implements a decoder for
+// MJPEG frames.
+//
+// See http://tools.ietf.org/html/rfc2435
+class LIBYUV_API MJpegDecoder {
+ public:
+  typedef void (*CallbackFunction)(void* opaque,
+                                   const uint8* const* data,
+                                   const int* strides,
+                                   int rows);
+
+  static const int kColorSpaceUnknown;
+  static const int kColorSpaceGrayscale;
+  static const int kColorSpaceRgb;
+  static const int kColorSpaceYCbCr;
+  static const int kColorSpaceCMYK;
+  static const int kColorSpaceYCCK;
+
+  MJpegDecoder();
+  ~MJpegDecoder();
+
+  // Loads a new frame, reads its headers, and determines the uncompressed
+  // image format.
+  // Returns LIBYUV_TRUE if image looks valid and format is supported.
+  // If return value is LIBYUV_TRUE, then the values for all the following
+  // getters are populated.
+  // src_len is the size of the compressed mjpeg frame in bytes.
+  LIBYUV_BOOL LoadFrame(const uint8* src, size_t src_len);
+
+  // Returns width of the last loaded frame in pixels.
+  int GetWidth();
+
+  // Returns height of the last loaded frame in pixels.
+  int GetHeight();
+
+  // Returns format of the last loaded frame. The return value is one of the
+  // kColorSpace* constants.
+  int GetColorSpace();
+
+  // Number of color components in the color space.
+  int GetNumComponents();
+
+  // Sample factors of the n-th component.
+  int GetHorizSampFactor(int component);
+
+  int GetVertSampFactor(int component);
+
+  int GetHorizSubSampFactor(int component);
+
+  int GetVertSubSampFactor(int component);
+
+  // Public for testability.
+  int GetImageScanlinesPerImcuRow();
+
+  // Public for testability.
+  int GetComponentScanlinesPerImcuRow(int component);
+
+  // Width of a component in bytes.
+  int GetComponentWidth(int component);
+
+  // Height of a component.
+  int GetComponentHeight(int component);
+
+  // Width of a component in bytes with padding for DCTSIZE. Public for testing.
+  int GetComponentStride(int component);
+
+  // Size of a component in bytes.
+  int GetComponentSize(int component);
+
+  // Call this after LoadFrame() if you decide you don't want to decode it
+  // after all.
+  LIBYUV_BOOL UnloadFrame();
+
+  // Decodes the entire image into a one-buffer-per-color-component format.
+  // dst_width must match exactly. dst_height must be <= to image height; if
+  // less, the image is cropped. "planes" must have size equal to at least
+  // GetNumComponents() and they must point to non-overlapping buffers of size
+  // at least GetComponentSize(i). The pointers in planes are incremented
+  // to point to after the end of the written data.
+  // TODO(fbarchard): Add dst_x, dst_y to allow specific rect to be decoded.
+  LIBYUV_BOOL DecodeToBuffers(uint8** planes, int dst_width, int dst_height);
+
+  // Decodes the entire image and passes the data via repeated calls to a
+  // callback function. Each call will get the data for a whole number of
+  // image scanlines.
+  // TODO(fbarchard): Add dst_x, dst_y to allow specific rect to be decoded.
+  LIBYUV_BOOL DecodeToCallback(CallbackFunction fn, void* opaque,
+                        int dst_width, int dst_height);
+
+  // The helper function which recognizes the jpeg sub-sampling type.
+  static JpegSubsamplingType JpegSubsamplingTypeHelper(
+     int* subsample_x, int* subsample_y, int number_of_components);
+
+ private:
+  void AllocOutputBuffers(int num_outbufs);
+  void DestroyOutputBuffers();
+
+  LIBYUV_BOOL StartDecode();
+  LIBYUV_BOOL FinishDecode();
+
+  void SetScanlinePointers(uint8** data);
+  LIBYUV_BOOL DecodeImcuRow();
+
+  int GetComponentScanlinePadding(int component);
+
+  // A buffer holding the input data for a frame.
+  Buffer buf_;
+  BufferVector buf_vec_;
+
+  jpeg_decompress_struct* decompress_struct_;
+  jpeg_source_mgr* source_mgr_;
+  SetJmpErrorMgr* error_mgr_;
+
+  // LIBYUV_TRUE iff at least one component has scanline padding. (i.e.,
+  // GetComponentScanlinePadding() != 0.)
+  LIBYUV_BOOL has_scanline_padding_;
+
+  // Temporaries used to point to scanline outputs.
+  int num_outbufs_;  // Outermost size of all arrays below.
+  uint8*** scanlines_;
+  int* scanlines_sizes_;
+  // Temporary buffer used for decoding when we can't decode directly to the
+  // output buffers. Large enough for just one iMCU row.
+  uint8** databuf_;
+  int* databuf_strides_;
+};
+
+}  // namespace libyuv
+
+#endif  //  __cplusplus
+#endif  // INCLUDE_LIBYUV_MJPEG_DECODER_H_

