Fix Linux desktop replay and add C3/C4 recording support

scripts/launch_ui_c3_desktop.sh

@@ -208,15 +208,35 @@ prepare_pandad_host_artifacts() {
 }
 
 prepare_acados_host_artifacts() {
-  # c_generated_code is regenerated byte-for-byte each run, so SCons sees no change and skips
-  # relinking, leaving a larch64 solver lib from a device build in place. Drop the whole tree.
+  # Generated ACADOS solver sources can be identical between device and desktop
+  # builds. SCons may therefore keep an AArch64 solver library from a previous
+  # device build instead of relinking it for the host. Remove those stale
+  # solver trees so they are rebuilt for the current architecture.
   local rel=""
   for rel in "selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so" \
              "selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so"; do
     if archive_is_aarch64_elf "${ROOT_DIR}/${rel}"; then
       rm -rf "$(dirname "${ROOT_DIR}/${rel}")"
     fi
   done
+
+  # The bundled x86_64 BLASFEO library is marked with an executable GNU_STACK.
+  # Some Linux systems refuse to load it, causing both ACADOS MPC Python
+  # extensions to fail at import time. Clear the executable-stack requirement
+  # before loading the host ACADOS runtime.
+  if [[ "$(uname -s)" == "Linux" && "$(uname -m)" == "x86_64" ]]; then
+    local blasfeo="${ROOT_DIR}/third_party/acados/x86_64/lib/libblasfeo.so"
+
+    if [[ -f "${blasfeo}" ]] && readelf -W -l "${blasfeo}" 2>/dev/null | grep -qE 'GNU_STACK.*RWE'; then
+      if ! command -v patchelf >/dev/null 2>&1; then
+        echo "patchelf is required to clear BLASFEO's executable stack flag."
+        return 1
+      fi
+
+      echo "Clearing executable stack flag from x86_64 BLASFEO..."
+      patchelf --clear-execstack "${blasfeo}"
+    fi
+  fi
 }
 
 python_ui_runtime_ok() {
@@ -318,18 +338,12 @@ if ! python_ui_runtime_ok >/dev/null 2>&1; then
   run_scons "${jobs}" \
     selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so \
     selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so
-  (
-    cd "${ROOT_DIR}/msgq_repo"
-    local_scons_bin="${ROOT_DIR}/.venv/bin/scons"
-    if [[ -x "${local_scons_bin}" ]]; then
-      SP_DISABLE_AUTO_DEVICE_SCONS=1 "${local_scons_bin}" -j"${jobs}" msgq/ipc_pyx.so msgq/visionipc/visionipc_pyx.so
-    elif "${PY_BIN}" -m SCons --version >/dev/null 2>&1; then
-      SP_DISABLE_AUTO_DEVICE_SCONS=1 "${PY_BIN}" -m SCons -j"${jobs}" msgq/ipc_pyx.so msgq/visionipc/visionipc_pyx.so
-    else
-      echo "SCons not found in .venv after sync."
-      exit 1
-    fi
-  )
+
+  # Build msgq extensions through the root SConstruct so they link against
+  # StarPilot's common library instead of msgq_repo's standalone environment.
+  run_scons "${jobs}" \
+    msgq_repo/msgq/ipc_pyx.so \
+    msgq_repo/msgq/visionipc/visionipc_pyx.so
 fi
 
 if ! python_ui_runtime_ok >/dev/null 2>&1; then

scripts/launch_ui_c4_desktop.sh

@@ -205,6 +205,26 @@ prepare_pandad_host_artifacts() {
   rm -f "${ROOT_DIR}/selfdrive/pandad/libcan_list_to_can_capnp.a"
 }
 
+prepare_acados_host_artifacts() {
+  # The bundled x86_64 BLASFEO library is marked with an executable GNU_STACK.
+  # Some Linux systems refuse to load it, causing both ACADOS MPC Python
+  # extensions to fail at import time. Clear the executable-stack requirement
+  # before loading the host ACADOS runtime.
+  if [[ "$(uname -s)" == "Linux" && "$(uname -m)" == "x86_64" ]]; then
+    local blasfeo="${ROOT_DIR}/third_party/acados/x86_64/lib/libblasfeo.so"
+
+    if [[ -f "${blasfeo}" ]] && readelf -W -l "${blasfeo}" 2>/dev/null | grep -qE 'GNU_STACK.*RWE'; then
+      if ! command -v patchelf >/dev/null 2>&1; then
+        echo "patchelf is required to clear BLASFEO's executable stack flag."
+        return 1
+      fi
+
+      echo "Clearing executable stack flag from x86_64 BLASFEO..."
+      patchelf --clear-execstack "${blasfeo}"
+    fi
+  fi
+}
+
 python_ui_runtime_ok() {
   "${PY_BIN}" - <<'PY'
 import pyray  # noqa: F401
@@ -289,6 +309,7 @@ if ! python_ui_runtime_ok >/dev/null 2>&1; then
   prepare_common_host_artifacts
   prepare_msgq_host_artifacts
   prepare_pandad_host_artifacts
+  prepare_acados_host_artifacts
   remove_if_elf "common/params_pyx.so"
   remove_if_elf "common/transformations/transformations.so"
   remove_if_elf "msgq/ipc_pyx.so"
@@ -303,18 +324,12 @@ if ! python_ui_runtime_ok >/dev/null 2>&1; then
   run_scons "${jobs}" \
     selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so \
     selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so
-  (
-    cd "${ROOT_DIR}/msgq_repo"
-    local_scons_bin="${ROOT_DIR}/.venv/bin/scons"
-    if [[ -x "${local_scons_bin}" ]]; then
-      SP_DISABLE_AUTO_DEVICE_SCONS=1 "${local_scons_bin}" -j"${jobs}" msgq/ipc_pyx.so msgq/visionipc/visionipc_pyx.so
-    elif "${PY_BIN}" -m SCons --version >/dev/null 2>&1; then
-      SP_DISABLE_AUTO_DEVICE_SCONS=1 "${PY_BIN}" -m SCons -j"${jobs}" msgq/ipc_pyx.so msgq/visionipc/visionipc_pyx.so
-    else
-      echo "SCons not found in .venv after sync."
-      exit 1
-    fi
-  )
+
+  # Build msgq extensions through the root SConstruct so they link against
+  # StarPilot's common library instead of msgq_repo's standalone environment.
+  run_scons "${jobs}" \
+    msgq_repo/msgq/ipc_pyx.so \
+    msgq_repo/msgq/visionipc/visionipc_pyx.so
 fi
 
 if ! python_ui_runtime_ok >/dev/null 2>&1; then

selfdrive/ui/mici/onroad/augmented_road_view.py

@@ -1,3 +1,4 @@
+import os
 import time
 import numpy as np
 import pyray as rl
@@ -31,7 +32,7 @@
   load_favorite_slots,
   toggle_favorite_slot,
 )
-from openpilot.system.ui.lib.application import FontWeight, gui_app, MousePos, MouseEvent
+from openpilot.system.ui.lib.application import FontWeight, gui_app, MousePos, MouseEvent, RECORD_HUD_ONLY, RECORD_CAMERA_ONLY, RECORD_COMBINED
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.wrap_text import wrap_text
 from openpilot.system.ui.widgets.label import UnifiedLabel
@@ -55,6 +56,13 @@
 CAMERA_VIEW_WIDE = 3
 CAMERA_VIEW_NONE = 4
 
+# Optional camera selection for desktop-only recording modes.
+RECORD_CAMERA_VIEW = (
+  os.getenv("RECORD_CAMERA_VIEW", "").strip().lower()
+  if RECORD_HUD_ONLY or RECORD_CAMERA_ONLY or RECORD_COMBINED
+  else ""
+)
+
 
 class BookmarkState(IntEnum):
   HIDDEN = 0
@@ -730,6 +738,11 @@ def _render(self, _):
       super()._render(self._content_rect)
       gui_app.mark_progress("mici.onroad.after_camera")
 
+    # Desktop-only camera recording: stop after the transformed camera frame.
+    if RECORD_CAMERA_ONLY:
+      rl.end_scissor_mode()
+      return
+
     waiting_for_controls = ui_state.started and not self._controls_ready()
     if waiting_for_controls:
       rl.draw_rectangle(int(self._content_rect.x), int(self._content_rect.y),
@@ -885,6 +898,17 @@ def is_in_reverse(self) -> bool:
 
   @staticmethod
   def _camera_view() -> int:
+    # Desktop-only camera-view override for recording modes.
+    # Never changes CameraView or camera selection on comma hardware.
+    if RECORD_HUD_ONLY or RECORD_CAMERA_ONLY or RECORD_COMBINED:
+      desktop_views = {
+        "auto": CAMERA_VIEW_AUTO,
+        "standard": CAMERA_VIEW_STANDARD,
+        "wide": CAMERA_VIEW_WIDE,
+      }
+      if RECORD_CAMERA_VIEW in desktop_views:
+        return desktop_views[RECORD_CAMERA_VIEW]
+
     camera_view = ui_state.ui_params.get_int("CameraView", return_default=True, default=CAMERA_VIEW_STANDARD)
     if camera_view not in (CAMERA_VIEW_AUTO, CAMERA_VIEW_DRIVER, CAMERA_VIEW_STANDARD, CAMERA_VIEW_WIDE, CAMERA_VIEW_NONE):
       return CAMERA_VIEW_STANDARD

selfdrive/ui/onroad/augmented_road_view.py

@@ -1,3 +1,4 @@
+import os
 import time
 import numpy as np
 import pyray as rl
@@ -13,7 +14,7 @@
 from openpilot.selfdrive.ui.onroad.model_renderer import ModelRenderer
 from openpilot.selfdrive.ui.onroad.cameraview import CameraView
 from openpilot.selfdrive.ui.lib.starpilot_status import get_screen_edge_color
-from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.application import gui_app, RECORD_HUD_ONLY, RECORD_CAMERA_ONLY, RECORD_COMBINED
 from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCameraConfig, view_frame_from_device_frame
 from openpilot.common.transformations.orientation import rot_from_euler
 
