Merge remote-tracking branch 'upstream/master' into honda-accord-obd-less

RELEASES.md

@@ -11,7 +11,7 @@ Version 0.9.6 (2024-02-22)
 * Improved fuzzy fingerprinting for many makes and models
 * Alpha longitudinal support for new Toyota models
 * Chevrolet Equinox 2019-22 support thanks to JasonJShuler and nworb-cire!
-* Dodge Duranago 2020-21 support
+* Dodge Durango 2020-21 support
 * Hyundai Staria 2023 support thanks to sunnyhaibin!
 * Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
 * Lexus LC 2024 support thanks to nelsonjchen!

cereal

@@ -1 +1 @@
-Subproject commit bd31b25aacc5b39f36cedcb0dabd05db471da59f
+Subproject commit 7de3c7111e78d87f9c43e2861a3e18aa59fde956

common/params.cc

@@ -125,6 +125,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"ForcePowerDown", PERSISTENT},
     {"GitBranch", PERSISTENT},
     {"GitCommit", PERSISTENT},
+    {"GitCommitDate", PERSISTENT},
     {"GitDiff", PERSISTENT},
     {"GithubSshKeys", PERSISTENT},
     {"GithubUsername", PERSISTENT},

conftest.py

@@ -1,3 +1,4 @@
+import contextlib
 import gc
 import os
 import pytest
@@ -25,42 +26,42 @@ def pytest_runtest_call(item):
     yield
 
 
-@pytest.fixture(scope="function", autouse=True)
-def openpilot_function_fixture(request):
+@contextlib.contextmanager
+def clean_env():
   starting_env = dict(os.environ)
+  yield
+  os.environ.clear()
+  os.environ.update(starting_env)
 
-  random.seed(0)
 
-  # setup a clean environment for each test
-  with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix:
-    prefix = os.environ["OPENPILOT_PREFIX"]
+@pytest.fixture(scope="function", autouse=True)
+def openpilot_function_fixture(request):
+  random.seed(0)
 
-    yield
+  with clean_env():
+    # setup a clean environment for each test
+    with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix:
+      prefix = os.environ["OPENPILOT_PREFIX"]
 
-    # ensure the test doesn't change the prefix
-    assert "OPENPILOT_PREFIX" in os.environ and prefix == os.environ["OPENPILOT_PREFIX"]
+      yield
 
-  os.environ.clear()
-  os.environ.update(starting_env)
+      # ensure the test doesn't change the prefix
+      assert "OPENPILOT_PREFIX" in os.environ and prefix == os.environ["OPENPILOT_PREFIX"]
 
-  # cleanup any started processes
-  manager.manager_cleanup()
+    # cleanup any started processes
+    manager.manager_cleanup()
 
-  # some processes disable gc for performance, re-enable here
-  if not gc.isenabled():
-    gc.enable()
-    gc.collect()
+    # some processes disable gc for performance, re-enable here
+    if not gc.isenabled():
+      gc.enable()
+      gc.collect()
 
 # If you use setUpClass, the environment variables won't be cleared properly,
 # so we need to hook both the function and class pytest fixtures
 @pytest.fixture(scope="class", autouse=True)
 def openpilot_class_fixture():
-  starting_env = dict(os.environ)
-
-  yield
-
-  os.environ.clear()
-  os.environ.update(starting_env)
+  with clean_env():
+    yield
 
 
 @pytest.fixture(scope="function")

selfdrive/car/honda/fingerprints.py

@@ -299,6 +299,7 @@ FW_VERSIONS = {
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-TBA-A030\x00\x00',
       b'77959-TBA-A040\x00\x00',
+      b'77959-TBG-A020\x00\x00',
       b'77959-TBG-A030\x00\x00',
       b'77959-TEA-Q820\x00\x00',
     ],

selfdrive/car/hyundai/fingerprints.py

@@ -1549,6 +1549,7 @@ FW_VERSIONS = {
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI000 210813',
       b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.01 99211-GI010 211007',
       b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.02 99211-GI010 211206',
+      b'\xf1\x00NE1 MFC  AT KOR LHD 1.00 1.00 99211-GI020 230719',
       b'\xf1\x00NE1 MFC  AT KOR LHD 1.00 1.05 99211-GI010 220614',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.00 99211-GI020 230719',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.01 99211-GI010 211007',
@@ -1556,7 +1557,6 @@ FW_VERSIONS = {
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.03 99211-GI010 220401',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.05 99211-GI010 220614',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.06 99211-GI010 230110',
-      b'\xf1\x00NE1 MFC  AT KOR LHD 1.00 1.00 99211-GI020 230719',
     ],
   },
   CAR.IONIQ_6: {

selfdrive/car/tests/test_fw_fingerprint.py

@@ -37,7 +37,7 @@ class TestFwFingerprint(unittest.TestCase):
   def test_exact_match(self, brand, car_model, ecus, test_non_essential):
     config = FW_QUERY_CONFIGS[brand]
     CP = car.CarParams.new_message()
-    for _ in range(200):
+    for _ in range(100):
       fw = []
       for ecu, fw_versions in ecus.items():
         # Assume non-essential ECUs apply to all cars, so we catch cases where Car A with

selfdrive/controls/controlsd.py

@@ -411,9 +411,12 @@ class Controls:
 
     # TODO: fix simulator
     if not SIMULATION or REPLAY:
+      # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
       if not self.sm['liveLocationKalman'].gpsOK and self.sm['liveLocationKalman'].inputsOK and (self.distance_traveled > 1000):
-        # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
         self.events.add(EventName.noGps)
+      if self.sm['liveLocationKalman'].gpsOK:
+        self.distance_traveled = 0
+      self.distance_traveled += CS.vEgo * DT_CTRL
 
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)
@@ -431,7 +434,7 @@ class Controls:
 
     if not self.initialized:
       all_valid = CS.canValid and self.sm.all_checks()
-      timed_out = self.sm.frame * DT_CTRL > (6. if REPLAY else 3.5)
+      timed_out = self.sm.frame * DT_CTRL > (6. if REPLAY else 4.0)
       if all_valid or timed_out or (SIMULATION and not REPLAY):
         available_streams = VisionIpcClient.available_streams("camerad", block=False)
         if VisionStreamType.VISION_STREAM_ROAD not in available_streams:
@@ -476,8 +479,6 @@ class Controls:
            if ps.safetyModel not in IGNORED_SAFETY_MODES):
       self.mismatch_counter += 1
 
-    self.distance_traveled += CS.vEgo * DT_CTRL
-
     return CS
 
   def state_transition(self, CS):

selfdrive/debug/count_events.py

@@ -16,28 +16,35 @@ if __name__ == "__main__":
   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
 
@@ -64,9 +71,14 @@ if __name__ == "__main__":
   print("Alerts")
   for t, a in alerts:
     print(f"{t:8.2f} {a}")
+
+  print("\n")
+  print("Events")
+  for t, evt in events:
+    print(f"{t:8.2f} {evt}")
+
+  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/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:

selfdrive/manager/manager.py

@@ -19,7 +19,7 @@ from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGL
 from openpilot.common.swaglog import cloudlog, add_file_handler
 from openpilot.system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \
                            get_normalized_origin, terms_version, training_version, \
-                           is_tested_branch, is_release_branch
+                           is_tested_branch, is_release_branch, get_commit_date
 
 
 
@@ -66,6 +66,7 @@ def manager_init() -> None:
   params.put("TermsVersion", terms_version)
   params.put("TrainingVersion", training_version)
   params.put("GitCommit", get_commit())
+  params.put("GitCommitDate", get_commit_date())
   params.put("GitBranch", get_short_branch())
   params.put("GitRemote", get_origin())
   params.put_bool("IsTestedBranch", is_tested_branch())

selfdrive/modeld/modeld.py

@@ -152,12 +152,8 @@ def main(demo=False):
   pm = PubMaster(["modelV2", "cameraOdometry"])
   sm = SubMaster(["carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction", "carControl"])
 
-
   publish_state = PublishState()
   params = Params()
-  with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg:
-    steer_delay = msg.steerActuatorDelay + .2
-  #steer_delay = 0.4
 
   # setup filter to track dropped frames
   frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ)
@@ -177,13 +173,15 @@ def main(demo=False):
 
   if demo:
     CP = get_demo_car_params()
-  with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg:
-    CP = msg
-  cloudlog.info("plannerd got CarParams: %s", CP.carName)
+  else:
+    with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg:
+      CP = msg
+  cloudlog.info("modeld got CarParams: %s", CP.carName)
+
   # TODO this needs more thought, use .2s extra for now to estimate other delays
   steer_delay = CP.steerActuatorDelay + .2
-  DH = DesireHelper()
 
+  DH = DesireHelper()
 
   while True:
     # Keep receiving frames until we are at least 1 frame ahead of previous extra frame

selfdrive/modeld/transforms/transform.cl

@@ -22,20 +22,20 @@ __kernel void warpPerspective(__global const uchar * src,
         W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f;
         int X = rint(X0 * W), Y = rint(Y0 * W);
 
-        short sx = convert_short_sat(X >> INTER_BITS);
-        short sy = convert_short_sat(Y >> INTER_BITS);
+        int sx = convert_short_sat(X >> INTER_BITS);
+        int sy = convert_short_sat(Y >> INTER_BITS);
+
+        short sx_clamp = clamp(sx, 0, src_cols - 1);
+        short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1);
+        short sy_clamp = clamp(sy, 0, src_rows - 1);
+        short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1);
+        int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
+        int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
+        int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
+        int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
+
         short ay = (short)(Y & (INTER_TAB_SIZE - 1));
         short ax = (short)(X & (INTER_TAB_SIZE - 1));
-
-        int v0 = (sx >= 0 && sx < src_cols && sy >= 0 && sy < src_rows) ?
-            convert_int(src[mad24(sy, src_row_stride, src_offset + sx*src_px_stride)]) : 0;
-        int v1 = (sx+1 >= 0 && sx+1 < src_cols && sy >= 0 && sy < src_rows) ?
-            convert_int(src[mad24(sy, src_row_stride, src_offset + (sx+1)*src_px_stride)]) : 0;
-        int v2 = (sx >= 0 && sx < src_cols && sy+1 >= 0 && sy+1 < src_rows) ?
-            convert_int(src[mad24(sy+1, src_row_stride, src_offset + sx*src_px_stride)]) : 0;
-        int v3 = (sx+1 >= 0 && sx+1 < src_cols && sy+1 >= 0 && sy+1 < src_rows) ?
-            convert_int(src[mad24(sy+1, src_row_stride, src_offset + (sx+1)*src_px_stride)]) : 0;
-
         float taby = 1.f/INTER_TAB_SIZE*ay;
         float tabx = 1.f/INTER_TAB_SIZE*ax;
 

selfdrive/test/process_replay/model_replay_ref_commit

@@ -1 +1 @@
-fee90bcee1e545c7ec9a39d3c7d4e42cfefb9955
+73fe68ba29ad4bbfc9627622f29ac41ead75bc53

system/loggerd/logger.cc

@@ -44,6 +44,7 @@ kj::Array<capnp::word> logger_build_init_data() {
   std::map<std::string, std::string> params_map = params.readAll();
 
   init.setGitCommit(params_map["GitCommit"]);
+  init.setGitCommitDate(params_map["GitCommitDate"]);
   init.setGitBranch(params_map["GitBranch"]);
   init.setGitRemote(params_map["GitRemote"]);
   init.setPassive(false);

system/loggerd/tests/test_loggerd.py

@@ -107,6 +107,7 @@ class TestLoggerd:
       # param, initData field, value
       ("DongleId", "dongleId", dongle),
       ("GitCommit", "gitCommit", "commit"),
+      ("GitCommitDate", "gitCommitDate", "date"),
       ("GitBranch", "gitBranch", "branch"),
       ("GitRemote", "gitRemote", "remote"),
     ]

system/qcomgpsd/tests/test_qcomgpsd.py

@@ -68,13 +68,14 @@ class TestRawgpsd(unittest.TestCase):
 
   def test_turns_off_gnss(self):
     for s in (0.1, 1, 5):
-      managed_processes['qcomgpsd'].start()
-      time.sleep(s)
-      managed_processes['qcomgpsd'].stop()
+      with self.subTest(runtime=s):
+        managed_processes['qcomgpsd'].start()
+        time.sleep(s)
+        managed_processes['qcomgpsd'].stop()
 
-      ls = subprocess.check_output("mmcli -m any --location-status --output-json", shell=True, encoding='utf-8')
-      loc_status = json.loads(ls)
-      assert set(loc_status['modem']['location']['enabled']) <= {'3gpp-lac-ci'}
+        ls = subprocess.check_output("mmcli -m any --location-status --output-json", shell=True, encoding='utf-8')
+        loc_status = json.loads(ls)
+        assert set(loc_status['modem']['location']['enabled']) <= {'3gpp-lac-ci'}
 
 
   def check_assistance(self, should_be_loaded):

system/version.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import os
 import subprocess
-from typing import List, Optional, Callable, TypeVar
+from typing import List, Callable, TypeVar
 from functools import lru_cache
 
 from openpilot.common.basedir import BASEDIR
@@ -22,7 +22,7 @@ def run_cmd(cmd: List[str]) -> str:
   return subprocess.check_output(cmd, encoding='utf8').strip()
 
 
-def run_cmd_default(cmd: List[str], default: Optional[str] = None) -> Optional[str]:
+def run_cmd_default(cmd: List[str], default: str = "") -> str:
   try:
     return run_cmd(cmd)
   except subprocess.CalledProcessError:
@@ -31,17 +31,22 @@ def run_cmd_default(cmd: List[str], default: Optional[str] = None) -> Optional[s
 
 @cache
 def get_commit(branch: str = "HEAD") -> str:
-  return run_cmd_default(["git", "rev-parse", branch]) or ""
+  return run_cmd_default(["git", "rev-parse", branch])
+
+
+@cache
+def get_commit_date(commit: str = "HEAD") -> str:
+  return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit])
 
 
 @cache
 def get_short_branch() -> str:
-  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"]) or ""
+  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"])
 
 
 @cache
 def get_branch() -> str:
-  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"]) or ""
+  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"])
 
 
 @cache
@@ -51,7 +56,7 @@ def get_origin() -> str:
     tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"])
     return run_cmd(["git", "config", "remote." + tracking_remote + ".url"])
   except subprocess.CalledProcessError:  # Not on a branch, fallback
-    return run_cmd_default(["git", "config", "--get", "remote.origin.url"]) or ""
+    return run_cmd_default(["git", "config", "--get", "remote.origin.url"])
 
 
 @cache
@@ -132,3 +137,4 @@ if __name__ == "__main__":
   print(f"Branch: {get_branch()}")
   print(f"Short branch: {get_short_branch()}")
   print(f"Prebuilt: {is_prebuilt()}")
+  print(f"Commit date: {get_commit_date()}")

tools/lib/logreader.py

@@ -73,7 +73,7 @@ class ReadMode(enum.StrEnum):
   QLOG = "q"  # only read qlogs
   SANITIZED = "s"  # read from the commaCarSegments database
   AUTO = "a"  # default to rlogs, fallback to qlogs
-  AUTO_INTERACIVE = "i"  # default to rlogs, fallback to qlogs with a prompt from the user
+  AUTO_INTERACTIVE = "i"  # default to rlogs, fallback to qlogs with a prompt from the user
 
