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104 lines
2.9 KiB
104 lines
2.9 KiB
3 days ago
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from msgq.visionipc import VisionIpcClient, VisionStreamType
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import os
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import signal
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import subprocess
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from subprocess import DEVNULL
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import time
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import atexit
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XVFB_DISPLAY = ":99"
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RESOLUTION = "2160x1080"
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PIXEL_DEPTH = "24"
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FRAMERATE = 20
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FFMPEG_OUTPUT = "output.mp4" # TODO: input
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ROUTE = "a2a0ccea32023010/2023-07-27--13-01-19/0" # TODO: input
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def wait_for_video():
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vipc = VisionIpcClient('camerad', VisionStreamType.VISION_STREAM_ROAD, True)
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while True:
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if not vipc.is_connected():
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vipc.connect(True)
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new_data = vipc.recv()
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if new_data is not None and new_data.data.any():
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return
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time.sleep(0.01) # Prevent tight loop
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def ensure_xvfb():
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"""Start Xvfb and return the process."""
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xvfb_cmd = [
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"Xvfb", XVFB_DISPLAY,
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"-screen", "0", f"{RESOLUTION}x{PIXEL_DEPTH}"
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]
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xvfb_proc = subprocess.Popen(xvfb_cmd, stdout=DEVNULL, stderr=DEVNULL)
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time.sleep(1) # Give Xvfb time to start
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if xvfb_proc.poll() is not None:
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raise RuntimeError("Failed to start Xvfb")
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return xvfb_proc
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def main():
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# Set up environment
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env = os.environ.copy()
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env["DISPLAY"] = XVFB_DISPLAY # Set DISPLAY for all processes
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env["QT_QPA_PLATFORM"] = "xcb"
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# Start Xvfb
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xvfb_proc = ensure_xvfb()
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atexit.register(lambda: xvfb_proc.terminate()) # Ensure cleanup on exit
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# Start UI process
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ui_args = ["./selfdrive/ui/ui"]
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ui_proc = subprocess.Popen(ui_args, env=env, stdout=DEVNULL, stderr=DEVNULL)
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atexit.register(lambda: ui_proc.terminate())
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# Start replay process
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replay_proc = subprocess.Popen(
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["./tools/replay/replay", "--no-loop", ROUTE],
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env=env, stdout=DEVNULL, stderr=DEVNULL
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)
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atexit.register(lambda: replay_proc.terminate())
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# Wait for video data
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wait_for_video()
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# Start FFmpeg
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ffmpeg_cmd = [
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"ffmpeg",
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"-y", # Overwrite output
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"-video_size", RESOLUTION,
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"-framerate", str(FRAMERATE),
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"-f", "x11grab",
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"-draw_mouse", "0",
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"-i", XVFB_DISPLAY,
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"-c:v", "libx264",
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"-preset", "ultrafast",
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"-pix_fmt", "yuv420p",
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FFMPEG_OUTPUT,
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]
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ffmpeg_proc = subprocess.Popen(ffmpeg_cmd, env=env, stdout=DEVNULL, stderr=DEVNULL)
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atexit.register(lambda: ffmpeg_proc.terminate())
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# Wait for replay to finish
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replay_proc.wait()
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# Stop FFmpeg gracefully
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ffmpeg_proc.send_signal(signal.SIGINT)
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ffmpeg_proc.wait(timeout=5)
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# Clean up
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ui_proc.terminate()
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ui_proc.wait(timeout=5)
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xvfb_proc.terminate()
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xvfb_proc.wait(timeout=5)
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print(f"Recording complete: {FFMPEG_OUTPUT}")
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if __name__ == "__main__":
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try:
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main()
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except KeyboardInterrupt:
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print("Interrupted by user")
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except Exception as e:
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print(f"Error: {e}")
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finally:
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# Ensure all processes are terminated
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atexit._run_exitfuncs()
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