@@ -31,6 +32,13 @@
 CAMERA_VIEW_WIDE = 3
 CAMERA_VIEW_NONE = 4
 
+# Optional camera selection for desktop-only recording modes.
+RECORD_CAMERA_VIEW = (
+  os.getenv("RECORD_CAMERA_VIEW", "").strip().lower()
+  if RECORD_HUD_ONLY or RECORD_CAMERA_ONLY or RECORD_COMBINED
+  else ""
+)
+
 BORDER_COLORS = {
   UIStatus.DISENGAGED: rl.Color(0x12, 0x28, 0x39, 0xFF),  # Blue for disengaged state
   UIStatus.OVERRIDE: rl.Color(0x89, 0x92, 0x8D, 0xFF),  # Gray for override state
@@ -196,6 +204,17 @@ def _update_reverse_driver_camera_state(self) -> bool:
 
   @staticmethod
   def _camera_view() -> int:
+    # Desktop-only camera-view override for recording modes.
+    # Never changes CameraView or camera selection on comma hardware.
+    if RECORD_HUD_ONLY or RECORD_CAMERA_ONLY or RECORD_COMBINED:
+      desktop_views = {
+        "auto": CAMERA_VIEW_AUTO,
+        "standard": CAMERA_VIEW_STANDARD,
+        "wide": CAMERA_VIEW_WIDE,
+      }
+      if RECORD_CAMERA_VIEW in desktop_views:
+        return desktop_views[RECORD_CAMERA_VIEW]
+
     params = ui_state.ui_params
     camera_view = params.get_int("CameraView", return_default=True, default=CAMERA_VIEW_STANDARD)
     if camera_view not in (CAMERA_VIEW_AUTO, CAMERA_VIEW_DRIVER, CAMERA_VIEW_STANDARD, CAMERA_VIEW_WIDE, CAMERA_VIEW_NONE):

selfdrive/ui/onroad/cameraview.py

@@ -7,7 +7,7 @@
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware import HARDWARE, PC, TICI
-from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.application import gui_app, RECORD_HUD_ONLY
 from openpilot.system.ui.lib.egl import (
   init_egl, is_egl_initialized, finish_gl, create_egl_image, destroy_egl_image,
   bind_egl_image_to_texture, create_external_texture, destroy_external_texture, EGLImage,
@@ -403,6 +403,11 @@ def _render(self, rect: rl.Rectangle):
 
     dst_rect = rl.Rectangle(x_offset, y_offset, scale_x, scale_y)
 
+    # Desktop-only transparent HUD recording: keep camera frame processing and
+    # geometry updates for correctly aligned model overlays, but skip camera pixels.
+    if RECORD_HUD_ONLY:
+      return
+
     if self._use_egl:
       try:
         rendered = self._render_egl(src_rect, dst_rect)

selfdrive/ui/ui_state.py

@@ -11,7 +11,7 @@
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.ui.lib.prime_state import PrimeState
 from openpilot.selfdrive.ui.lib.ui_param_cache import shared_ui_params
-from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.application import gui_app, RECORD_METRIC
 from openpilot.starpilot.common.lateral_only_experimental import lateral_only_experimental_available
 from openpilot.system.hardware import HARDWARE, PC
 
@@ -85,7 +85,7 @@ def _initialize(self):
     self._started_prev: bool = False
 
     # Core state variables
-    self.is_metric: bool = self.params.get_bool("IsMetric")
+    self.is_metric: bool = RECORD_METRIC or self.params.get_bool("IsMetric")
     self.is_release = self.params.get_bool("IsReleaseBranch")
     self.always_on_dm: bool = self.params.get_bool("AlwaysOnDM")
     self.usbgpu: bool = False
@@ -210,7 +210,7 @@ def _update_state(self, progress_hook: Callable[[str], None] | None = None) -> N
     # Update recording audio state
     self.recording_audio = params.get_bool("RecordAudio") and self.started
 
-    self.is_metric = params.get_bool("IsMetric")
+    self.is_metric = RECORD_METRIC or params.get_bool("IsMetric")
     self.always_on_dm = params.get_bool("AlwaysOnDM")
     self.usbgpu_compiled = params.get_bool("UsbGpuCompiled")
     self.usbgpu_active = params.get_bool("UsbGpuActive")