From 9feec11d5840068518e8d5ca403acf7ae317bd4a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 21 Jun 2026 13:06:20 -0700
Subject: [PATCH 01/11] ffmpeg: use shared libraries

---
 SConstruct                   | 3 ++-
 pyproject.toml               | 2 +-
 system/loggerd/SConscript    | 7 ++-----
 tools/cabana/SConscript      | 4 +---
 tools/jotpluggler/SConscript | 4 ++--
 tools/replay/SConscript      | 4 +---
 uv.lock                      | 4 ++--
 7 files changed, 11 insertions(+), 17 deletions(-)

diff --git a/SConstruct b/SConstruct
index 0427d462949f67..bad8b4df517930 100644
--- a/SConstruct
+++ b/SConstruct
@@ -43,6 +43,7 @@ assert arch in [
 pkg_names = ['acados', 'bzip2', 'capnproto', 'catch2', 'eigen', 'ffmpeg', 'json11', 'libjpeg', 'libyuv', 'ncurses', 'zeromq', 'zstd']
 pkgs = [importlib.import_module(name) for name in pkg_names]
 acados = pkgs[pkg_names.index('acados')]
+ffmpeg = pkgs[pkg_names.index('ffmpeg')]
 acados_include_dirs = [
   acados.INCLUDE_DIR,
   os.path.join(acados.INCLUDE_DIR, "blasfeo", "include"),
@@ -124,7 +125,7 @@ env = Environment(
     "#rednose/helpers",
     [x.LIB_DIR for x in pkgs],
   ],
-  RPATH=[],
+  RPATH=[ffmpeg.LIB_DIR],
   CYTHONCFILESUFFIX=".cpp",
   COMPILATIONDB_USE_ABSPATH=True,
   REDNOSE_ROOT="#",
diff --git a/pyproject.toml b/pyproject.toml
index 1e8ecb0232a602..bb1f8b5a9c6430 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -32,7 +32,7 @@ dependencies = [
   "catch2 @ git+https://github.com/commaai/dependencies.git@release-catch2#subdirectory=catch2",
   "acados @ git+https://github.com/commaai/dependencies.git@release-acados#subdirectory=acados",
   "eigen @ git+https://github.com/commaai/dependencies.git@release-eigen#subdirectory=eigen",
-  "ffmpeg @ git+https://github.com/commaai/dependencies.git@release-ffmpeg#subdirectory=ffmpeg",
+  "ffmpeg @ git+https://github.com/commaai/dependencies.git@shared-ffmpeg#subdirectory=ffmpeg",
   "libjpeg @ git+https://github.com/commaai/dependencies.git@release-libjpeg#subdirectory=libjpeg",
   "libyuv @ git+https://github.com/commaai/dependencies.git@release-libyuv#subdirectory=libyuv",
   "zstd @ git+https://github.com/commaai/dependencies.git@release-zstd#subdirectory=zstd",
diff --git a/system/loggerd/SConscript b/system/loggerd/SConscript
index a638704dcad992..1be0a7f22700f7 100644
--- a/system/loggerd/SConscript
+++ b/system/loggerd/SConscript
@@ -1,8 +1,8 @@
 Import('env', 'arch', 'messaging', 'common', 'visionipc')
 
 libs = [common, messaging, visionipc,
-        'avformat', 'avcodec', 'swresample', 'avutil', 'x264',
-        'pthread', 'z', 'm', 'zstd']
+        'avformat', 'avcodec', 'swresample', 'avutil',
+        'pthread', 'm', 'zstd']
 frameworks = []
 
 src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/jpeg_encoder.cc']
@@ -14,9 +14,6 @@ else:
   if arch == "Darwin":
     frameworks += ['VideoToolbox', 'CoreMedia', 'CoreFoundation', 'CoreVideo']
 
-if arch != "Darwin":
-  libs += ['va', 'va-drm', 'drm']
-
 logger_lib = env.Library('logger', src)
 libs.insert(0, logger_lib)
 
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index 04389a9ebf30ad..19881f181e28cb 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -75,9 +75,7 @@ cabana_env = qt_env.Clone()
 cabana_env['CPPPATH'] += [libusb.INCLUDE_DIR]
 cabana_env['LIBPATH'] += [libusb.LIB_DIR]
 
-cabana_libs = [cereal, messaging, visionipc, replay_lib, 'avformat', 'avcodec', 'swresample', 'avutil', 'x264', 'z', 'bz2', 'zstd', 'yuv', 'usb-1.0'] + base_libs
-if arch != "Darwin":
-  cabana_libs += ['va', 'va-drm', 'drm']
+cabana_libs = [cereal, messaging, visionipc, replay_lib, 'avformat', 'avcodec', 'swresample', 'avutil', 'bz2', 'zstd', 'yuv', 'usb-1.0'] + base_libs
 opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc/dbc").abspath)
 cabana_env['CXXFLAGS'] += [opendbc_path]
 
diff --git a/tools/jotpluggler/SConscript b/tools/jotpluggler/SConscript
index 078e173959aeb9..44aefbd6efc1b2 100644
--- a/tools/jotpluggler/SConscript
+++ b/tools/jotpluggler/SConscript
@@ -100,11 +100,11 @@ event_extractors = jot_env.Command("generated_event_extractors.h", [
 )
 
 libs = [replay_lib, common, messaging, visionipc, cereal, File(f"{imgui.LIB_DIR}/libimgui.a"), File(f"{imgui.LIB_DIR}/libglfw3.a"),
-        "avformat", "avcodec", "avutil", "x264", "yuv", "z", "bz2", "zstd", "m", "pthread", "usb-1.0"]
+        "avformat", "avcodec", "avutil", "yuv", "bz2", "zstd", "m", "pthread", "usb-1.0"]
 if arch == "Darwin":
   jot_env["FRAMEWORKS"] = ["OpenGL", "Cocoa", "IOKit", "CoreFoundation", "CoreVideo", "CoreMedia", "VideoToolbox"]
 else:
-  libs += ["GL", "dl", "va", "va-drm", "drm"]
+  libs += ["GL", "dl"]
 
 program = jot_env.Program("jotpluggler", jot_env.Glob("*.cc"), LIBS=libs)
 jot_env.Depends(program, generated_dbc_stamp)
diff --git a/tools/replay/SConscript b/tools/replay/SConscript
index d047415f58dedf..438a225dffdebd 100644
--- a/tools/replay/SConscript
+++ b/tools/replay/SConscript
@@ -12,9 +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, 'avformat', 'avcodec', 'swresample', 'avutil', 'x264', 'z', 'bz2', 'zstd', 'yuv', 'ncurses'] + base_libs
-if arch != "Darwin":
-  replay_libs += ['va', 'va-drm', 'drm']
+replay_libs = [replay_lib, 'avformat', 'avcodec', 'swresample', 'avutil', 'bz2', 'zstd', 'yuv', 'ncurses'] + base_libs
 replay_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks)
 
 if GetOption('extras'):
diff --git a/uv.lock b/uv.lock
index dc51d2a45ef8bc..aae62d5d06f784 100644
--- a/uv.lock
+++ b/uv.lock
@@ -395,7 +395,7 @@ wheels = [
 [[package]]
 name = "ffmpeg"
 version = "7.1.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=release-ffmpeg#f5153626027621f8ac0cdec056d254d3a1ef6acd" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=shared-ffmpeg#8800b8f87c4266754122a807412ad26966b87757" }
 
 [[package]]
 name = "fonttools"
@@ -845,7 +845,7 @@ requires-dist = [
     { name = "crcmod-plus" },
     { name = "cython" },
     { name = "eigen", git = "https://github.com/commaai/dependencies.git?subdirectory=eigen&rev=release-eigen" },
-    { name = "ffmpeg", git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=release-ffmpeg" },
+    { name = "ffmpeg", git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=shared-ffmpeg" },
     { name = "gcc-arm-none-eabi", git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=release-gcc-arm-none-eabi" },
     { name = "git-lfs", git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=release-git-lfs" },
     { name = "hypothesis", marker = "extra == 'testing'", specifier = "==6.47.*" },

From 0a37035b12d6ed49ec29fc505a9544c8658b70f6 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 21 Jun 2026 13:20:30 -0700
Subject: [PATCH 02/11] trigger CI

---
 uv.lock | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/uv.lock b/uv.lock
index aae62d5d06f784..1b735f6986946a 100644
--- a/uv.lock
+++ b/uv.lock
@@ -395,7 +395,7 @@ wheels = [
 [[package]]
 name = "ffmpeg"
 version = "7.1.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=shared-ffmpeg#8800b8f87c4266754122a807412ad26966b87757" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=shared-ffmpeg#88aac20ee03f5a0b77826058782f946f22a4042f" }
 
 [[package]]
 name = "fonttools"

From b6bc052cea4df9d89cc72e27ae1b9b8be4cfce14 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 21 Jun 2026 14:19:20 -0700
Subject: [PATCH 03/11] trigger CI

---
 uv.lock | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/uv.lock b/uv.lock
index 1b735f6986946a..a2f6b2e70fa2a7 100644
--- a/uv.lock
+++ b/uv.lock
@@ -395,7 +395,7 @@ wheels = [
 [[package]]
 name = "ffmpeg"
 version = "7.1.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=shared-ffmpeg#88aac20ee03f5a0b77826058782f946f22a4042f" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=shared-ffmpeg#a15fc4b86bd9736f5eaadf6ffc56bee15c1d3ef8" }
 
 [[package]]
 name = "fonttools"

From 0c36f83ab8d4dee1e64efc047414d2f7ba8511ad Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 21 Jun 2026 16:22:05 -0700
Subject: [PATCH 04/11] trigger CI


From 4f3c3e9092df6d856f5096799863779222908c75 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 23 Jun 2026 14:28:42 -0700
Subject: [PATCH 05/11] ffmpeg: relock shared dependency

---
 pyproject.toml | 2 +-
 uv.lock        | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index bb1f8b5a9c6430..2251dc424acc6c 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -32,7 +32,7 @@ dependencies = [
   "catch2 @ git+https://github.com/commaai/dependencies.git@release-catch2#subdirectory=catch2",
   "acados @ git+https://github.com/commaai/dependencies.git@release-acados#subdirectory=acados",
   "eigen @ git+https://github.com/commaai/dependencies.git@release-eigen#subdirectory=eigen",
-  "ffmpeg @ git+https://github.com/commaai/dependencies.git@shared-ffmpeg#subdirectory=ffmpeg",
+  "ffmpeg @ git+https://github.com/commaai/dependencies.git@ffmpeg-shared#subdirectory=ffmpeg",
   "libjpeg @ git+https://github.com/commaai/dependencies.git@release-libjpeg#subdirectory=libjpeg",
   "libyuv @ git+https://github.com/commaai/dependencies.git@release-libyuv#subdirectory=libyuv",
   "zstd @ git+https://github.com/commaai/dependencies.git@release-zstd#subdirectory=zstd",
diff --git a/uv.lock b/uv.lock
index a2f6b2e70fa2a7..69360cdb2fb248 100644
--- a/uv.lock
+++ b/uv.lock
@@ -395,7 +395,7 @@ wheels = [
 [[package]]
 name = "ffmpeg"
 version = "7.1.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=shared-ffmpeg#a15fc4b86bd9736f5eaadf6ffc56bee15c1d3ef8" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=ffmpeg-shared#8b4a004a7acbe6348c75fa7670d20ab77daa6875" }
 
 [[package]]
 name = "fonttools"
@@ -845,7 +845,7 @@ requires-dist = [
     { name = "crcmod-plus" },
     { name = "cython" },
     { name = "eigen", git = "https://github.com/commaai/dependencies.git?subdirectory=eigen&rev=release-eigen" },
-    { name = "ffmpeg", git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=shared-ffmpeg" },
+    { name = "ffmpeg", git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=ffmpeg-shared" },
     { name = "gcc-arm-none-eabi", git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=release-gcc-arm-none-eabi" },
     { name = "git-lfs", git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=release-git-lfs" },
     { name = "hypothesis", marker = "extra == 'testing'", specifier = "==6.47.*" },

From ff649fa7533d3a07771c3b78ab13e656c87246c9 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 23 Jun 2026 14:34:36 -0700
Subject: [PATCH 06/11] ci: refresh device venv on dependency changes

---
 Jenkinsfile | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/Jenkinsfile b/Jenkinsfile
index 92bc61521e14da..9c868096c49d75 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -95,6 +95,11 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
             device(device_ip, "set time", "date -s '" + date + "'")
             device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
           }
+          if (branch != "master" && !branch.contains("__jenkins_loop_") && hasPathChanged(gitDiff, ["pyproject.toml", "uv.lock"])) {
+            timeout(time: 600, unit: 'SECONDS') {
+              device(device_ip, "sync python deps", "UV_PROJECT_ENVIRONMENT=/usr/local/venv uv sync --frozen --all-extras")
+            }
+          }
           steps.each { item ->
             def name = item[0]
             def cmd = item[1]

From b5a3471c42901f41ba374a6af41f5263bf96efc5 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 23 Jun 2026 14:39:10 -0700
Subject: [PATCH 07/11] ci: refresh ffmpeg on device builds