 
 LogPath = Optional[str]
@@ -81,6 +81,8 @@ LogPaths = List[LogPath]
 ValidFileCallable = Callable[[LogPath], bool]
 Source = Callable[[SegmentRange, ReadMode], LogPaths]
 
+InternalUnavailableException = Exception("Internal source not available")
+
 def default_valid_file(fn: LogPath) -> bool:
   return fn is not None and file_exists(fn)
 
@@ -106,7 +108,7 @@ def apply_strategy(mode: ReadMode, rlog_paths: LogPaths, qlog_paths: LogPaths, v
     return qlog_paths
   elif mode == ReadMode.AUTO:
     return auto_strategy(rlog_paths, qlog_paths, False, valid_file)
-  elif mode == ReadMode.AUTO_INTERACIVE:
+  elif mode == ReadMode.AUTO_INTERACTIVE:
     return auto_strategy(rlog_paths, qlog_paths, True, valid_file)
   raise Exception(f"invalid mode: {mode}")
 
@@ -126,7 +128,7 @@ def comma_api_source(sr: SegmentRange, mode: ReadMode) -> LogPaths:
 
 def internal_source(sr: SegmentRange, mode: ReadMode) -> LogPaths:
   if not internal_source_available():
-    raise Exception("Internal source not available")
+    raise InternalUnavailableException
 
   def get_internal_url(sr: SegmentRange, seg, file):
     return f"cd:/{sr.dongle_id}/{sr.timestamp}/{seg}/{file}.bz2"
@@ -160,7 +162,7 @@ def get_invalid_files(files):
 
 def check_source(source: Source, *args) -> LogPaths:
   files = source(*args)
-  assert next(get_invalid_files(files), None) is None
+  assert next(get_invalid_files(files), False) is False
   return files
 
 

tools/lib/route.py

@@ -264,7 +264,7 @@ class SegmentRange:
     return self.m.group("timestamp")
 
   @property
-  def _slice(self) -> str:
+  def slice(self) -> str:
     return self.m.group("slice") or ""
 
   @property
@@ -273,12 +273,12 @@ class SegmentRange:
 
   @property
   def seg_idxs(self) -> list[int]:
-    m = re.fullmatch(RE.SLICE, self._slice)
-    assert m is not None, f"Invalid slice: {self._slice}"
+    m = re.fullmatch(RE.SLICE, self.slice)
+    assert m is not None, f"Invalid slice: {self.slice}"
     start, end, step = (None if s is None else int(s) for s in m.groups())
 
     # one segment specified
-    if start is not None and end is None and ':' not in self._slice:
+    if start is not None and end is None and ':' not in self.slice:
       if start < 0:
         start += get_max_seg_number_cached(self) + 1
       return [start]
@@ -291,7 +291,7 @@ class SegmentRange:
       return list(range(end + 1))[s]
 
   def __str__(self) -> str:
-    return f"{self.dongle_id}/{self.timestamp}" + (f"/{self._slice}" if self._slice else "") + (f"/{self.selector}" if self.selector else "")
+    return f"{self.dongle_id}/{self.timestamp}" + (f"/{self.slice}" if self.slice else "") + (f"/{self.selector}" if self.selector else "")
 
   def __repr__(self) -> str:
     return self.__str__()

tools/lib/tests/test_comma_car_segments.py

@@ -25,7 +25,7 @@ class TestCommaCarSegments(unittest.TestCase):
 
     sr = SegmentRange(segment)
 
