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>

tools/cabana/videowidget.cc

@@ -19,7 +19,7 @@ const int THUMBNAIL_MARGIN = 3;
 static const QColor timeline_colors[] = {
   [(int)TimelineType::None] = QColor(111, 143, 175),
   [(int)TimelineType::Engaged] = QColor(0, 163, 108),
-  [(int)TimelineType::UserFlag] = Qt::magenta,
+  [(int)TimelineType::UserBookmark] = Qt::magenta,
   [(int)TimelineType::AlertInfo] = Qt::green,
   [(int)TimelineType::AlertWarning] = QColor(255, 195, 0),
   [(int)TimelineType::AlertCritical] = QColor(199, 0, 57),
@@ -64,7 +64,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
     Pause/Resume: <span style="background-color:lightGray;color:gray">&nbsp;space&nbsp;</span>
   )").arg(timeline_colors[(int)TimelineType::None].name(),
           timeline_colors[(int)TimelineType::Engaged].name(),
-          timeline_colors[(int)TimelineType::UserFlag].name(),
+          timeline_colors[(int)TimelineType::UserBookmark].name(),
           timeline_colors[(int)TimelineType::AlertInfo].name(),
           timeline_colors[(int)TimelineType::AlertWarning].name(),
           timeline_colors[(int)TimelineType::AlertCritical].name()));

tools/replay/README.md

@@ -75,7 +75,7 @@ Options:
   --qcam                 load qcamera
   --no-hw-decoder        disable HW video decoding
   --no-vipc              do not output video
-  --all                  do output all messages including uiDebug, userFlag.
+  --all                  do output all messages including uiDebug, userBookmark.
                          this may causes issues when used along with UI
 
 Arguments:

tools/replay/consoleui.cc

@@ -257,7 +257,7 @@ void ConsoleUI::updateTimeline() {
     if (entry.type == TimelineType::Engaged) {
       mvwchgat(win, 1, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL);
       mvwchgat(win, 2, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL);
-    } else if (entry.type == TimelineType::UserFlag) {
+    } else if (entry.type == TimelineType::UserBookmark) {
       mvwchgat(win, 3, start_pos, end_pos - start_pos + 1, ACS_S3, Color::Cyan, NULL);
     } else {
       auto color_id = Color::Green;
@@ -329,7 +329,7 @@ void ConsoleUI::handleKey(char c) {
   } else if (c == 'd') {
     replay->seekToFlag(FindFlag::nextDisEngagement);
   } else if (c == 't') {
-    replay->seekToFlag(FindFlag::nextUserFlag);
+    replay->seekToFlag(FindFlag::nextUserBookmark);
   } else if (c == 'i') {
     replay->seekToFlag(FindFlag::nextInfo);
   } else if (c == 'w') {

tools/replay/main.cc

@@ -30,7 +30,7 @@ Options:
       --qcam         Load qcamera
       --no-hw-decoder Disable HW video decoding
       --no-vipc      Do not output video
-      --all          Output all messages including uiDebug, userFlag
+      --all          Output all messages including uiDebug, userBookmark
   -h, --help         Show this help message
 )";
 

tools/replay/replay.cc

@@ -20,7 +20,7 @@ Replay::Replay(const std::string &route, std::vector<std::string> allow, std::ve
   std::signal(SIGUSR1, interrupt_sleep_handler);
 
   if (!(flags_ & REPLAY_FLAG_ALL_SERVICES)) {
-    block.insert(block.end(), {"uiDebug", "userFlag"});
+    block.insert(block.end(), {"uiDebug", "userBookmark"});
   }
   setupServices(allow, block);
   setupSegmentManager(!allow.empty() || !block.empty());

tools/replay/timeline.cc

@@ -26,7 +26,7 @@ std::optional<uint64_t> Timeline::find(double cur_ts, FindFlag flag) const {
         return entry.end_time;
       }
     } else if (entry.start_time > cur_ts) {
-      if ((flag == FindFlag::nextUserFlag && entry.type == TimelineType::UserFlag) ||
+      if ((flag == FindFlag::nextUserBookmark && entry.type == TimelineType::UserBookmark) ||
           (flag == FindFlag::nextInfo && entry.type == TimelineType::AlertInfo) ||
           (flag == FindFlag::nextWarning && entry.type == TimelineType::AlertWarning) ||
           (flag == FindFlag::nextCritical && entry.type == TimelineType::AlertCritical)) {
@@ -66,8 +66,8 @@ void Timeline::buildTimeline(const Route &route, uint64_t route_start_ts, bool l
         auto cs = reader.getRoot<cereal::Event>().getSelfdriveState();
         updateEngagementStatus(cs, current_engaged_idx, seconds);
         updateAlertStatus(cs, current_alert_idx, seconds);
-      } else if (e.which == cereal::Event::Which::USER_FLAG) {
-        staging_entries_.emplace_back(Entry{seconds, seconds, TimelineType::UserFlag});
+      } else if (e.which == cereal::Event::Which::USER_BOOKMARK) {
+        staging_entries_.emplace_back(Entry{seconds, seconds, TimelineType::UserBookmark});
       }
     }
 

tools/replay/timeline.h

@@ -7,8 +7,8 @@
 
 #include "tools/replay/route.h"
 
-enum class TimelineType { None, Engaged, AlertInfo, AlertWarning, AlertCritical, UserFlag };
-enum class FindFlag { nextEngagement, nextDisEngagement, nextUserFlag, nextInfo, nextWarning, nextCritical };
+enum class TimelineType { None, Engaged, AlertInfo, AlertWarning, AlertCritical, UserBookmark };
+enum class FindFlag { nextEngagement, nextDisEngagement, nextUserBookmark, nextInfo, nextWarning, nextCritical };
 
 class Timeline {
 public: