Record feedback with LKAS button (#35888)

* record feedback with LKAS button

* fix alert test

* slightly simplify feedbackd

* "Audio Feedback Saved" upon time expiration or early stop

* earlySend --> earlyStop

* userFlag --> userBookmark

* RecordAudioFeedback param/toggle

* add audioFeedback test

* simplify feedbackd

* send bookmark regardless of toggle, show feedback event with higher priority

* add userBookmark to selfdrived sm

* fix mispelled param name

* default off and move to main

* segmentNum --> blockNum, earlyStop --> lastBlock

* preserve audioFeedback

* get rid of lastBlock and just send bookmark saved at the end

* update raylib side

* update toggle description and add raylib toggle

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

selfdrive/test/process_replay/process_replay.py

@@ -418,10 +418,10 @@ CONFIGS = [
     proc_name="selfdrived",
     pubs=[
       "carState", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState",
-      "longitudinalPlan", "livePose", "liveDelay", "liveParameters", "radarState",
-      "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState",
-      "liveTorqueParameters", "accelerometer", "gyroscope", "carOutput",
-      "gpsLocationExternal", "gpsLocation", "controlsState", "carControl", "driverAssistance", "alertDebug",
+      "longitudinalPlan", "livePose", "liveDelay", "liveParameters", "radarState", "modelV2",
+      "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState", "liveTorqueParameters",
+      "accelerometer", "gyroscope", "carOutput", "gpsLocationExternal", "gpsLocation", "controlsState",
+      "carControl", "driverAssistance", "alertDebug", "audioFeedback",
     ],
     subs=["selfdriveState", "onroadEvents"],
     ignore=["logMonoTime"],

selfdrive/test/test_onroad.py

@@ -55,6 +55,7 @@ PROCS = {
   "selfdrive.locationd.paramsd": 9.0,
   "selfdrive.locationd.lagd": 11.0,
   "selfdrive.ui.soundd": 3.0,
+  "selfdrive.ui.feedback.feedbackd": 1.0,
   "selfdrive.monitoring.dmonitoringd": 4.0,
   "./proclogd": 2.0,
   "system.logmessaged": 1.0,