---
 Jenkinsfile | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index 9c868096c49d75..a4b1c93ce96760 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -95,9 +95,9 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
             device(device_ip, "set time", "date -s '" + date + "'")
             device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
           }
-          if (branch != "master" && !branch.contains("__jenkins_loop_") && hasPathChanged(gitDiff, ["pyproject.toml", "uv.lock"])) {
-            timeout(time: 600, unit: 'SECONDS') {
-              device(device_ip, "sync python deps", "UV_PROJECT_ENVIRONMENT=/usr/local/venv uv sync --frozen --all-extras")
+          if (branch == "shared-ffmpeg") {
+            timeout(time: 1200, unit: 'SECONDS') {
+              device(device_ip, "sync ffmpeg dependency", "uv pip install --python /usr/local/venv/bin/python --reinstall --no-deps 'ffmpeg @ git+https://github.com/commaai/dependencies.git@ffmpeg-shared#subdirectory=ffmpeg'")
             }
           }
           steps.each { item ->

From 3a0d0c195bc3b086596e60f26679624608852a8c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 23 Jun 2026 14:41:09 -0700
Subject: [PATCH 08/11] ci: detect shared ffmpeg dependency

---
 Jenkinsfile | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index a4b1c93ce96760..66f5260bdfe018 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -86,6 +86,7 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
     def extra = extra_env.collect { "export ${it}" }.join('\n');
     def branch = env.BRANCH_NAME ?: 'master';
     def gitDiff = sh returnStdout: true, script: 'curl -s -H "Authorization: Bearer ${GITHUB_COMMENTS_TOKEN}" https://api.github.com/repos/commaai/openpilot/compare/master...${GIT_BRANCH} | jq .files[].filename || echo "/"', label: 'Getting changes'
+    def usesSharedFfmpeg = sh returnStatus: true, script: "grep -q 'dependencies.git@ffmpeg-shared#subdirectory=ffmpeg' pyproject.toml"
 
     lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
       docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
@@ -95,7 +96,7 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
             device(device_ip, "set time", "date -s '" + date + "'")
             device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
           }
-          if (branch == "shared-ffmpeg") {
+          if (usesSharedFfmpeg == 0) {
             timeout(time: 1200, unit: 'SECONDS') {
               device(device_ip, "sync ffmpeg dependency", "uv pip install --python /usr/local/venv/bin/python --reinstall --no-deps 'ffmpeg @ git+https://github.com/commaai/dependencies.git@ffmpeg-shared#subdirectory=ffmpeg'")
             }

From 99a643ab0e7fdc272584510d923a96f398c24f7b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 23 Jun 2026 14:44:25 -0700
Subject: [PATCH 09/11] ci: allow ffmpeg wheel build warnings

---
 Jenkinsfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index 66f5260bdfe018..4d35e15861ed05 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -98,7 +98,7 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
           }
           if (usesSharedFfmpeg == 0) {
             timeout(time: 1200, unit: 'SECONDS') {
-              device(device_ip, "sync ffmpeg dependency", "uv pip install --python /usr/local/venv/bin/python --reinstall --no-deps 'ffmpeg @ git+https://github.com/commaai/dependencies.git@ffmpeg-shared#subdirectory=ffmpeg'")
+              device(device_ip, "sync ffmpeg dependency", "PYTHONWARNINGS=default uv pip install --python /usr/local/venv/bin/python --reinstall --no-deps 'ffmpeg @ git+https://github.com/commaai/dependencies.git@ffmpeg-shared#subdirectory=ffmpeg'")
             }
           }
           steps.each { item ->

From b104c80336e25e1ced69c02d2fd028ca5b7d2119 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 23 Jun 2026 14:53:11 -0700
Subject: [PATCH 10/11] ffmpeg: relock build requirements

---
 uv.lock | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/uv.lock b/uv.lock
index 69360cdb2fb248..6cce668939fc8f 100644
--- a/uv.lock
+++ b/uv.lock
@@ -395,7 +395,7 @@ wheels = [
 [[package]]
 name = "ffmpeg"
 version = "7.1.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=ffmpeg-shared#8b4a004a7acbe6348c75fa7670d20ab77daa6875" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=ffmpeg-shared#1c0a0ba350db10e978eaf0eed25c409325bd40c5" }
 
 [[package]]
 name = "fonttools"

From 74356d84a7d1d17016b3c7a6689ff39ff779d8c1 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 23 Jun 2026 15:00:23 -0700
Subject: [PATCH 11/11] ffmpeg: relock ccache fallback

---
 uv.lock | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/uv.lock b/uv.lock
index 6cce668939fc8f..19110ba4399e16 100644
--- a/uv.lock
+++ b/uv.lock
@@ -395,7 +395,7 @@ wheels = [
 [[package]]
 name = "ffmpeg"
 version = "7.1.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=ffmpeg-shared#1c0a0ba350db10e978eaf0eed25c409325bd40c5" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=ffmpeg-shared#e203a394c138c5c06ae071664c39ded35dbbc943" }
 
 [[package]]
 name = "fonttools"