Merge branch 'master' into sync-priv-20240220

# Conflicts:
#	CHANGELOGS.md
#	panda
#	selfdrive/car/toyota/interface.py
#	selfdrive/controls/controlsd.py
#	selfdrive/manager/manager.py
#	selfdrive/modeld/fill_model_msg.py
#	selfdrive/modeld/modeld.py

selfdrive/debug/count_events.py

@@ -10,48 +10,52 @@ from cereal.services import SERVICE_LIST
 from openpilot.tools.lib.logreader import LogReader, ReadMode
 
 if __name__ == "__main__":
-  cnt_valid: Counter = Counter()
   cnt_events: Counter = Counter()
 
   cams = [s for s in SERVICE_LIST if s.endswith('CameraState')]
   cnt_cameras = dict.fromkeys(cams, 0)
 
+  events: List[Tuple[float, set[str]]] = []
   alerts: List[Tuple[float, str]] = []
   start_time = math.inf
   end_time = -math.inf
   ignition_off = None
   for msg in LogReader(sys.argv[1], ReadMode.QLOG):
+    t = (msg.logMonoTime - start_time) / 1e9
     end_time = max(end_time, msg.logMonoTime)
     start_time = min(start_time, msg.logMonoTime)
 
     if msg.which() == 'onroadEvents':
       for e in msg.onroadEvents:
         cnt_events[e.name] += 1
+
+      ae = {str(e.name) for e in msg.onroadEvents if e.name not in ('pedalPressed', 'steerOverride', 'gasPressedOverride')}
+      if len(events) == 0 or ae != events[-1][1]:
+        events.append((t, ae))
+
     elif msg.which() == 'controlsState':
       at = msg.controlsState.alertType
       if "/override" not in at or "lanechange" in at.lower():
         if len(alerts) == 0 or alerts[-1][1] != at:
-          t = (msg.logMonoTime - start_time) / 1e9
           alerts.append((t, at))
     elif msg.which() == 'pandaStates':
       if ignition_off is None:
         ign = any(ps.ignitionLine or ps.ignitionCan for ps in msg.pandaStates)
         if not ign:
           ignition_off = msg.logMonoTime
+          break
     elif msg.which() in cams:
       cnt_cameras[msg.which()] += 1
 
-    if not msg.valid:
-      cnt_valid[msg.which()] += 1
-
   duration = (end_time - start_time) / 1e9
 
   print("Events")
   pprint(cnt_events)
 
   print("\n")
-  print("Not valid")
-  pprint(cnt_valid)
+  print("Events")
+  for t, evt in events:
+    print(f"{t:8.2f} {evt}")
 
   print("\n")
   print("Cameras")
@@ -64,9 +68,9 @@ if __name__ == "__main__":
   print("Alerts")
   for t, a in alerts:
     print(f"{t:8.2f} {a}")
+
+  print("\n")
   if ignition_off is not None:
     ignition_off = round((ignition_off - start_time) / 1e9, 2)
   print("Ignition off at",  ignition_off)
-
-  print("\n")
   print("Route duration", datetime.timedelta(seconds=duration))

selfdrive/debug/filter_log_message.py

@@ -46,6 +46,7 @@ def print_androidlog(t, msg):
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser()
+  parser.add_argument('--absolute', action='store_true')
   parser.add_argument('--level', default='DEBUG')
   parser.add_argument('--addr', default='127.0.0.1')
   parser.add_argument("route", type=str, nargs='*', help="route name + segment number for offline usage")
@@ -54,15 +55,18 @@ if __name__ == "__main__":
   min_level = LEVELS[args.level]
 
   if args.route:
+    st = None if not args.absolute else 0
     for route in args.route:
-      lr = LogReader(route)
+      lr = LogReader(route, sort_by_time=True)
       for m in lr:
+        if st is None:
+          st = m.logMonoTime
         if m.which() == 'logMessage':
-          print_logmessage(m.logMonoTime, m.logMessage, min_level)
+          print_logmessage(m.logMonoTime-st, m.logMessage, min_level)
         elif m.which() == 'errorLogMessage':
-          print_logmessage(m.logMonoTime, m.errorLogMessage, min_level)
+          print_logmessage(m.logMonoTime-st, m.errorLogMessage, min_level)
         elif m.which() == 'androidLog':
-          print_androidlog(m.logMonoTime, m.androidLog)
+          print_androidlog(m.logMonoTime-st, m.androidLog)
   else:
     sm = messaging.SubMaster(['logMessage', 'androidLog'], addr=args.addr)
     while True:

selfdrive/debug/test_fw_query_on_routes.py

@@ -44,11 +44,15 @@ if __name__ == "__main__":
 
   dongles = []
   for route in tqdm(routes):
-    dongle_id = SegmentRange(route).dongle_id
+    sr = SegmentRange(route)
+    dongle_id = sr.dongle_id
 
     if dongle_id in dongles:
       continue
 
+    if sr.slice == '' and sr.selector is None:
+      route += '/0'
+
     lr = LogReader(route, default_mode=ReadMode.QLOG)
 
     try: