init

clip.py

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