brianhansonxyz
4afd25fb5b
- New dashcamd: connects to camerad via VisionIPC, feeds raw NV12 frames directly to OMX H.264 encoder. Full 1928x1208 resolution, 4Mbps, 3-minute MP4 segments. Works regardless of UI state. - Added encode_frame_nv12() to OmxEncoder — skips RGBA->NV12 conversion - Suspends recording after 10 minutes of standstill - Disabled old screen recorder timer in onroad.cc - Suppress debug button alert (clpDebug event still fires for screen toggle) - launch_openpilot.sh self-cleans other instances before starting - Register DashcamDebug param in params.cc and manager.py - Add dashcamd to build system (SConscript) and process_config - Updated CLAUDE.md with all session changes - Added GOALS.md feature roadmap Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
122 lines
3.5 KiB
Python
122 lines
3.5 KiB
Python
#!/usr/bin/env python3
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"""
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CLEARPILOT dashcamd — records raw camera footage to MP4 using hardware H.264 encoder.
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Connects directly to camerad via VisionIPC, receives NV12 frames, and pipes them
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to ffmpeg's h264_v4l2m2m encoder. Produces 3-minute MP4 segments in /data/media/0/videos/.
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This replaces the FrogPilot screen recorder approach (QWidget::grab -> OMX) with a
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direct camera capture that works regardless of UI state (screen off, alternate modes, etc).
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"""
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import os
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import time
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import subprocess
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import signal
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from pathlib import Path
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from datetime import datetime
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from cereal.visionipc import VisionIpcClient, VisionStreamType
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from openpilot.common.params import Params
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from openpilot.common.swaglog import cloudlog
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from openpilot.selfdrive import sentry
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PROCESS_NAME = "selfdrive.clearpilot.dashcamd"
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VIDEOS_DIR = "/data/media/0/videos"
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SEGMENT_SECONDS = 180 # 3 minutes
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CAMERA_FPS = 20
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FRAMES_PER_SEGMENT = SEGMENT_SECONDS * CAMERA_FPS
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def make_filename():
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return datetime.now().strftime("%Y%m%d-%H%M%S") + ".mp4"
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def open_encoder(width, height, filepath):
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"""Start an ffmpeg subprocess that accepts raw NV12 on stdin and writes MP4."""
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cmd = [
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"ffmpeg", "-y", "-nostdin", "-loglevel", "error",
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"-f", "rawvideo",
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"-pix_fmt", "nv12",
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"-s", f"{width}x{height}",
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"-r", str(CAMERA_FPS),
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"-i", "pipe:0",
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"-c:v", "h264_v4l2m2m",
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"-b:v", "4M",
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"-f", "mp4",
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"-movflags", "+faststart",
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filepath,
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]
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return subprocess.Popen(cmd, stdin=subprocess.PIPE)
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def main():
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sentry.set_tag("daemon", PROCESS_NAME)
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cloudlog.bind(daemon=PROCESS_NAME)
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os.makedirs(VIDEOS_DIR, exist_ok=True)
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params = Params()
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# Connect to camerad road stream
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cloudlog.info("dashcamd: connecting to camerad road stream")
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vipc = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, False)
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while not vipc.connect(False):
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time.sleep(0.1)
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width, height = vipc.width, vipc.height
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# NV12 frame: Y plane (w*h) + UV plane (w*h/2)
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frame_size = width * height * 3 // 2
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cloudlog.info(f"dashcamd: connected, {width}x{height}, frame_size={frame_size}")
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frame_count = 0
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encoder = None
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lock_path = None
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try:
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while True:
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buf = vipc.recv()
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if buf is None:
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continue
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# Start new segment if needed
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if encoder is None or frame_count >= FRAMES_PER_SEGMENT:
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# Close previous segment
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if encoder is not None:
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encoder.stdin.close()
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encoder.wait()
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if lock_path and os.path.exists(lock_path):
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os.remove(lock_path)
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cloudlog.info(f"dashcamd: closed segment, {frame_count} frames")
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# Open new segment
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filename = make_filename()
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filepath = os.path.join(VIDEOS_DIR, filename)
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lock_path = filepath + ".lock"
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Path(lock_path).touch()
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cloudlog.info(f"dashcamd: opening segment {filename}")
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encoder = open_encoder(width, height, filepath)
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frame_count = 0
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# Write raw NV12 frame to ffmpeg stdin
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try:
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encoder.stdin.write(buf.data[:frame_size])
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frame_count += 1
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except BrokenPipeError:
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cloudlog.error("dashcamd: encoder pipe broken, restarting segment")
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encoder = None
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except (KeyboardInterrupt, SystemExit):
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pass
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finally:
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if encoder is not None:
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encoder.stdin.close()
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encoder.wait()
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if lock_path and os.path.exists(lock_path):
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os.remove(lock_path)
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cloudlog.info("dashcamd: stopped")
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if __name__ == "__main__":
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main()
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