third_party/libyuv/x86_64/include/libyuv/planar_functions.h

@@ -0,0 +1,529 @@
+/*
+ *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_PLANAR_FUNCTIONS_H_
+#define INCLUDE_LIBYUV_PLANAR_FUNCTIONS_H_
+
+#include "libyuv/basic_types.h"
+
+// TODO(fbarchard): Remove the following headers includes.
+#include "libyuv/convert.h"
+#include "libyuv/convert_argb.h"
+
+#ifdef __cplusplus
+namespace libyuv {
+extern "C" {
+#endif
+
+// Copy a plane of data.
+LIBYUV_API
+void CopyPlane(const uint8* src_y, int src_stride_y,
+               uint8* dst_y, int dst_stride_y,
+               int width, int height);
+
+LIBYUV_API
+void CopyPlane_16(const uint16* src_y, int src_stride_y,
+                  uint16* dst_y, int dst_stride_y,
+                  int width, int height);
+
+// Set a plane of data to a 32 bit value.
+LIBYUV_API
+void SetPlane(uint8* dst_y, int dst_stride_y,
+              int width, int height,
+              uint32 value);
+
+// Split interleaved UV plane into separate U and V planes.
+LIBYUV_API
+void SplitUVPlane(const uint8* src_uv, int src_stride_uv,
+                  uint8* dst_u, int dst_stride_u,
+                  uint8* dst_v, int dst_stride_v,
+                  int width, int height);
+
+// Merge separate U and V planes into one interleaved UV plane.
+LIBYUV_API
+void MergeUVPlane(const uint8* src_u, int src_stride_u,
+                  const uint8* src_v, int src_stride_v,
+                  uint8* dst_uv, int dst_stride_uv,
+                  int width, int height);
+
+// Copy I400.  Supports inverting.
+LIBYUV_API
+int I400ToI400(const uint8* src_y, int src_stride_y,
+               uint8* dst_y, int dst_stride_y,
+               int width, int height);
+
+#define J400ToJ400 I400ToI400
+
+// Copy I422 to I422.
+#define I422ToI422 I422Copy
+LIBYUV_API
+int I422Copy(const uint8* src_y, int src_stride_y,
+             const uint8* src_u, int src_stride_u,
+             const uint8* src_v, int src_stride_v,
+             uint8* dst_y, int dst_stride_y,
+             uint8* dst_u, int dst_stride_u,
+             uint8* dst_v, int dst_stride_v,
+             int width, int height);
+
+// Copy I444 to I444.
+#define I444ToI444 I444Copy
+LIBYUV_API
+int I444Copy(const uint8* src_y, int src_stride_y,
+             const uint8* src_u, int src_stride_u,
+             const uint8* src_v, int src_stride_v,
+             uint8* dst_y, int dst_stride_y,
+             uint8* dst_u, int dst_stride_u,
+             uint8* dst_v, int dst_stride_v,
+             int width, int height);
+
+// Convert YUY2 to I422.
+LIBYUV_API
+int YUY2ToI422(const uint8* src_yuy2, int src_stride_yuy2,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Convert UYVY to I422.
+LIBYUV_API
+int UYVYToI422(const uint8* src_uyvy, int src_stride_uyvy,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+LIBYUV_API
+int YUY2ToNV12(const uint8* src_yuy2, int src_stride_yuy2,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_uv, int dst_stride_uv,
+               int width, int height);
+
+LIBYUV_API
+int UYVYToNV12(const uint8* src_uyvy, int src_stride_uyvy,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_uv, int dst_stride_uv,
+               int width, int height);
+
+// Convert I420 to I400. (calls CopyPlane ignoring u/v).
+LIBYUV_API
+int I420ToI400(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_y, int dst_stride_y,
+               int width, int height);
+
+// Alias
+#define J420ToJ400 I420ToI400
+#define I420ToI420Mirror I420Mirror
+
+// I420 mirror.
+LIBYUV_API
+int I420Mirror(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int width, int height);
+
+// Alias
+#define I400ToI400Mirror I400Mirror
+
+// I400 mirror.  A single plane is mirrored horizontally.
+// Pass negative height to achieve 180 degree rotation.
+LIBYUV_API
+int I400Mirror(const uint8* src_y, int src_stride_y,
+               uint8* dst_y, int dst_stride_y,
+               int width, int height);
+
+// Alias
+#define ARGBToARGBMirror ARGBMirror
+
+// ARGB mirror.
+LIBYUV_API
+int ARGBMirror(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Convert NV12 to RGB565.
+LIBYUV_API
+int NV12ToRGB565(const uint8* src_y, int src_stride_y,
+                 const uint8* src_uv, int src_stride_uv,
+                 uint8* dst_rgb565, int dst_stride_rgb565,
+                 int width, int height);
+
+// I422ToARGB is in convert_argb.h
+// Convert I422 to BGRA.
+LIBYUV_API
+int I422ToBGRA(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_bgra, int dst_stride_bgra,
+               int width, int height);
+
+// Convert I422 to ABGR.
+LIBYUV_API
+int I422ToABGR(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_abgr, int dst_stride_abgr,
+               int width, int height);
+
+// Convert I422 to RGBA.
+LIBYUV_API
+int I422ToRGBA(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_rgba, int dst_stride_rgba,
+               int width, int height);
+
+// Alias
+#define RGB24ToRAW RAWToRGB24
+
+LIBYUV_API
+int RAWToRGB24(const uint8* src_raw, int src_stride_raw,
+               uint8* dst_rgb24, int dst_stride_rgb24,
+               int width, int height);
+
+// Draw a rectangle into I420.
+LIBYUV_API
+int I420Rect(uint8* dst_y, int dst_stride_y,
+             uint8* dst_u, int dst_stride_u,
+             uint8* dst_v, int dst_stride_v,
+             int x, int y, int width, int height,
+             int value_y, int value_u, int value_v);
+
+// Draw a rectangle into ARGB.
+LIBYUV_API
+int ARGBRect(uint8* dst_argb, int dst_stride_argb,
+             int x, int y, int width, int height, uint32 value);
+
+// Convert ARGB to gray scale ARGB.
+LIBYUV_API
+int ARGBGrayTo(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_argb, int dst_stride_argb,
+               int width, int height);
+
+// Make a rectangle of ARGB gray scale.
+LIBYUV_API
+int ARGBGray(uint8* dst_argb, int dst_stride_argb,
+             int x, int y, int width, int height);
+
+// Make a rectangle of ARGB Sepia tone.
+LIBYUV_API
+int ARGBSepia(uint8* dst_argb, int dst_stride_argb,
+              int x, int y, int width, int height);
+
+// Apply a matrix rotation to each ARGB pixel.
+// matrix_argb is 4 signed ARGB values. -128 to 127 representing -2 to 2.
+// The first 4 coefficients apply to B, G, R, A and produce B of the output.
+// The next 4 coefficients apply to B, G, R, A and produce G of the output.
+// The next 4 coefficients apply to B, G, R, A and produce R of the output.
+// The last 4 coefficients apply to B, G, R, A and produce A of the output.
+LIBYUV_API
+int ARGBColorMatrix(const uint8* src_argb, int src_stride_argb,
+                    uint8* dst_argb, int dst_stride_argb,
+                    const int8* matrix_argb,
+                    int width, int height);
+
+// Deprecated. Use ARGBColorMatrix instead.
+// Apply a matrix rotation to each ARGB pixel.
+// matrix_argb is 3 signed ARGB values. -128 to 127 representing -1 to 1.
+// The first 4 coefficients apply to B, G, R, A and produce B of the output.
+// The next 4 coefficients apply to B, G, R, A and produce G of the output.
+// The last 4 coefficients apply to B, G, R, A and produce R of the output.
+LIBYUV_API
+int RGBColorMatrix(uint8* dst_argb, int dst_stride_argb,
+                   const int8* matrix_rgb,
+                   int x, int y, int width, int height);
+
+// Apply a color table each ARGB pixel.
+// Table contains 256 ARGB values.
+LIBYUV_API
+int ARGBColorTable(uint8* dst_argb, int dst_stride_argb,
+                   const uint8* table_argb,
+                   int x, int y, int width, int height);
+
+// Apply a color table each ARGB pixel but preserve destination alpha.
+// Table contains 256 ARGB values.
+LIBYUV_API
+int RGBColorTable(uint8* dst_argb, int dst_stride_argb,
+                  const uint8* table_argb,
+                  int x, int y, int width, int height);
+
+// Apply a luma/color table each ARGB pixel but preserve destination alpha.
+// Table contains 32768 values indexed by [Y][C] where 7 it 7 bit luma from
+// RGB (YJ style) and C is an 8 bit color component (R, G or B).
+LIBYUV_API
+int ARGBLumaColorTable(const uint8* src_argb, int src_stride_argb,
+                       uint8* dst_argb, int dst_stride_argb,
+                       const uint8* luma_rgb_table,
+                       int width, int height);
+
+// Apply a 3 term polynomial to ARGB values.
+// poly points to a 4x4 matrix.  The first row is constants.  The 2nd row is
+// coefficients for b, g, r and a.  The 3rd row is coefficients for b squared,
+// g squared, r squared and a squared.  The 4rd row is coefficients for b to
+// the 3, g to the 3, r to the 3 and a to the 3.  The values are summed and
+// result clamped to 0 to 255.
+// A polynomial approximation can be dirived using software such as 'R'.
+
+LIBYUV_API
+int ARGBPolynomial(const uint8* src_argb, int src_stride_argb,
+                   uint8* dst_argb, int dst_stride_argb,
+                   const float* poly,
+                   int width, int height);
+
+// Convert plane of 16 bit shorts to half floats.
+// Source values are multiplied by scale before storing as half float.
+LIBYUV_API
+int HalfFloatPlane(const uint16* src_y, int src_stride_y,
+                   uint16* dst_y, int dst_stride_y,
+                   float scale,
+                   int width, int height);
+
+// Quantize a rectangle of ARGB. Alpha unaffected.
+// scale is a 16 bit fractional fixed point scaler between 0 and 65535.
+// interval_size should be a value between 1 and 255.
+// interval_offset should be a value between 0 and 255.
+LIBYUV_API
+int ARGBQuantize(uint8* dst_argb, int dst_stride_argb,
+                 int scale, int interval_size, int interval_offset,
+                 int x, int y, int width, int height);
+
+// Copy ARGB to ARGB.
+LIBYUV_API
+int ARGBCopy(const uint8* src_argb, int src_stride_argb,
+             uint8* dst_argb, int dst_stride_argb,
+             int width, int height);
+
+// Copy Alpha channel of ARGB to alpha of ARGB.
+LIBYUV_API
+int ARGBCopyAlpha(const uint8* src_argb, int src_stride_argb,
+                  uint8* dst_argb, int dst_stride_argb,
+                  int width, int height);
+
+// Extract the alpha channel from ARGB.
+LIBYUV_API
+int ARGBExtractAlpha(const uint8* src_argb, int src_stride_argb,
+                     uint8* dst_a, int dst_stride_a,
+                     int width, int height);
+
+// Copy Y channel to Alpha of ARGB.
+LIBYUV_API
+int ARGBCopyYToAlpha(const uint8* src_y, int src_stride_y,
+                     uint8* dst_argb, int dst_stride_argb,
+                     int width, int height);
+
+typedef void (*ARGBBlendRow)(const uint8* src_argb0, const uint8* src_argb1,
+                             uint8* dst_argb, int width);
+
+// Get function to Alpha Blend ARGB pixels and store to destination.
+LIBYUV_API
+ARGBBlendRow GetARGBBlend();
+
+// Alpha Blend ARGB images and store to destination.
+// Source is pre-multiplied by alpha using ARGBAttenuate.
+// Alpha of destination is set to 255.
+LIBYUV_API
+int ARGBBlend(const uint8* src_argb0, int src_stride_argb0,
+              const uint8* src_argb1, int src_stride_argb1,
+              uint8* dst_argb, int dst_stride_argb,
+              int width, int height);
+
+// Alpha Blend plane and store to destination.
+// Source is not pre-multiplied by alpha.
+LIBYUV_API
+int BlendPlane(const uint8* src_y0, int src_stride_y0,
+               const uint8* src_y1, int src_stride_y1,
+               const uint8* alpha, int alpha_stride,
+               uint8* dst_y, int dst_stride_y,
+               int width, int height);
+
+// Alpha Blend YUV images and store to destination.
+// Source is not pre-multiplied by alpha.
+// Alpha is full width x height and subsampled to half size to apply to UV.
+LIBYUV_API
+int I420Blend(const uint8* src_y0, int src_stride_y0,
+              const uint8* src_u0, int src_stride_u0,
+              const uint8* src_v0, int src_stride_v0,
+              const uint8* src_y1, int src_stride_y1,
+              const uint8* src_u1, int src_stride_u1,
+              const uint8* src_v1, int src_stride_v1,
+              const uint8* alpha, int alpha_stride,
+              uint8* dst_y, int dst_stride_y,
+              uint8* dst_u, int dst_stride_u,
+              uint8* dst_v, int dst_stride_v,
+              int width, int height);
+
+// Multiply ARGB image by ARGB image. Shifted down by 8. Saturates to 255.
+LIBYUV_API
+int ARGBMultiply(const uint8* src_argb0, int src_stride_argb0,
+                 const uint8* src_argb1, int src_stride_argb1,
+                 uint8* dst_argb, int dst_stride_argb,
+                 int width, int height);
+
+// Add ARGB image with ARGB image. Saturates to 255.
+LIBYUV_API
+int ARGBAdd(const uint8* src_argb0, int src_stride_argb0,
+            const uint8* src_argb1, int src_stride_argb1,
+            uint8* dst_argb, int dst_stride_argb,
+            int width, int height);
+
+// Subtract ARGB image (argb1) from ARGB image (argb0). Saturates to 0.
+LIBYUV_API
+int ARGBSubtract(const uint8* src_argb0, int src_stride_argb0,
+                 const uint8* src_argb1, int src_stride_argb1,
+                 uint8* dst_argb, int dst_stride_argb,
+                 int width, int height);
+
+// Convert I422 to YUY2.
+LIBYUV_API
+int I422ToYUY2(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_frame, int dst_stride_frame,
+               int width, int height);
+
+// Convert I422 to UYVY.
+LIBYUV_API
+int I422ToUYVY(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_frame, int dst_stride_frame,
+               int width, int height);
+
+// Convert unattentuated ARGB to preattenuated ARGB.
+LIBYUV_API
+int ARGBAttenuate(const uint8* src_argb, int src_stride_argb,
+                  uint8* dst_argb, int dst_stride_argb,
+                  int width, int height);
+
+// Convert preattentuated ARGB to unattenuated ARGB.
+LIBYUV_API
+int ARGBUnattenuate(const uint8* src_argb, int src_stride_argb,
+                    uint8* dst_argb, int dst_stride_argb,
+                    int width, int height);
+
+// Internal function - do not call directly.
+// Computes table of cumulative sum for image where the value is the sum
+// of all values above and to the left of the entry. Used by ARGBBlur.
+LIBYUV_API
+int ARGBComputeCumulativeSum(const uint8* src_argb, int src_stride_argb,
+                             int32* dst_cumsum, int dst_stride32_cumsum,
+                             int width, int height);
+
+// Blur ARGB image.
+// dst_cumsum table of width * (height + 1) * 16 bytes aligned to
+//   16 byte boundary.
+// dst_stride32_cumsum is number of ints in a row (width * 4).
+// radius is number of pixels around the center.  e.g. 1 = 3x3. 2=5x5.
+// Blur is optimized for radius of 5 (11x11) or less.
+LIBYUV_API
+int ARGBBlur(const uint8* src_argb, int src_stride_argb,
+             uint8* dst_argb, int dst_stride_argb,
+             int32* dst_cumsum, int dst_stride32_cumsum,
+             int width, int height, int radius);
+
+// Multiply ARGB image by ARGB value.
+LIBYUV_API
+int ARGBShade(const uint8* src_argb, int src_stride_argb,
+              uint8* dst_argb, int dst_stride_argb,
+              int width, int height, uint32 value);
+
+// Interpolate between two images using specified amount of interpolation
+// (0 to 255) and store to destination.
+// 'interpolation' is specified as 8 bit fraction where 0 means 100% src0
+// and 255 means 1% src0 and 99% src1.
+LIBYUV_API
+int InterpolatePlane(const uint8* src0, int src_stride0,
+                     const uint8* src1, int src_stride1,
+                     uint8* dst, int dst_stride,
+                     int width, int height, int interpolation);
+
+// Interpolate between two ARGB images using specified amount of interpolation
+// Internally calls InterpolatePlane with width * 4 (bpp).
+LIBYUV_API
+int ARGBInterpolate(const uint8* src_argb0, int src_stride_argb0,
+                    const uint8* src_argb1, int src_stride_argb1,
+                    uint8* dst_argb, int dst_stride_argb,
+                    int width, int height, int interpolation);
+
+// Interpolate between two YUV images using specified amount of interpolation
+// Internally calls InterpolatePlane on each plane where the U and V planes
+// are half width and half height.
+LIBYUV_API
+int I420Interpolate(const uint8* src0_y, int src0_stride_y,
+                    const uint8* src0_u, int src0_stride_u,
+                    const uint8* src0_v, int src0_stride_v,
+                    const uint8* src1_y, int src1_stride_y,
+                    const uint8* src1_u, int src1_stride_u,
+                    const uint8* src1_v, int src1_stride_v,
+                    uint8* dst_y, int dst_stride_y,
+                    uint8* dst_u, int dst_stride_u,
+                    uint8* dst_v, int dst_stride_v,
+                    int width, int height, int interpolation);
+
+#if defined(__pnacl__) || defined(__CLR_VER) || \
+    (defined(__i386__) && !defined(__SSE2__))
+#define LIBYUV_DISABLE_X86
+#endif
+// MemorySanitizer does not support assembly code yet. http://crbug.com/344505
+#if defined(__has_feature)
+#if __has_feature(memory_sanitizer)
+#define LIBYUV_DISABLE_X86
+#endif
+#endif
+// The following are available on all x86 platforms:
+#if !defined(LIBYUV_DISABLE_X86) && \
+    (defined(_M_IX86) || defined(__x86_64__) || defined(__i386__))
+#define HAS_ARGBAFFINEROW_SSE2
+#endif
+
+// Row function for copying pixels from a source with a slope to a row
+// of destination. Useful for scaling, rotation, mirror, texture mapping.
+LIBYUV_API
+void ARGBAffineRow_C(const uint8* src_argb, int src_argb_stride,
+                     uint8* dst_argb, const float* uv_dudv, int width);
+LIBYUV_API
+void ARGBAffineRow_SSE2(const uint8* src_argb, int src_argb_stride,
+                        uint8* dst_argb, const float* uv_dudv, int width);
+
+// Shuffle ARGB channel order.  e.g. BGRA to ARGB.
+// shuffler is 16 bytes and must be aligned.
+LIBYUV_API
+int ARGBShuffle(const uint8* src_bgra, int src_stride_bgra,
+                uint8* dst_argb, int dst_stride_argb,
+                const uint8* shuffler, int width, int height);
+
+// Sobel ARGB effect with planar output.
+LIBYUV_API
+int ARGBSobelToPlane(const uint8* src_argb, int src_stride_argb,
+                     uint8* dst_y, int dst_stride_y,
+                     int width, int height);
+
+// Sobel ARGB effect.
+LIBYUV_API
+int ARGBSobel(const uint8* src_argb, int src_stride_argb,
+              uint8* dst_argb, int dst_stride_argb,
+              int width, int height);
+
+// Sobel ARGB effect w/ Sobel X, Sobel, Sobel Y in ARGB.
+LIBYUV_API
+int ARGBSobelXY(const uint8* src_argb, int src_stride_argb,
+                uint8* dst_argb, int dst_stride_argb,
+                int width, int height);
+
+#ifdef __cplusplus
+}  // extern "C"
+}  // namespace libyuv
+#endif
+
+#endif  // INCLUDE_LIBYUV_PLANAR_FUNCTIONS_H_

third_party/libyuv/x86_64/include/libyuv/rotate.h

@@ -0,0 +1,117 @@
+/*
+ *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_ROTATE_H_
+#define INCLUDE_LIBYUV_ROTATE_H_
+
+#include "libyuv/basic_types.h"
+
+#ifdef __cplusplus
+namespace libyuv {
+extern "C" {
+#endif
+
+// Supported rotation.
+typedef enum RotationMode {
+  kRotate0 = 0,  // No rotation.
+  kRotate90 = 90,  // Rotate 90 degrees clockwise.
+  kRotate180 = 180,  // Rotate 180 degrees.
+  kRotate270 = 270,  // Rotate 270 degrees clockwise.
+
+  // Deprecated.
+  kRotateNone = 0,
+  kRotateClockwise = 90,
+  kRotateCounterClockwise = 270,
+} RotationModeEnum;
+
+// Rotate I420 frame.
+LIBYUV_API
+int I420Rotate(const uint8* src_y, int src_stride_y,
+               const uint8* src_u, int src_stride_u,
+               const uint8* src_v, int src_stride_v,
+               uint8* dst_y, int dst_stride_y,
+               uint8* dst_u, int dst_stride_u,
+               uint8* dst_v, int dst_stride_v,
+               int src_width, int src_height, enum RotationMode mode);
+
+// Rotate NV12 input and store in I420.
+LIBYUV_API
+int NV12ToI420Rotate(const uint8* src_y, int src_stride_y,
+                     const uint8* src_uv, int src_stride_uv,
+                     uint8* dst_y, int dst_stride_y,
+                     uint8* dst_u, int dst_stride_u,
+                     uint8* dst_v, int dst_stride_v,
+                     int src_width, int src_height, enum RotationMode mode);
+
+// Rotate a plane by 0, 90, 180, or 270.
+LIBYUV_API
+int RotatePlane(const uint8* src, int src_stride,
+                uint8* dst, int dst_stride,
+                int src_width, int src_height, enum RotationMode mode);
+
+// Rotate planes by 90, 180, 270. Deprecated.
+LIBYUV_API
+void RotatePlane90(const uint8* src, int src_stride,
+                   uint8* dst, int dst_stride,
+                   int width, int height);
+
+LIBYUV_API
+void RotatePlane180(const uint8* src, int src_stride,
+                    uint8* dst, int dst_stride,
+                    int width, int height);
+
+LIBYUV_API
+void RotatePlane270(const uint8* src, int src_stride,
+                    uint8* dst, int dst_stride,
+                    int width, int height);
+
+LIBYUV_API
+void RotateUV90(const uint8* src, int src_stride,
+                uint8* dst_a, int dst_stride_a,
+                uint8* dst_b, int dst_stride_b,
+                int width, int height);
+
+// Rotations for when U and V are interleaved.
+// These functions take one input pointer and
+// split the data into two buffers while
+// rotating them. Deprecated.
+LIBYUV_API
+void RotateUV180(const uint8* src, int src_stride,
+                 uint8* dst_a, int dst_stride_a,
+                 uint8* dst_b, int dst_stride_b,
+                 int width, int height);
+
+LIBYUV_API
+void RotateUV270(const uint8* src, int src_stride,
+                 uint8* dst_a, int dst_stride_a,
+                 uint8* dst_b, int dst_stride_b,
+                 int width, int height);
+
+// The 90 and 270 functions are based on transposes.
+// Doing a transpose with reversing the read/write
+// order will result in a rotation by +- 90 degrees.
+// Deprecated.
+LIBYUV_API
+void TransposePlane(const uint8* src, int src_stride,
+                    uint8* dst, int dst_stride,
+                    int width, int height);
+
+LIBYUV_API
+void TransposeUV(const uint8* src, int src_stride,
+                 uint8* dst_a, int dst_stride_a,
+                 uint8* dst_b, int dst_stride_b,
+                 int width, int height);
+
+#ifdef __cplusplus
+}  // extern "C"
+}  // namespace libyuv
+#endif
+
+#endif  // INCLUDE_LIBYUV_ROTATE_H_

third_party/libyuv/x86_64/include/libyuv/rotate_argb.h

@@ -0,0 +1,33 @@
+/*
+ *  Copyright 2012 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_ROTATE_ARGB_H_
+#define INCLUDE_LIBYUV_ROTATE_ARGB_H_
+
+#include "libyuv/basic_types.h"
+#include "libyuv/rotate.h"  // For RotationMode.
+
+#ifdef __cplusplus
+namespace libyuv {
+extern "C" {
+#endif
+
+// Rotate ARGB frame
+LIBYUV_API
+int ARGBRotate(const uint8* src_argb, int src_stride_argb,
+               uint8* dst_argb, int dst_stride_argb,
+               int src_width, int src_height, enum RotationMode mode);
+
+#ifdef __cplusplus
+}  // extern "C"
+}  // namespace libyuv
+#endif
+
+#endif  // INCLUDE_LIBYUV_ROTATE_ARGB_H_

third_party/libyuv/x86_64/include/libyuv/rotate_row.h

@@ -0,0 +1,121 @@
+/*
+ *  Copyright 2013 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_ROTATE_ROW_H_
+#define INCLUDE_LIBYUV_ROTATE_ROW_H_
+
+#include "libyuv/basic_types.h"
+
+#ifdef __cplusplus
+namespace libyuv {
+extern "C" {
+#endif
+
+#if defined(__pnacl__) || defined(__CLR_VER) || \
+    (defined(__i386__) && !defined(__SSE2__))
+#define LIBYUV_DISABLE_X86
+#endif
+// MemorySanitizer does not support assembly code yet. http://crbug.com/344505
+#if defined(__has_feature)
+#if __has_feature(memory_sanitizer)
+#define LIBYUV_DISABLE_X86
+#endif
+#endif
+// The following are available for Visual C and clangcl 32 bit:
+#if !defined(LIBYUV_DISABLE_X86) && defined(_M_IX86)
+#define HAS_TRANSPOSEWX8_SSSE3
+#define HAS_TRANSPOSEUVWX8_SSE2
+#endif
+
+// The following are available for GCC 32 or 64 bit but not NaCL for 64 bit:
+#if !defined(LIBYUV_DISABLE_X86) && \
+    (defined(__i386__) || (defined(__x86_64__) && !defined(__native_client__)))
+#define HAS_TRANSPOSEWX8_SSSE3
+#endif
+
+// The following are available for 64 bit GCC but not NaCL:
+#if !defined(LIBYUV_DISABLE_X86) && !defined(__native_client__) && \
+    defined(__x86_64__)
+#define HAS_TRANSPOSEWX8_FAST_SSSE3
+#define HAS_TRANSPOSEUVWX8_SSE2
+#endif
+
+#if !defined(LIBYUV_DISABLE_NEON) && !defined(__native_client__) && \
+    (defined(__ARM_NEON__) || defined(LIBYUV_NEON) || defined(__aarch64__))
+#define HAS_TRANSPOSEWX8_NEON
+#define HAS_TRANSPOSEUVWX8_NEON
+#endif
+
+#if !defined(LIBYUV_DISABLE_MIPS) && !defined(__native_client__) && \
+    defined(__mips__) && \
+    defined(__mips_dsp) && (__mips_dsp_rev >= 2)
+#define HAS_TRANSPOSEWX8_DSPR2
+#define HAS_TRANSPOSEUVWX8_DSPR2
+#endif  // defined(__mips__)
+
+void TransposeWxH_C(const uint8* src, int src_stride,
+                    uint8* dst, int dst_stride, int width, int height);
+
+void TransposeWx8_C(const uint8* src, int src_stride,
+                    uint8* dst, int dst_stride, int width);
+void TransposeWx8_NEON(const uint8* src, int src_stride,
+                       uint8* dst, int dst_stride, int width);
+void TransposeWx8_SSSE3(const uint8* src, int src_stride,
+                        uint8* dst, int dst_stride, int width);
+void TransposeWx8_Fast_SSSE3(const uint8* src, int src_stride,
+                             uint8* dst, int dst_stride, int width);
+void TransposeWx8_DSPR2(const uint8* src, int src_stride,
+                        uint8* dst, int dst_stride, int width);
+void TransposeWx8_Fast_DSPR2(const uint8* src, int src_stride,
+                             uint8* dst, int dst_stride, int width);
+
+void TransposeWx8_Any_NEON(const uint8* src, int src_stride,
+                           uint8* dst, int dst_stride, int width);
+void TransposeWx8_Any_SSSE3(const uint8* src, int src_stride,
+                            uint8* dst, int dst_stride, int width);
+void TransposeWx8_Fast_Any_SSSE3(const uint8* src, int src_stride,
+                                 uint8* dst, int dst_stride, int width);
+void TransposeWx8_Any_DSPR2(const uint8* src, int src_stride,
+                            uint8* dst, int dst_stride, int width);
+
+void TransposeUVWxH_C(const uint8* src, int src_stride,
+                      uint8* dst_a, int dst_stride_a,
+                      uint8* dst_b, int dst_stride_b,
+                      int width, int height);
+
+void TransposeUVWx8_C(const uint8* src, int src_stride,
+                      uint8* dst_a, int dst_stride_a,
+                      uint8* dst_b, int dst_stride_b, int width);
+void TransposeUVWx8_SSE2(const uint8* src, int src_stride,
+                         uint8* dst_a, int dst_stride_a,
+                         uint8* dst_b, int dst_stride_b, int width);
+void TransposeUVWx8_NEON(const uint8* src, int src_stride,
+                         uint8* dst_a, int dst_stride_a,
+                         uint8* dst_b, int dst_stride_b, int width);
+void TransposeUVWx8_DSPR2(const uint8* src, int src_stride,
+                          uint8* dst_a, int dst_stride_a,
+                          uint8* dst_b, int dst_stride_b, int width);
+
+void TransposeUVWx8_Any_SSE2(const uint8* src, int src_stride,
+                             uint8* dst_a, int dst_stride_a,
+                             uint8* dst_b, int dst_stride_b, int width);
+void TransposeUVWx8_Any_NEON(const uint8* src, int src_stride,
+                             uint8* dst_a, int dst_stride_a,
+                             uint8* dst_b, int dst_stride_b, int width);
+void TransposeUVWx8_Any_DSPR2(const uint8* src, int src_stride,
+                              uint8* dst_a, int dst_stride_a,
+                              uint8* dst_b, int dst_stride_b, int width);
+
+#ifdef __cplusplus
+}  // extern "C"
+}  // namespace libyuv
+#endif
+
+#endif  // INCLUDE_LIBYUV_ROTATE_ROW_H_

third_party/libyuv/x86_64/include/libyuv/scale.h

@@ -0,0 +1,103 @@
+/*
+ *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_SCALE_H_
+#define INCLUDE_LIBYUV_SCALE_H_
+
+#include "libyuv/basic_types.h"
+
+#ifdef __cplusplus
+namespace libyuv {
+extern "C" {
+#endif
+
+// Supported filtering.
+typedef enum FilterMode {
+  kFilterNone = 0,  // Point sample; Fastest.
+  kFilterLinear = 1,  // Filter horizontally only.
+  kFilterBilinear = 2,  // Faster than box, but lower quality scaling down.
+  kFilterBox = 3  // Highest quality.
+} FilterModeEnum;
+
+// Scale a YUV plane.
+LIBYUV_API
+void ScalePlane(const uint8* src, int src_stride,
+                int src_width, int src_height,
+                uint8* dst, int dst_stride,
+                int dst_width, int dst_height,
+                enum FilterMode filtering);
+
+LIBYUV_API
+void ScalePlane_16(const uint16* src, int src_stride,
+                   int src_width, int src_height,
+                   uint16* dst, int dst_stride,
+                   int dst_width, int dst_height,
+                   enum FilterMode filtering);
+
+// Scales a YUV 4:2:0 image from the src width and height to the
+// dst width and height.
+// If filtering is kFilterNone, a simple nearest-neighbor algorithm is
+// used. This produces basic (blocky) quality at the fastest speed.
+// If filtering is kFilterBilinear, interpolation is used to produce a better
+// quality image, at the expense of speed.
+// If filtering is kFilterBox, averaging is used to produce ever better
+// quality image, at further expense of speed.
+// Returns 0 if successful.
+
+LIBYUV_API
+int I420Scale(const uint8* src_y, int src_stride_y,
+              const uint8* src_u, int src_stride_u,
+              const uint8* src_v, int src_stride_v,
+              int src_width, int src_height,
+              uint8* dst_y, int dst_stride_y,
+              uint8* dst_u, int dst_stride_u,
+              uint8* dst_v, int dst_stride_v,
+              int dst_width, int dst_height,
+              enum FilterMode filtering);
+
+LIBYUV_API
+int I420Scale_16(const uint16* src_y, int src_stride_y,
+                 const uint16* src_u, int src_stride_u,
+                 const uint16* src_v, int src_stride_v,
+                 int src_width, int src_height,
+                 uint16* dst_y, int dst_stride_y,
+                 uint16* dst_u, int dst_stride_u,
+                 uint16* dst_v, int dst_stride_v,
+                 int dst_width, int dst_height,
+                 enum FilterMode filtering);
+
+#ifdef __cplusplus
+// Legacy API.  Deprecated.
+LIBYUV_API
+int Scale(const uint8* src_y, const uint8* src_u, const uint8* src_v,
+          int src_stride_y, int src_stride_u, int src_stride_v,
+          int src_width, int src_height,
+          uint8* dst_y, uint8* dst_u, uint8* dst_v,
+          int dst_stride_y, int dst_stride_u, int dst_stride_v,
+          int dst_width, int dst_height,
+          LIBYUV_BOOL interpolate);
+
+// Legacy API.  Deprecated.
+LIBYUV_API
+int ScaleOffset(const uint8* src_i420, int src_width, int src_height,
+                uint8* dst_i420, int dst_width, int dst_height, int dst_yoffset,
+                LIBYUV_BOOL interpolate);
+
+// For testing, allow disabling of specialized scalers.
+LIBYUV_API
+void SetUseReferenceImpl(LIBYUV_BOOL use);
+#endif  // __cplusplus
+
+#ifdef __cplusplus
+}  // extern "C"
+}  // namespace libyuv
+#endif
+
+#endif  // INCLUDE_LIBYUV_SCALE_H_

third_party/libyuv/x86_64/include/libyuv/scale_argb.h

@@ -0,0 +1,56 @@
+/*
+ *  Copyright 2012 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_SCALE_ARGB_H_
+#define INCLUDE_LIBYUV_SCALE_ARGB_H_
+
+#include "libyuv/basic_types.h"
+#include "libyuv/scale.h"  // For FilterMode
+
+#ifdef __cplusplus
+namespace libyuv {
+extern "C" {
+#endif
+
+LIBYUV_API
+int ARGBScale(const uint8* src_argb, int src_stride_argb,
+              int src_width, int src_height,
+              uint8* dst_argb, int dst_stride_argb,
+              int dst_width, int dst_height,
+              enum FilterMode filtering);
+
+// Clipped scale takes destination rectangle coordinates for clip values.
+LIBYUV_API
+int ARGBScaleClip(const uint8* src_argb, int src_stride_argb,
+                  int src_width, int src_height,
+                  uint8* dst_argb, int dst_stride_argb,
+                  int dst_width, int dst_height,
+                  int clip_x, int clip_y, int clip_width, int clip_height,
+                  enum FilterMode filtering);
+
+// Scale with YUV conversion to ARGB and clipping.
+LIBYUV_API
+int YUVToARGBScaleClip(const uint8* src_y, int src_stride_y,
+                       const uint8* src_u, int src_stride_u,
+                       const uint8* src_v, int src_stride_v,
+                       uint32 src_fourcc,
+                       int src_width, int src_height,
+                       uint8* dst_argb, int dst_stride_argb,
+                       uint32 dst_fourcc,
+                       int dst_width, int dst_height,
+                       int clip_x, int clip_y, int clip_width, int clip_height,
+                       enum FilterMode filtering);
+
+#ifdef __cplusplus
+}  // extern "C"
+}  // namespace libyuv
+#endif
+
+#endif  // INCLUDE_LIBYUV_SCALE_ARGB_H_

third_party/libyuv/x86_64/include/libyuv/scale_row.h

@@ -0,0 +1,503 @@
+/*
+ *  Copyright 2013 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_SCALE_ROW_H_
+#define INCLUDE_LIBYUV_SCALE_ROW_H_
+
+#include "libyuv/basic_types.h"
+#include "libyuv/scale.h"
+
+#ifdef __cplusplus
+namespace libyuv {
+extern "C" {
+#endif
+
+#if defined(__pnacl__) || defined(__CLR_VER) || \
+    (defined(__i386__) && !defined(__SSE2__))
+#define LIBYUV_DISABLE_X86
+#endif
+// MemorySanitizer does not support assembly code yet. http://crbug.com/344505
+#if defined(__has_feature)
+#if __has_feature(memory_sanitizer)
+#define LIBYUV_DISABLE_X86
+#endif
+#endif
+
+// GCC >= 4.7.0 required for AVX2.
+#if defined(__GNUC__) && (defined(__x86_64__) || defined(__i386__))
+#if (__GNUC__ > 4) || (__GNUC__ == 4 && (__GNUC_MINOR__ >= 7))
+#define GCC_HAS_AVX2 1
+#endif  // GNUC >= 4.7
+#endif  // __GNUC__
+
+// clang >= 3.4.0 required for AVX2.
+#if defined(__clang__) && (defined(__x86_64__) || defined(__i386__))
+#if (__clang_major__ > 3) || (__clang_major__ == 3 && (__clang_minor__ >= 4))
+#define CLANG_HAS_AVX2 1
+#endif  // clang >= 3.4
+#endif  // __clang__
+
+// Visual C 2012 required for AVX2.
+#if defined(_M_IX86) && !defined(__clang__) && \
+    defined(_MSC_VER) && _MSC_VER >= 1700
+#define VISUALC_HAS_AVX2 1
+#endif  // VisualStudio >= 2012
+
+// The following are available on all x86 platforms:
+#if !defined(LIBYUV_DISABLE_X86) && \
+    (defined(_M_IX86) || defined(__x86_64__) || defined(__i386__))
+#define HAS_FIXEDDIV1_X86
+#define HAS_FIXEDDIV_X86
+#define HAS_SCALEARGBCOLS_SSE2
+#define HAS_SCALEARGBCOLSUP2_SSE2
+#define HAS_SCALEARGBFILTERCOLS_SSSE3
+#define HAS_SCALEARGBROWDOWN2_SSE2
+#define HAS_SCALEARGBROWDOWNEVEN_SSE2
+#define HAS_SCALECOLSUP2_SSE2
+#define HAS_SCALEFILTERCOLS_SSSE3
+#define HAS_SCALEROWDOWN2_SSSE3
+#define HAS_SCALEROWDOWN34_SSSE3
+#define HAS_SCALEROWDOWN38_SSSE3
+#define HAS_SCALEROWDOWN4_SSSE3
+#define HAS_SCALEADDROW_SSE2
+#endif
+
+// The following are available on all x86 platforms, but
+// require VS2012, clang 3.4 or gcc 4.7.
+// The code supports NaCL but requires a new compiler and validator.
+#if !defined(LIBYUV_DISABLE_X86) && (defined(VISUALC_HAS_AVX2) || \
+    defined(CLANG_HAS_AVX2) || defined(GCC_HAS_AVX2))
+#define HAS_SCALEADDROW_AVX2
+#define HAS_SCALEROWDOWN2_AVX2
+#define HAS_SCALEROWDOWN4_AVX2
+#endif
+
+// The following are available on Neon platforms:
+#if !defined(LIBYUV_DISABLE_NEON) && !defined(__native_client__) && \
+    (defined(__ARM_NEON__) || defined(LIBYUV_NEON) || defined(__aarch64__))
+#define HAS_SCALEARGBCOLS_NEON
+#define HAS_SCALEARGBROWDOWN2_NEON
+#define HAS_SCALEARGBROWDOWNEVEN_NEON
+#define HAS_SCALEFILTERCOLS_NEON
+#define HAS_SCALEROWDOWN2_NEON
+#define HAS_SCALEROWDOWN34_NEON
+#define HAS_SCALEROWDOWN38_NEON
+#define HAS_SCALEROWDOWN4_NEON
+#define HAS_SCALEARGBFILTERCOLS_NEON
+#endif
+
+// The following are available on Mips platforms:
+#if !defined(LIBYUV_DISABLE_MIPS) && !defined(__native_client__) && \
+    defined(__mips__) && defined(__mips_dsp) && (__mips_dsp_rev >= 2)
+#define HAS_SCALEROWDOWN2_DSPR2
+#define HAS_SCALEROWDOWN4_DSPR2
+#define HAS_SCALEROWDOWN34_DSPR2
+#define HAS_SCALEROWDOWN38_DSPR2
+#endif
+
+// Scale ARGB vertically with bilinear interpolation.
+void ScalePlaneVertical(int src_height,
+                        int dst_width, int dst_height,
+                        int src_stride, int dst_stride,
+                        const uint8* src_argb, uint8* dst_argb,
+                        int x, int y, int dy,
+                        int bpp, enum FilterMode filtering);
+
+void ScalePlaneVertical_16(int src_height,
+                           int dst_width, int dst_height,
+                           int src_stride, int dst_stride,
+                           const uint16* src_argb, uint16* dst_argb,
+                           int x, int y, int dy,
+                           int wpp, enum FilterMode filtering);
+
+// Simplify the filtering based on scale factors.
+enum FilterMode ScaleFilterReduce(int src_width, int src_height,
+                                  int dst_width, int dst_height,
+                                  enum FilterMode filtering);
+
+// Divide num by div and return as 16.16 fixed point result.
+int FixedDiv_C(int num, int div);
+int FixedDiv_X86(int num, int div);
+// Divide num - 1 by div - 1 and return as 16.16 fixed point result.
+int FixedDiv1_C(int num, int div);
+int FixedDiv1_X86(int num, int div);
+#ifdef HAS_FIXEDDIV_X86
+#define FixedDiv FixedDiv_X86
+#define FixedDiv1 FixedDiv1_X86
+#else
+#define FixedDiv FixedDiv_C
+#define FixedDiv1 FixedDiv1_C
+#endif
+
+// Compute slope values for stepping.
+void ScaleSlope(int src_width, int src_height,
+                int dst_width, int dst_height,
+                enum FilterMode filtering,
+                int* x, int* y, int* dx, int* dy);
+
+void ScaleRowDown2_C(const uint8* src_ptr, ptrdiff_t src_stride,
+                     uint8* dst, int dst_width);
+void ScaleRowDown2_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
+                        uint16* dst, int dst_width);
+void ScaleRowDown2Linear_C(const uint8* src_ptr, ptrdiff_t src_stride,
+                           uint8* dst, int dst_width);
+void ScaleRowDown2Linear_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
+                              uint16* dst, int dst_width);
+void ScaleRowDown2Box_C(const uint8* src_ptr, ptrdiff_t src_stride,
+                        uint8* dst, int dst_width);
+void ScaleRowDown2Box_Odd_C(const uint8* src_ptr, ptrdiff_t src_stride,
+                            uint8* dst, int dst_width);
+void ScaleRowDown2Box_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
+                           uint16* dst, int dst_width);
+void ScaleRowDown4_C(const uint8* src_ptr, ptrdiff_t src_stride,
+                     uint8* dst, int dst_width);
+void ScaleRowDown4_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
+                        uint16* dst, int dst_width);
+void ScaleRowDown4Box_C(const uint8* src_ptr, ptrdiff_t src_stride,
+                        uint8* dst, int dst_width);
+void ScaleRowDown4Box_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
+                           uint16* dst, int dst_width);
+void ScaleRowDown34_C(const uint8* src_ptr, ptrdiff_t src_stride,
+                      uint8* dst, int dst_width);
+void ScaleRowDown34_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
+                         uint16* dst, int dst_width);
+void ScaleRowDown34_0_Box_C(const uint8* src_ptr, ptrdiff_t src_stride,
+                            uint8* d, int dst_width);
+void ScaleRowDown34_0_Box_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
+                               uint16* d, int dst_width);
+void ScaleRowDown34_1_Box_C(const uint8* src_ptr, ptrdiff_t src_stride,
+                            uint8* d, int dst_width);
+void ScaleRowDown34_1_Box_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
+                               uint16* d, int dst_width);
+void ScaleCols_C(uint8* dst_ptr, const uint8* src_ptr,
+                 int dst_width, int x, int dx);
+void ScaleCols_16_C(uint16* dst_ptr, const uint16* src_ptr,
+                    int dst_width, int x, int dx);
+void ScaleColsUp2_C(uint8* dst_ptr, const uint8* src_ptr,
+                    int dst_width, int, int);
+void ScaleColsUp2_16_C(uint16* dst_ptr, const uint16* src_ptr,
+                       int dst_width, int, int);
+void ScaleFilterCols_C(uint8* dst_ptr, const uint8* src_ptr,
+                       int dst_width, int x, int dx);
+void ScaleFilterCols_16_C(uint16* dst_ptr, const uint16* src_ptr,
+                          int dst_width, int x, int dx);
+void ScaleFilterCols64_C(uint8* dst_ptr, const uint8* src_ptr,
+                         int dst_width, int x, int dx);
+void ScaleFilterCols64_16_C(uint16* dst_ptr, const uint16* src_ptr,
+                            int dst_width, int x, int dx);
+void ScaleRowDown38_C(const uint8* src_ptr, ptrdiff_t src_stride,
+                      uint8* dst, int dst_width);
+void ScaleRowDown38_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
+                         uint16* dst, int dst_width);
+void ScaleRowDown38_3_Box_C(const uint8* src_ptr,
+                            ptrdiff_t src_stride,
+                            uint8* dst_ptr, int dst_width);
+void ScaleRowDown38_3_Box_16_C(const uint16* src_ptr,
+                               ptrdiff_t src_stride,
+                               uint16* dst_ptr, int dst_width);
+void ScaleRowDown38_2_Box_C(const uint8* src_ptr, ptrdiff_t src_stride,
+                            uint8* dst_ptr, int dst_width);
+void ScaleRowDown38_2_Box_16_C(const uint16* src_ptr, ptrdiff_t src_stride,
+                               uint16* dst_ptr, int dst_width);
+void ScaleAddRow_C(const uint8* src_ptr, uint16* dst_ptr, int src_width);
+void ScaleAddRow_16_C(const uint16* src_ptr, uint32* dst_ptr, int src_width);
+void ScaleARGBRowDown2_C(const uint8* src_argb,
+                         ptrdiff_t src_stride,
+                         uint8* dst_argb, int dst_width);
+void ScaleARGBRowDown2Linear_C(const uint8* src_argb,
+                               ptrdiff_t src_stride,
+                               uint8* dst_argb, int dst_width);
+void ScaleARGBRowDown2Box_C(const uint8* src_argb, ptrdiff_t src_stride,
+                            uint8* dst_argb, int dst_width);
+void ScaleARGBRowDownEven_C(const uint8* src_argb, ptrdiff_t src_stride,
+                            int src_stepx,
+                            uint8* dst_argb, int dst_width);
+void ScaleARGBRowDownEvenBox_C(const uint8* src_argb,
+                               ptrdiff_t src_stride,
+                               int src_stepx,
+                               uint8* dst_argb, int dst_width);
+void ScaleARGBCols_C(uint8* dst_argb, const uint8* src_argb,
+                     int dst_width, int x, int dx);
+void ScaleARGBCols64_C(uint8* dst_argb, const uint8* src_argb,
+                       int dst_width, int x, int dx);
+void ScaleARGBColsUp2_C(uint8* dst_argb, const uint8* src_argb,
+                        int dst_width, int, int);
+void ScaleARGBFilterCols_C(uint8* dst_argb, const uint8* src_argb,
+                           int dst_width, int x, int dx);
+void ScaleARGBFilterCols64_C(uint8* dst_argb, const uint8* src_argb,
+                             int dst_width, int x, int dx);
+
+// Specialized scalers for x86.
+void ScaleRowDown2_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
+                         uint8* dst_ptr, int dst_width);
+void ScaleRowDown2Linear_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
+                               uint8* dst_ptr, int dst_width);
+void ScaleRowDown2Box_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
+                            uint8* dst_ptr, int dst_width);
+void ScaleRowDown2_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
+                        uint8* dst_ptr, int dst_width);
+void ScaleRowDown2Linear_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
+                              uint8* dst_ptr, int dst_width);
+void ScaleRowDown2Box_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
+                           uint8* dst_ptr, int dst_width);
+void ScaleRowDown4_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
+                         uint8* dst_ptr, int dst_width);
+void ScaleRowDown4Box_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
+                            uint8* dst_ptr, int dst_width);
+void ScaleRowDown4_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
+                        uint8* dst_ptr, int dst_width);
+void ScaleRowDown4Box_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
+                           uint8* dst_ptr, int dst_width);
+
+void ScaleRowDown34_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
+                          uint8* dst_ptr, int dst_width);
+void ScaleRowDown34_1_Box_SSSE3(const uint8* src_ptr,
+                                ptrdiff_t src_stride,
+                                uint8* dst_ptr, int dst_width);
+void ScaleRowDown34_0_Box_SSSE3(const uint8* src_ptr,
+                                ptrdiff_t src_stride,
+                                uint8* dst_ptr, int dst_width);
+void ScaleRowDown38_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
+                          uint8* dst_ptr, int dst_width);
+void ScaleRowDown38_3_Box_SSSE3(const uint8* src_ptr,
+                                ptrdiff_t src_stride,
+                                uint8* dst_ptr, int dst_width);
+void ScaleRowDown38_2_Box_SSSE3(const uint8* src_ptr,
+                                ptrdiff_t src_stride,
+                                uint8* dst_ptr, int dst_width);
+void ScaleRowDown2_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
+                             uint8* dst_ptr, int dst_width);
+void ScaleRowDown2Linear_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
+                                   uint8* dst_ptr, int dst_width);
+void ScaleRowDown2Box_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
+                                uint8* dst_ptr, int dst_width);
+void ScaleRowDown2Box_Odd_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
+                                uint8* dst_ptr, int dst_width);
+void ScaleRowDown2_Any_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
+                            uint8* dst_ptr, int dst_width);
+void ScaleRowDown2Linear_Any_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
+                                  uint8* dst_ptr, int dst_width);
+void ScaleRowDown2Box_Any_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
+                               uint8* dst_ptr, int dst_width);
+void ScaleRowDown2Box_Odd_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
+                               uint8* dst_ptr, int dst_width);
+void ScaleRowDown4_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
+                             uint8* dst_ptr, int dst_width);
+void ScaleRowDown4Box_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
+                                uint8* dst_ptr, int dst_width);
+void ScaleRowDown4_Any_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
+                            uint8* dst_ptr, int dst_width);
+void ScaleRowDown4Box_Any_AVX2(const uint8* src_ptr, ptrdiff_t src_stride,
+                               uint8* dst_ptr, int dst_width);
+
+void ScaleRowDown34_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
+                              uint8* dst_ptr, int dst_width);
+void ScaleRowDown34_1_Box_Any_SSSE3(const uint8* src_ptr,
+                                    ptrdiff_t src_stride,
+                                    uint8* dst_ptr, int dst_width);
+void ScaleRowDown34_0_Box_Any_SSSE3(const uint8* src_ptr,
+                                    ptrdiff_t src_stride,
+                                    uint8* dst_ptr, int dst_width);
+void ScaleRowDown38_Any_SSSE3(const uint8* src_ptr, ptrdiff_t src_stride,
+                              uint8* dst_ptr, int dst_width);
+void ScaleRowDown38_3_Box_Any_SSSE3(const uint8* src_ptr,
+                                    ptrdiff_t src_stride,
+                                    uint8* dst_ptr, int dst_width);
+void ScaleRowDown38_2_Box_Any_SSSE3(const uint8* src_ptr,
+                                    ptrdiff_t src_stride,
+                                    uint8* dst_ptr, int dst_width);
+
+void ScaleAddRow_SSE2(const uint8* src_ptr, uint16* dst_ptr, int src_width);
+void ScaleAddRow_AVX2(const uint8* src_ptr, uint16* dst_ptr, int src_width);
+void ScaleAddRow_Any_SSE2(const uint8* src_ptr, uint16* dst_ptr, int src_width);
+void ScaleAddRow_Any_AVX2(const uint8* src_ptr, uint16* dst_ptr, int src_width);
+
+void ScaleFilterCols_SSSE3(uint8* dst_ptr, const uint8* src_ptr,
+                           int dst_width, int x, int dx);
+void ScaleColsUp2_SSE2(uint8* dst_ptr, const uint8* src_ptr,
+                       int dst_width, int x, int dx);
+
+
+// ARGB Column functions
+void ScaleARGBCols_SSE2(uint8* dst_argb, const uint8* src_argb,
+                        int dst_width, int x, int dx);
+void ScaleARGBFilterCols_SSSE3(uint8* dst_argb, const uint8* src_argb,
+                               int dst_width, int x, int dx);
+void ScaleARGBColsUp2_SSE2(uint8* dst_argb, const uint8* src_argb,
+                           int dst_width, int x, int dx);
+void ScaleARGBFilterCols_NEON(uint8* dst_argb, const uint8* src_argb,
+                              int dst_width, int x, int dx);
+void ScaleARGBCols_NEON(uint8* dst_argb, const uint8* src_argb,
+                        int dst_width, int x, int dx);
+void ScaleARGBFilterCols_Any_NEON(uint8* dst_argb, const uint8* src_argb,
+                                  int dst_width, int x, int dx);
+void ScaleARGBCols_Any_NEON(uint8* dst_argb, const uint8* src_argb,
+                            int dst_width, int x, int dx);
+
+// ARGB Row functions
+void ScaleARGBRowDown2_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
+                            uint8* dst_argb, int dst_width);
+void ScaleARGBRowDown2Linear_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
+                                  uint8* dst_argb, int dst_width);
+void ScaleARGBRowDown2Box_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
+                               uint8* dst_argb, int dst_width);
+void ScaleARGBRowDown2_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                            uint8* dst, int dst_width);
+void ScaleARGBRowDown2Linear_NEON(const uint8* src_argb, ptrdiff_t src_stride,
+                                  uint8* dst_argb, int dst_width);
+void ScaleARGBRowDown2Box_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                               uint8* dst, int dst_width);
+void ScaleARGBRowDown2_Any_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
+                                uint8* dst_argb, int dst_width);
+void ScaleARGBRowDown2Linear_Any_SSE2(const uint8* src_argb,
+                                      ptrdiff_t src_stride,
+                                      uint8* dst_argb, int dst_width);
+void ScaleARGBRowDown2Box_Any_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
+                                   uint8* dst_argb, int dst_width);
+void ScaleARGBRowDown2_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                                uint8* dst, int dst_width);
+void ScaleARGBRowDown2Linear_Any_NEON(const uint8* src_argb,
+                                      ptrdiff_t src_stride,
+                                      uint8* dst_argb, int dst_width);
+void ScaleARGBRowDown2Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                                   uint8* dst, int dst_width);
+
+void ScaleARGBRowDownEven_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
+                               int src_stepx, uint8* dst_argb, int dst_width);
+void ScaleARGBRowDownEvenBox_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
+                                  int src_stepx,
+                                  uint8* dst_argb, int dst_width);
+void ScaleARGBRowDownEven_NEON(const uint8* src_argb, ptrdiff_t src_stride,
+                               int src_stepx,
+                               uint8* dst_argb, int dst_width);
+void ScaleARGBRowDownEvenBox_NEON(const uint8* src_argb, ptrdiff_t src_stride,
+                                  int src_stepx,
+                                  uint8* dst_argb, int dst_width);
+void ScaleARGBRowDownEven_Any_SSE2(const uint8* src_argb, ptrdiff_t src_stride,
+                                   int src_stepx,
+                                   uint8* dst_argb, int dst_width);
+void ScaleARGBRowDownEvenBox_Any_SSE2(const uint8* src_argb,
+                                      ptrdiff_t src_stride,
+                                      int src_stepx,
+                                      uint8* dst_argb, int dst_width);
+void ScaleARGBRowDownEven_Any_NEON(const uint8* src_argb, ptrdiff_t src_stride,
+                                   int src_stepx,
+                                   uint8* dst_argb, int dst_width);
+void ScaleARGBRowDownEvenBox_Any_NEON(const uint8* src_argb,
+                                      ptrdiff_t src_stride,
+                                      int src_stepx,
+                                      uint8* dst_argb, int dst_width);
+
+// ScaleRowDown2Box also used by planar functions
+// NEON downscalers with interpolation.
+
+// Note - not static due to reuse in convert for 444 to 420.
+void ScaleRowDown2_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                        uint8* dst, int dst_width);
+void ScaleRowDown2Linear_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                              uint8* dst, int dst_width);
+void ScaleRowDown2Box_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                           uint8* dst, int dst_width);
+
+void ScaleRowDown4_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                        uint8* dst_ptr, int dst_width);
+void ScaleRowDown4Box_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                           uint8* dst_ptr, int dst_width);
+
+// Down scale from 4 to 3 pixels. Use the neon multilane read/write
+//  to load up the every 4th pixel into a 4 different registers.
+// Point samples 32 pixels to 24 pixels.
+void ScaleRowDown34_NEON(const uint8* src_ptr,
+                         ptrdiff_t src_stride,
+                         uint8* dst_ptr, int dst_width);
+void ScaleRowDown34_0_Box_NEON(const uint8* src_ptr,
+                               ptrdiff_t src_stride,
+                               uint8* dst_ptr, int dst_width);
+void ScaleRowDown34_1_Box_NEON(const uint8* src_ptr,
+                               ptrdiff_t src_stride,
+                               uint8* dst_ptr, int dst_width);
+
+// 32 -> 12
+void ScaleRowDown38_NEON(const uint8* src_ptr,
+                         ptrdiff_t src_stride,
+                         uint8* dst_ptr, int dst_width);
+// 32x3 -> 12x1
+void ScaleRowDown38_3_Box_NEON(const uint8* src_ptr,
+                               ptrdiff_t src_stride,
+                               uint8* dst_ptr, int dst_width);
+// 32x2 -> 12x1
+void ScaleRowDown38_2_Box_NEON(const uint8* src_ptr,
+                               ptrdiff_t src_stride,
+                               uint8* dst_ptr, int dst_width);
+
+void ScaleRowDown2_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                            uint8* dst, int dst_width);
+void ScaleRowDown2Linear_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                                  uint8* dst, int dst_width);
+void ScaleRowDown2Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                               uint8* dst, int dst_width);
+void ScaleRowDown2Box_Odd_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                               uint8* dst, int dst_width);
+void ScaleRowDown4_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                            uint8* dst_ptr, int dst_width);
+void ScaleRowDown4Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                               uint8* dst_ptr, int dst_width);
+void ScaleRowDown34_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                             uint8* dst_ptr, int dst_width);
+void ScaleRowDown34_0_Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                                   uint8* dst_ptr, int dst_width);
+void ScaleRowDown34_1_Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                                   uint8* dst_ptr, int dst_width);
+// 32 -> 12
+void ScaleRowDown38_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                             uint8* dst_ptr, int dst_width);
+// 32x3 -> 12x1
+void ScaleRowDown38_3_Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                               uint8* dst_ptr, int dst_width);
+// 32x2 -> 12x1
+void ScaleRowDown38_2_Box_Any_NEON(const uint8* src_ptr, ptrdiff_t src_stride,
+                               uint8* dst_ptr, int dst_width);
+
+void ScaleAddRow_NEON(const uint8* src_ptr, uint16* dst_ptr, int src_width);
+void ScaleAddRow_Any_NEON(const uint8* src_ptr, uint16* dst_ptr, int src_width);
+
+void ScaleFilterCols_NEON(uint8* dst_ptr, const uint8* src_ptr,
+                          int dst_width, int x, int dx);
+
+void ScaleFilterCols_Any_NEON(uint8* dst_ptr, const uint8* src_ptr,
+                              int dst_width, int x, int dx);
+
+void ScaleRowDown2_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
+                         uint8* dst, int dst_width);
+void ScaleRowDown2Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
+                            uint8* dst, int dst_width);
+void ScaleRowDown4_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
+                         uint8* dst, int dst_width);
+void ScaleRowDown4Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
+                            uint8* dst, int dst_width);
+void ScaleRowDown34_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
+                          uint8* dst, int dst_width);
+void ScaleRowDown34_0_Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
+                                uint8* d, int dst_width);
+void ScaleRowDown34_1_Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
+                                uint8* d, int dst_width);
+void ScaleRowDown38_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
+                          uint8* dst, int dst_width);
+void ScaleRowDown38_2_Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
+                                uint8* dst_ptr, int dst_width);
+void ScaleRowDown38_3_Box_DSPR2(const uint8* src_ptr, ptrdiff_t src_stride,
+                                uint8* dst_ptr, int dst_width);
+
+#ifdef __cplusplus
+}  // extern "C"
+}  // namespace libyuv
+#endif
+
+#endif  // INCLUDE_LIBYUV_SCALE_ROW_H_

