Brian Hanson
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>
75 lines
2.1 KiB
C++
Executable File
75 lines
2.1 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 hevc
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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, bool h265, bool downscale);
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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;
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size_t codec_config_len;
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uint8_t *codec_config = NULL;
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bool wrote_codec_config;
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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;
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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;
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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;
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AVCodecContext *codec_ctx;
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AVStream *out_stream;
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bool remuxing;
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bool downscale;
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uint8_t *y_ptr2, *u_ptr2, *v_ptr2;
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};
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