-    url = get_url(sr.route_name, sr._slice)
+    url = get_url(sr.route_name, sr.slice)
 
     resp = requests.get(url)
     self.assertEqual(resp.status_code, 200)

tools/lib/tests/test_logreader.py

@@ -1,4 +1,6 @@
 #!/usr/bin/env python3
+import contextlib
+import io
 import shutil
 import tempfile
 import os
@@ -9,7 +11,7 @@ import requests
 from parameterized import parameterized
 from unittest import mock
 
-from openpilot.tools.lib.logreader import LogIterable, LogReader, comma_api_source, parse_indirect, ReadMode
+from openpilot.tools.lib.logreader import LogIterable, LogReader, comma_api_source, parse_indirect, ReadMode, InternalUnavailableException
 from openpilot.tools.lib.route import SegmentRange
 from openpilot.tools.lib.url_file import URLFileException
 
@@ -23,6 +25,24 @@ def noop(segment: LogIterable):
   return segment
 
 
+@contextlib.contextmanager
+def setup_source_scenario(is_internal=False):
+  with (
+    mock.patch("openpilot.tools.lib.logreader.internal_source") as internal_source_mock,
+    mock.patch("openpilot.tools.lib.logreader.openpilotci_source") as openpilotci_source_mock,
+    mock.patch("openpilot.tools.lib.logreader.comma_api_source") as comma_api_source_mock,
+  ):
+    if is_internal:
+      internal_source_mock.return_value = [QLOG_FILE]
+    else:
+      internal_source_mock.side_effect = InternalUnavailableException
+
+    openpilotci_source_mock.return_value = [None]
+    comma_api_source_mock.return_value = [QLOG_FILE]
+
+    yield
+
+
 class TestLogReader(unittest.TestCase):
   @parameterized.expand([
     (f"{TEST_ROUTE}", ALL_SEGS),
@@ -168,10 +188,33 @@ class TestLogReader(unittest.TestCase):
     with mock.patch("openpilot.tools.lib.route.Route.log_paths") as log_paths_mock:
       log_paths_mock.return_value = [None] * NUM_SEGS
       # Should fall back to qlogs since rlogs are not available
-      lr = LogReader(f"{TEST_ROUTE}/0/a", default_source=comma_api_source)
-      log_len = len(list(lr))
 
-    self.assertEqual(qlog_len, log_len)
+      with self.subTest("interactive_yes"):
+        with mock.patch("sys.stdin", new=io.StringIO("y\n")):
+          lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, default_source=comma_api_source)
+          log_len = len(list(lr))
+        self.assertEqual(qlog_len, log_len)
+
+      with self.subTest("interactive_no"):
+        with mock.patch("sys.stdin", new=io.StringIO("n\n")):
+          with self.assertRaises(AssertionError):
+            lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, default_source=comma_api_source)
+
+      with self.subTest("non_interactive"):
+        lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO, default_source=comma_api_source)
+        log_len = len(list(lr))
+        self.assertEqual(qlog_len, log_len)
+
+  @parameterized.expand([(True,), (False,)])
+  @pytest.mark.slow
+  def test_auto_source_scenarios(self, is_internal):
+    lr = LogReader(QLOG_FILE)
+    qlog_len = len(list(lr))
+
+    with setup_source_scenario(is_internal=is_internal):
+      lr = LogReader(f"{TEST_ROUTE}/0/q")
+      log_len = len(list(lr))
+      self.assertEqual(qlog_len, log_len)
 
 
 if __name__ == "__main__":

tools/plotjuggler/juggle.py

@@ -73,7 +73,7 @@ def process(can, lr):
   return [d for d in lr if can or d.which() not in ['can', 'sendcan']]
 
 def juggle_route(route_or_segment_name, can, layout, dbc=None):
-  sr = LogReader(route_or_segment_name, default_mode=ReadMode.AUTO_INTERACIVE)
+  sr = LogReader(route_or_segment_name, default_mode=ReadMode.AUTO_INTERACTIVE)
 
   all_data = sr.run_across_segments(24, partial(process, can))