third_party/libyuv/x86_64/include/libyuv/version.h

@@ -0,0 +1,16 @@
+/*
+ *  Copyright 2012 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+#ifndef INCLUDE_LIBYUV_VERSION_H_
+#define INCLUDE_LIBYUV_VERSION_H_
+
+#define LIBYUV_VERSION 1622
+
+#endif  // INCLUDE_LIBYUV_VERSION_H_

third_party/libyuv/x86_64/include/libyuv/video_common.h

@@ -0,0 +1,184 @@
+/*
+ *  Copyright 2011 The LibYuv Project Authors. All rights reserved.
+ *
+ *  Use of this source code is governed by a BSD-style license
+ *  that can be found in the LICENSE file in the root of the source
+ *  tree. An additional intellectual property rights grant can be found
+ *  in the file PATENTS. All contributing project authors may
+ *  be found in the AUTHORS file in the root of the source tree.
+ */
+
+// Common definitions for video, including fourcc and VideoFormat.
+
+#ifndef INCLUDE_LIBYUV_VIDEO_COMMON_H_
+#define INCLUDE_LIBYUV_VIDEO_COMMON_H_
+
+#include "libyuv/basic_types.h"
+
+#ifdef __cplusplus
+namespace libyuv {
+extern "C" {
+#endif
+
+//////////////////////////////////////////////////////////////////////////////
+// Definition of FourCC codes
+//////////////////////////////////////////////////////////////////////////////
+
+// Convert four characters to a FourCC code.
+// Needs to be a macro otherwise the OS X compiler complains when the kFormat*
+// constants are used in a switch.
+#ifdef __cplusplus
+#define FOURCC(a, b, c, d) ( \
+    (static_cast<uint32>(a)) | (static_cast<uint32>(b) << 8) | \
+    (static_cast<uint32>(c) << 16) | (static_cast<uint32>(d) << 24))
+#else
+#define FOURCC(a, b, c, d) ( \
+    ((uint32)(a)) | ((uint32)(b) << 8) | /* NOLINT */ \
+    ((uint32)(c) << 16) | ((uint32)(d) << 24))  /* NOLINT */
+#endif
+
+// Some pages discussing FourCC codes:
+//   http://www.fourcc.org/yuv.php
+//   http://v4l2spec.bytesex.org/spec/book1.htm
+//   http://developer.apple.com/quicktime/icefloe/dispatch020.html
+//   http://msdn.microsoft.com/library/windows/desktop/dd206750.aspx#nv12
+//   http://people.xiph.org/~xiphmont/containers/nut/nut4cc.txt
+
+// FourCC codes grouped according to implementation efficiency.
+// Primary formats should convert in 1 efficient step.
+// Secondary formats are converted in 2 steps.
+// Auxilliary formats call primary converters.
+enum FourCC {
+  // 9 Primary YUV formats: 5 planar, 2 biplanar, 2 packed.
+  FOURCC_I420 = FOURCC('I', '4', '2', '0'),
+  FOURCC_I422 = FOURCC('I', '4', '2', '2'),
+  FOURCC_I444 = FOURCC('I', '4', '4', '4'),
+  FOURCC_I411 = FOURCC('I', '4', '1', '1'),
+  FOURCC_I400 = FOURCC('I', '4', '0', '0'),
+  FOURCC_NV21 = FOURCC('N', 'V', '2', '1'),
+  FOURCC_NV12 = FOURCC('N', 'V', '1', '2'),
+  FOURCC_YUY2 = FOURCC('Y', 'U', 'Y', '2'),
+  FOURCC_UYVY = FOURCC('U', 'Y', 'V', 'Y'),
+
+  // 2 Secondary YUV formats: row biplanar.
+  FOURCC_M420 = FOURCC('M', '4', '2', '0'),
+  FOURCC_Q420 = FOURCC('Q', '4', '2', '0'),  // deprecated.
+
+  // 9 Primary RGB formats: 4 32 bpp, 2 24 bpp, 3 16 bpp.
+  FOURCC_ARGB = FOURCC('A', 'R', 'G', 'B'),
+  FOURCC_BGRA = FOURCC('B', 'G', 'R', 'A'),
+  FOURCC_ABGR = FOURCC('A', 'B', 'G', 'R'),
+  FOURCC_24BG = FOURCC('2', '4', 'B', 'G'),
+  FOURCC_RAW  = FOURCC('r', 'a', 'w', ' '),
+  FOURCC_RGBA = FOURCC('R', 'G', 'B', 'A'),
+  FOURCC_RGBP = FOURCC('R', 'G', 'B', 'P'),  // rgb565 LE.
+  FOURCC_RGBO = FOURCC('R', 'G', 'B', 'O'),  // argb1555 LE.
+  FOURCC_R444 = FOURCC('R', '4', '4', '4'),  // argb4444 LE.
+
+  // 4 Secondary RGB formats: 4 Bayer Patterns. deprecated.
+  FOURCC_RGGB = FOURCC('R', 'G', 'G', 'B'),
+  FOURCC_BGGR = FOURCC('B', 'G', 'G', 'R'),
+  FOURCC_GRBG = FOURCC('G', 'R', 'B', 'G'),
+  FOURCC_GBRG = FOURCC('G', 'B', 'R', 'G'),
+
+  // 1 Primary Compressed YUV format.
+  FOURCC_MJPG = FOURCC('M', 'J', 'P', 'G'),
+
+  // 5 Auxiliary YUV variations: 3 with U and V planes are swapped, 1 Alias.
+  FOURCC_YV12 = FOURCC('Y', 'V', '1', '2'),
+  FOURCC_YV16 = FOURCC('Y', 'V', '1', '6'),
+  FOURCC_YV24 = FOURCC('Y', 'V', '2', '4'),
+  FOURCC_YU12 = FOURCC('Y', 'U', '1', '2'),  // Linux version of I420.
+  FOURCC_J420 = FOURCC('J', '4', '2', '0'),
+  FOURCC_J400 = FOURCC('J', '4', '0', '0'),  // unofficial fourcc
+  FOURCC_H420 = FOURCC('H', '4', '2', '0'),  // unofficial fourcc
+
+  // 14 Auxiliary aliases.  CanonicalFourCC() maps these to canonical fourcc.
+  FOURCC_IYUV = FOURCC('I', 'Y', 'U', 'V'),  // Alias for I420.
+  FOURCC_YU16 = FOURCC('Y', 'U', '1', '6'),  // Alias for I422.
+  FOURCC_YU24 = FOURCC('Y', 'U', '2', '4'),  // Alias for I444.
+  FOURCC_YUYV = FOURCC('Y', 'U', 'Y', 'V'),  // Alias for YUY2.
+  FOURCC_YUVS = FOURCC('y', 'u', 'v', 's'),  // Alias for YUY2 on Mac.
+  FOURCC_HDYC = FOURCC('H', 'D', 'Y', 'C'),  // Alias for UYVY.
+  FOURCC_2VUY = FOURCC('2', 'v', 'u', 'y'),  // Alias for UYVY on Mac.
+  FOURCC_JPEG = FOURCC('J', 'P', 'E', 'G'),  // Alias for MJPG.
+  FOURCC_DMB1 = FOURCC('d', 'm', 'b', '1'),  // Alias for MJPG on Mac.
+  FOURCC_BA81 = FOURCC('B', 'A', '8', '1'),  // Alias for BGGR.
+  FOURCC_RGB3 = FOURCC('R', 'G', 'B', '3'),  // Alias for RAW.
+  FOURCC_BGR3 = FOURCC('B', 'G', 'R', '3'),  // Alias for 24BG.
+  FOURCC_CM32 = FOURCC(0, 0, 0, 32),  // Alias for BGRA kCMPixelFormat_32ARGB
+  FOURCC_CM24 = FOURCC(0, 0, 0, 24),  // Alias for RAW kCMPixelFormat_24RGB
+  FOURCC_L555 = FOURCC('L', '5', '5', '5'),  // Alias for RGBO.
+  FOURCC_L565 = FOURCC('L', '5', '6', '5'),  // Alias for RGBP.
+  FOURCC_5551 = FOURCC('5', '5', '5', '1'),  // Alias for RGBO.
+
+  // 1 Auxiliary compressed YUV format set aside for capturer.
+  FOURCC_H264 = FOURCC('H', '2', '6', '4'),
+
+  // Match any fourcc.
+  FOURCC_ANY = -1,
+};
+
+enum FourCCBpp {
+  // Canonical fourcc codes used in our code.
+  FOURCC_BPP_I420 = 12,
+  FOURCC_BPP_I422 = 16,
+  FOURCC_BPP_I444 = 24,
+  FOURCC_BPP_I411 = 12,
+  FOURCC_BPP_I400 = 8,
+  FOURCC_BPP_NV21 = 12,
+  FOURCC_BPP_NV12 = 12,
+  FOURCC_BPP_YUY2 = 16,
+  FOURCC_BPP_UYVY = 16,
+  FOURCC_BPP_M420 = 12,
+  FOURCC_BPP_Q420 = 12,
+  FOURCC_BPP_ARGB = 32,
+  FOURCC_BPP_BGRA = 32,
+  FOURCC_BPP_ABGR = 32,
+  FOURCC_BPP_RGBA = 32,
+  FOURCC_BPP_24BG = 24,
+  FOURCC_BPP_RAW  = 24,
+  FOURCC_BPP_RGBP = 16,
+  FOURCC_BPP_RGBO = 16,
+  FOURCC_BPP_R444 = 16,
+  FOURCC_BPP_RGGB = 8,
+  FOURCC_BPP_BGGR = 8,
+  FOURCC_BPP_GRBG = 8,
+  FOURCC_BPP_GBRG = 8,
+  FOURCC_BPP_YV12 = 12,
+  FOURCC_BPP_YV16 = 16,
+  FOURCC_BPP_YV24 = 24,
+  FOURCC_BPP_YU12 = 12,
+  FOURCC_BPP_J420 = 12,
+  FOURCC_BPP_J400 = 8,
+  FOURCC_BPP_H420 = 12,
+  FOURCC_BPP_MJPG = 0,  // 0 means unknown.
+  FOURCC_BPP_H264 = 0,
+  FOURCC_BPP_IYUV = 12,
+  FOURCC_BPP_YU16 = 16,
+  FOURCC_BPP_YU24 = 24,
+  FOURCC_BPP_YUYV = 16,
+  FOURCC_BPP_YUVS = 16,
+  FOURCC_BPP_HDYC = 16,
+  FOURCC_BPP_2VUY = 16,
+  FOURCC_BPP_JPEG = 1,
+  FOURCC_BPP_DMB1 = 1,
+  FOURCC_BPP_BA81 = 8,
+  FOURCC_BPP_RGB3 = 24,
+  FOURCC_BPP_BGR3 = 24,
+  FOURCC_BPP_CM32 = 32,
+  FOURCC_BPP_CM24 = 24,
+
+  // Match any fourcc.
+  FOURCC_BPP_ANY  = 0,  // 0 means unknown.
+};
+
+// Converts fourcc aliases into canonical ones.
+LIBYUV_API uint32 CanonicalFourCC(uint32 fourcc);
+
+#ifdef __cplusplus
+}  // extern "C"
+}  // namespace libyuv
+#endif
+
+#endif  // INCLUDE_LIBYUV_VIDEO_COMMON_H_