brianhansonxyz
8a7a776f9b
VisionIPC frames from camerad → OMX H.264 hardware encoder → 3-min MP4
segments + SRT GPS subtitles in /data/media/0/videos/<trip>/. Manages
its own trip lifecycle (WAITING/RECORDING/IDLE_TIMEOUT) and writes
DashcamState/DashcamFrames memory params for the UI's Status window.
Honors DashcamShutdown for graceful close before power-off.
Files added:
- selfdrive/clearpilot/dashcamd.cc + SConscript
Files modified:
- selfdrive/frogpilot/screenrecorder/omx_encoder.{cc,h}: ported broken's
version, which adds encode_frame_nv12() (direct NV12 input from camerad,
alongside the existing encode_frame_rgba used by the disabled screen
recorder) and simplifies the libyuv conversion paths to NEON-only since
this device is aarch64.
- selfdrive/SConscript: register selfdrive/clearpilot/SConscript so the
dashcamd binary is part of the build.
- selfdrive/manager/process_config.py:
- camerad gating driverview → always_run so dashcamd can record the
moment ignition+drive arrives without waiting for camera startup.
- Register dashcamd as NativeProcess gated always_run.
- system/loggerd/deleter.py:
- MIN_BYTES 5 GB → 9 GB to leave headroom for dashcam footage.
- delete_oldest_video(): trip-aware cleanup. Drops entire oldest trip
dir first; if only the active trip remains, drops oldest segment
inside it; cleans up legacy flat .mp4s too.
- cleanup_log2(): keeps /data/log2 session logs under 4 GB total.
- Hooked into deleter_thread: video first when out of bytes/percent;
log2 quota check on the idle path. New code uses print(stderr) per
the no-cloudlog rule.
Verified: built clean, manager started, dashcamd in WAITING state
(DashcamState=waiting, DashcamFrames=0), camerad running, no errors.
70 lines
2.0 KiB
C++
Executable File
70 lines
2.0 KiB
C++
Executable File
#pragma once
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#include <cstdint>
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#include <cstdio>
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#include <vector>
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#include <string>
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#include <OMX_Component.h>
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extern "C" {
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#include <libavformat/avformat.h>
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}
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#include "common/queue.h"
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// OmxEncoder, lossey codec using hardware H.264
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class OmxEncoder {
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public:
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OmxEncoder(const char* path, int width, int height, int fps, int bitrate);
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~OmxEncoder();
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int encode_frame_rgba(const uint8_t *ptr, int in_width, int in_height, uint64_t ts);
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int encode_frame_nv12(const uint8_t *y_ptr, int y_stride, const uint8_t *uv_ptr, int uv_stride,
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int in_width, int in_height, uint64_t ts);
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void encoder_open(const char* filename);
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void encoder_close();
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// OMX callbacks
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static OMX_ERRORTYPE event_handler(OMX_HANDLETYPE component, OMX_PTR app_data, OMX_EVENTTYPE event,
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OMX_U32 data1, OMX_U32 data2, OMX_PTR event_data);
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static OMX_ERRORTYPE empty_buffer_done(OMX_HANDLETYPE component, OMX_PTR app_data,
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OMX_BUFFERHEADERTYPE *buffer);
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static OMX_ERRORTYPE fill_buffer_done(OMX_HANDLETYPE component, OMX_PTR app_data,
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OMX_BUFFERHEADERTYPE *buffer);
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private:
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void wait_for_state(OMX_STATETYPE state);
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static void handle_out_buf(OmxEncoder *e, OMX_BUFFERHEADERTYPE *out_buf);
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int width, height, fps;
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char vid_path[1024];
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char lock_path[1024];
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bool is_open = false;
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bool dirty = false;
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int counter = 0;
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std::string path;
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FILE *of = nullptr;
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size_t codec_config_len = 0;
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uint8_t *codec_config = nullptr;
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bool wrote_codec_config = false;
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std::mutex state_lock;
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std::condition_variable state_cv;
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OMX_STATETYPE state = OMX_StateLoaded;
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OMX_HANDLETYPE handle = nullptr;
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std::vector<OMX_BUFFERHEADERTYPE *> in_buf_headers;
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std::vector<OMX_BUFFERHEADERTYPE *> out_buf_headers;
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uint64_t last_t = 0;
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SafeQueue<OMX_BUFFERHEADERTYPE *> free_in;
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SafeQueue<OMX_BUFFERHEADERTYPE *> done_out;
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AVFormatContext *ofmt_ctx = nullptr;
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AVStream *out_stream = nullptr;
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};
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