vendor capnproto and ffmpeg via dependencies repo (#37327)

SConstruct

@@ -38,6 +38,14 @@ assert arch in [
   "Darwin",   # macOS arm64 (x86 not supported)
 ]
 
+if arch != "larch64":
+  import capnproto
+  import ffmpeg as ffmpeg_pkg
+  pkgs = [capnproto, ffmpeg_pkg]
+else:
+  # TODO: remove when AGNOS has our new vendor pkgs
+  pkgs = []
+
 env = Environment(
   ENV={
     "PATH": os.environ['PATH'],
@@ -74,6 +82,7 @@ env = Environment(
     "#third_party/acados/include/hpipm/include",
     "#third_party/catch2/include",
     "#third_party/libyuv/include",
+    [x.INCLUDE_DIR for x in pkgs],
   ],
   LIBPATH=[
     "#common",
@@ -83,6 +92,7 @@ env = Environment(
     "#rednose/helpers",
     f"#third_party/libyuv/{arch}/lib",
     f"#third_party/acados/{arch}/lib",
+    [x.LIB_DIR for x in pkgs],
   ],
   RPATH=[],
   CYTHONCFILESUFFIX=".cpp",

pyproject.toml

@@ -25,6 +25,10 @@ dependencies = [
   "setuptools",
   "numpy >=2.0",
 
+  # vendored native dependencies
+  "capnproto @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=capnproto",
+  "ffmpeg @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=ffmpeg",
+
   # body / webrtcd
   "av",
   "aiohttp",

system/loggerd/SConscript

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

tools/cabana/SConscript

@@ -75,7 +75,7 @@ qt_libs = base_libs
 
 cabana_env = qt_env.Clone()
 
-cabana_libs = [cereal, messaging, visionipc, replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'usb-1.0'] + qt_libs
+cabana_libs = [cereal, messaging, visionipc, replay_lib, 'avformat', 'avcodec', 'swresample', 'avutil', 'x264', 'z', 'bz2', 'zstd', 'curl', 'yuv', 'usb-1.0'] + qt_libs
 opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc/dbc").abspath)
 cabana_env['CXXFLAGS'] += [opendbc_path]
 

tools/install_ubuntu_dependencies.sh

@@ -34,14 +34,7 @@ function install_ubuntu_common_requirements() {
     git-lfs \
     xvfb
 
-  # TODO: vendor the rest of these in third_party/
   $SUDO apt-get install -y --no-install-recommends \
-    capnproto \
-    libcapnp-dev \
-    ffmpeg \
-    libavformat-dev \
-    libavcodec-dev \
-    libavutil-dev \
     libbz2-dev \
     libeigen3-dev \
     libgles2-mesa-dev \

tools/mac_setup.sh

@@ -28,10 +28,8 @@ fi
 
 brew bundle --file=- <<-EOS
 brew "git-lfs"
-brew "capnp"
 brew "coreutils"
 brew "eigen"
-brew "ffmpeg"
 brew "libusb"
 brew "llvm"
 brew "zeromq"

tools/replay/SConscript

@@ -12,7 +12,7 @@ if arch != "Darwin":
   replay_lib_src.append("qcom_decoder.cc")
 replay_lib = replay_env.Library("replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks)
 Export('replay_lib')
-replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'ncurses'] + base_libs
+replay_libs = [replay_lib, 'avformat', 'avcodec', 'swresample', 'avutil', 'x264', 'z', 'bz2', 'zstd', 'curl', 'yuv', 'ncurses'] + base_libs
 replay_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks)
 
 if GetOption('extras'):

uv.lock

@@ -119,6 +119,11 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/7b/ff/48fa68888b8d5bae36d915556ff18f9e5fdc6b5ff5ae23dc4904c9713168/av-13.1.0-cp312-cp312-win_amd64.whl", hash = "sha256:5ea0deab0e6a739cb742fba2a3983d8102f7516a3cdf3c46669f3cac0ed1f351", size = 25781343, upload-time = "2024-10-06T04:53:29.577Z" },
 ]
 
+[[package]]
+name = "capnproto"
+version = "1.0.1"
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=releases#acf53363042d92d3206b8ce6b9da4bfb75b200c7" }
+
 [[package]]
 name = "casadi"
 version = "3.7.2"
@@ -374,6 +379,11 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/ab/84/02fc1827e8cdded4aa65baef11296a9bbe595c474f0d6d758af082d849fd/execnet-2.1.2-py3-none-any.whl", hash = "sha256:67fba928dd5a544b783f6056f449e5e3931a5c378b128bc18501f7ea79e296ec", size = 40708, upload-time = "2025-11-12T09:56:36.333Z" },
 ]
 
+[[package]]
+name = "ffmpeg"
+version = "7.1.0"
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=releases#acf53363042d92d3206b8ce6b9da4bfb75b200c7" }
+
 [[package]]
 name = "fonttools"
 version = "4.61.1"
@@ -419,7 +429,7 @@ wheels = [
 [[package]]
 name = "gcc-arm-none-eabi"
 version = "13.2.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=releases#e769f658aad6ab46e98490bf0800e69b99e22f7a" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=releases#acf53363042d92d3206b8ce6b9da4bfb75b200c7" }
 
 [[package]]
 name = "ghp-import"
@@ -749,10 +759,12 @@ dependencies = [
     { name = "aiohttp" },
     { name = "aiortc" },
     { name = "av" },
+    { name = "capnproto" },
     { name = "casadi" },
     { name = "cffi" },
     { name = "crcmod-plus" },
     { name = "cython" },
+    { name = "ffmpeg" },
     { name = "inputs" },
     { name = "jeepney" },
     { name = "json-rpc" },
@@ -815,6 +827,7 @@ requires-dist = [
     { name = "aiohttp" },
     { name = "aiortc" },
     { name = "av" },
+    { name = "capnproto", git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=releases" },
     { name = "casadi", specifier = ">=3.6.6" },
     { name = "cffi" },
     { name = "codespell", marker = "extra == 'testing'" },
@@ -822,6 +835,7 @@ requires-dist = [
     { name = "crcmod-plus" },
     { name = "cython" },
     { name = "dearpygui", marker = "(platform_machine != 'aarch64' and extra == 'tools') or (sys_platform != 'linux' and extra == 'tools')", specifier = ">=2.1.0" },
+    { name = "ffmpeg", git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=releases" },
     { name = "gcc-arm-none-eabi", marker = "extra == 'dev'", git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=releases" },
     { name = "hypothesis", marker = "extra == 'testing'", specifier = "==6.47.*" },
     { name = "inputs" },