openpilot_comma/tools/clip/run.py

#!/usr/bin/env python3

from argparse import ArgumentParser
from cereal.messaging import SubMaster
from openpilot.common.prefix import OpenpilotPrefix
from subprocess import DEVNULL
from random import randint
import atexit
import os
import signal
import subprocess
import time


RESOLUTION = "2160x1080"
PIXEL_DEPTH = "24"
FRAMERATE = 20
DEFAULT_OUTPUT = "output.mp4"
DEMO_START = 20
DEMO_END = 30
DEMO_ROUTE = "a2a0ccea32023010/2023-07-27--13-01-19"


def wait_for_video():
  sm = SubMaster(['uiDebug'])
  no_frames_drawn = True
  while no_frames_drawn:
    sm.update()
    no_frames_drawn = sm['uiDebug'].drawTimeMillis == 0.


def main(route: str, output_filepath: str, start_seconds: int, end_seconds: int):
  # TODO: evaluate creating fn that inspects /tmp/.X11-unix and creates unused display to avoid possibility of collision
  display_num = str(randint(99, 999))

  duration = end_seconds - start_seconds

  env = os.environ.copy()
  xauth = f'/tmp/clip-xauth--{display_num}'
  env['XAUTHORITY'] = xauth
  env["QT_QPA_PLATFORM"] = "xcb"

  ui_proc = subprocess.Popen(['xvfb-run', '-f', xauth, '-n', display_num, '-s', f'-screen 0 {RESOLUTION}x{PIXEL_DEPTH}', './selfdrive/ui/ui'], env=env)
  atexit.register(lambda: ui_proc.terminate())

  replay_proc = subprocess.Popen(
    ["./tools/replay/replay", "-c", "1", "-s", str(start_seconds), "--no-loop", "--prefix", str(env.get('OPENPILOT_PREFIX')), route],
    env=env, stdout=DEVNULL, stderr=DEVNULL)
  atexit.register(lambda: replay_proc.terminate())

  print('waiting for replay to begin (may take a while)...')
  wait_for_video()

  ffmpeg_cmd = [
    "ffmpeg",
    "-y",
    "-video_size", RESOLUTION,
    "-framerate", str(FRAMERATE),
    "-f",
    "x11grab",
    "-i", f":{display_num}",
    "-draw_mouse",
    "0",
    "-c:v",
    "libx264",
    "-preset",
    "ultrafast",
    "-pix_fmt",
    "yuv420p",
    output_filepath,
  ]
  ffmpeg_proc = subprocess.Popen(ffmpeg_cmd, env=env)
  atexit.register(lambda: ffmpeg_proc.terminate())

  print('recording in progress...')
  time.sleep(duration)

  ffmpeg_proc.send_signal(signal.SIGINT)
  ffmpeg_proc.wait(timeout=5)
  ui_proc.terminate()
  ui_proc.wait(timeout=5)

  print(f"recording complete: {output_filepath}")


def parse_args(parser: ArgumentParser):
  args = parser.parse_args()

  if not args.demo:
    assert args.route is not None, 'must provide route'
    assert args.route.count('/') == 1 or args.route.count('/') == 3, 'route must include or exclude timing, example: ' + DEMO_ROUTE

  if args.demo:
    args.route = DEMO_ROUTE
    args.start = DEMO_START
    args.end = DEMO_END
  elif args.route.count('/') == 3:
    parts = args.route.split('/')
    args.start = int(parts[2])
    args.end = int(parts[3])
    args.route = '/'.join(parts[:2])

  assert args.end > args.start, 'end must be greater than start'

  return args


if __name__ == "__main__":
  p = ArgumentParser(
    prog='clip.py',
    description='Clip your openpilot route.',
    epilog='comma.ai'
  )
  p.add_argument('-p', '--prefix', help='openpilot prefix', default=f'clip_{randint(100, 99999)}')
  p.add_argument('-o', '--output', help='Output clip to (.mp4)', default=DEFAULT_OUTPUT)
  p.add_argument('-s', '--start', help='Start clipping at <start> seconds', type=int)
  p.add_argument('-e', '--end', help='Stop clipping at <end> seconds', type=int)
  p.add_argument('-d', '--demo', help='Use the demo route', action='store_true')
  p.add_argument('-r', '--route', help=f'The route (e.g. {DEMO_ROUTE} or {DEMO_ROUTE}/{DEMO_START}/{DEMO_END})')

  args = parse_args(p)
  print(f'clipping route {args.route}, start={args.start} end={args.end}')

  try:
    with OpenpilotPrefix(args.prefix, shared_download_cache=True) as p:
      main(args.route, args.output, args.start, args.end)
  except KeyboardInterrupt:
    print("Interrupted by user")
  except Exception as e:
    print(f"Error: {e}")
  finally:
    atexit._run_exitfuncs()