minimal ffmpeg build (#36138)

* min ffmpeg

* remove avfilter

* x264

* merge x264

* simpler

* pin x264

* mac

* rm that

* lil more

* move includes to lfs

* try this

* cleanup

* larch

---------

Co-authored-by: Comma Device <device@comma.ai>

.gitattributes

@@ -15,6 +15,7 @@ third_party/**/*.a filter=lfs diff=lfs merge=lfs -text
 third_party/**/*.so filter=lfs diff=lfs merge=lfs -text
 third_party/**/*.so.* filter=lfs diff=lfs merge=lfs -text
 third_party/**/*.dylib filter=lfs diff=lfs merge=lfs -text
+third_party/ffmpeg/include/**/*.h filter=lfs diff=lfs merge=lfs -text
 third_party/acados/*/t_renderer filter=lfs diff=lfs merge=lfs -text
 third_party/qt5/larch64/bin/lrelease filter=lfs diff=lfs merge=lfs -text
 third_party/qt5/larch64/bin/lupdate filter=lfs diff=lfs merge=lfs -text

SConstruct

@@ -91,6 +91,7 @@ if arch == "larch64":
   ]
 
   libpath = [
+    f"#third_party/ffmpeg/{arch}/lib",
     "/usr/local/lib",
     "/system/vendor/lib64",
     f"#third_party/acados/{arch}/lib",
@@ -114,6 +115,7 @@ else:
     libpath = [
       f"#third_party/libyuv/{arch}/lib",
       f"#third_party/acados/{arch}/lib",
+      f"#third_party/ffmpeg/{arch}/lib",
       f"{brew_prefix}/lib",
       f"{brew_prefix}/opt/openssl@3.0/lib",
       "/System/Library/Frameworks/OpenGL.framework/Libraries",
@@ -130,6 +132,7 @@ else:
     libpath = [
       f"#third_party/acados/{arch}/lib",
       f"#third_party/libyuv/{arch}/lib",
+      f"#third_party/ffmpeg/{arch}/lib",
       "/usr/lib",
       "/usr/local/lib",
     ]
@@ -177,6 +180,7 @@ env = Environment(
     "#third_party/libyuv/include",
     "#third_party/json11",
     "#third_party/linux/include",
+    "#third_party/ffmpeg/include",
     "#third_party",
     "#msgq",
   ],

system/loggerd/SConscript

@@ -1,8 +1,8 @@
 Import('env', 'arch', 'messaging', 'common', 'visionipc')
 
 libs = [common, messaging, visionipc,
-        'avformat', 'avcodec', 'avutil',
+        'yuv', 'OpenCL', 'pthread', 'zstd',
-        'yuv', 'OpenCL', 'pthread', 'zstd']
+        'avformat', 'avcodec', 'avutil', 'x264']
 
 src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc', 'encoder/jpeg_encoder.cc']
 if arch != "larch64":

system/loggerd/tests/test_loggerd.py

@@ -316,8 +316,18 @@ class TestLoggerd:
     self._publish_camera_and_audio_messages()
 
     qcamera_ts_path = os.path.join(self._get_latest_log_dir(), 'qcamera.ts')
-    ffprobe_cmd = f"ffprobe -i {qcamera_ts_path} -show_streams -select_streams a -loglevel error"
+
-    has_audio_stream = subprocess.run(ffprobe_cmd, shell=True, capture_output=True).stdout.strip() != b''
+    # simplest heuristic: look for AAC ADTS syncwords in the TS file
+    def ts_has_audio_stream(ts_path: str) -> bool:
+      try:
+        with open(ts_path, 'rb') as f:
+          data = f.read()
+        # ADTS headers typically start with 0xFFF1 or 0xFFF9
+        return (b"\xFF\xF1" in data) or (b"\xFF\xF9" in data)
+      except Exception:
+        return False
+
+    has_audio_stream = ts_has_audio_stream(qcamera_ts_path)
     assert has_audio_stream == record_audio
 
     raw_audio_in_rlog = any(m.which() == 'rawAudioData' for m in LogReader(os.path.join(self._get_latest_log_dir(), 'rlog.zst')))

third_party/.gitignore

@@ -1 +1,3 @@
 *.pyc
+src/
+build/

third_party/ffmpeg/Darwin/lib/libavcodec.a

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2328832

third_party/ffmpeg/Darwin/lib/libavformat.a

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+size 863544

third_party/ffmpeg/Darwin/lib/libavutil.a

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+size 789024

third_party/ffmpeg/Darwin/lib/libx264.a

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bedf59051187092bd9f282acb7f22f7885ed41b2f89692e0478252329bd7e4b
+size 1941808

third_party/ffmpeg/build.sh

@@ -0,0 +1,83 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+# Detect arch
+ARCHNAME="x86_64"
+if [ -f /TICI ]; then
+  ARCHNAME="larch64"
+fi
+if [[ "$OSTYPE" == "darwin"* ]]; then
+  ARCHNAME="Darwin"
+fi
+
+VERSION="6.1.1"  # LTS
+PREFIX="$DIR/$ARCHNAME"
+BUILD_DIR="$DIR/build/"
+
+mkdir -p "$BUILD_DIR"
+rm -rf include/ && mkdir -p include/
+rm -rf "$PREFIX" && mkdir -p "$PREFIX"
+
+# *** build x264 ***
+if [[ ! -d "$DIR/src/x264/" ]]; then
+  # TODO: pin to a commit
+  git clone --depth=1 --branch "stable" https://code.videolan.org/videolan/x264.git "$DIR/src/x264/"
+fi
+cd $DIR/src/x264
+git fetch origin b35605ace3ddf7c1a5d67a2eb553f034aef41d55
+git checkout -f FETCH_HEAD
+./configure --prefix="$PREFIX" --enable-static --disable-opencl --enable-pic --disable-cli
+make -j8
+make install
+cp -a "$PREFIX/include/." "$DIR/include/"
+
+# *** build ffmpeg ***
+mkdir -p "$DIR/src"
+if [[ ! -d "$DIR/src/ffmpeg-$VERSION" ]]; then
+  echo "Downloading FFmpeg $VERSION ..."
+  curl -L "https://ffmpeg.org/releases/ffmpeg-${VERSION}.tar.xz" -o "$DIR/src/ffmpeg-${VERSION}.tar.xz"
+  tar -C "$DIR/src" -xf "$DIR/src/ffmpeg-${VERSION}.tar.xz"
+fi
+
+cd $BUILD_DIR
+
+export PKG_CONFIG_PATH="$PREFIX/lib/pkgconfig:${PKG_CONFIG_PATH:-}"
+export EXTRA_CFLAGS="-I$PREFIX/include ${EXTRA_CFLAGS:-}"
+export EXTRA_LDFLAGS="-L$PREFIX/lib ${EXTRA_LDFLAGS:-}"
+# Configure minimal static FFmpeg for desktop Linux tools
+"$DIR/src/ffmpeg-$VERSION/configure" \
+  --prefix="$PREFIX" \
+  --datadir="$PREFIX" \
+  --docdir="$PREFIX" \
+  --mandir="$PREFIX" \
+  --enable-static --disable-shared \
+  --disable-programs --disable-doc --disable-debug \
+  --disable-network \
+  --disable-avdevice --disable-swscale --disable-swresample --disable-postproc --disable-avfilter \
+  --disable-autodetect --disable-iconv \
+  --enable-avcodec --enable-avformat --enable-avutil \
+  --enable-protocol=file \
+  --pkg-config-flags=--static \
+  --enable-gpl --enable-libx264 \
+  --disable-decoders --enable-decoder=h264,hevc,aac \
+  --disable-encoders --enable-encoder=libx264,ffvhuff,aac \
+  --disable-demuxers --enable-demuxer=mpegts,hevc,h264,matroska,mov \
+  --disable-muxers   --enable-muxer=matroska,mpegts \
+  --disable-parsers  --enable-parser=h264,hevc,aac,vorbis \
+  --disable-bsfs \
+  --enable-small \
+  --extra-cflags="${EXTRA_CFLAGS:-}" \
+  --extra-ldflags="${EXTRA_LDFLAGS:-}"
+
+
+make -j$(nproc)
+make install
+cp -a "$PREFIX/include/." "$DIR/include/"
+
+# *** cleanup ***
+cd $PREFIX
+rm -rf share/ doc/ man/ examples/ examples/ include/ lib/pkgconfig/
+rm -f lib/libavfilter* "$DIR/include/libavfilter*"

third_party/ffmpeg/include/libavcodec/ac3_parser.h

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third_party/ffmpeg/include/libavcodec/avfft.h

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