diff --git a/selfdrive/loggerd/tests/test_encoder.py b/selfdrive/loggerd/tests/test_encoder.py
index 40c85986e1..5a91556a04 100755
--- a/selfdrive/loggerd/tests/test_encoder.py
+++ b/selfdrive/loggerd/tests/test_encoder.py
@@ -6,37 +6,39 @@ import shutil
 import subprocess
 import time
 import unittest
-from parameterized import parameterized
 from pathlib import Path
+
+from parameterized import parameterized
 from tqdm import trange
 
 from common.params import Params
 from common.timeout import Timeout
 from selfdrive.hardware import EON, TICI
-from selfdrive.test.helpers import with_processes
 from selfdrive.loggerd.config import ROOT
-
+from selfdrive.test.helpers import with_processes
+from tools.lib.logreader import LogReader
 
 SEGMENT_LENGTH = 2
 if EON:
   FULL_SIZE = 1253786 # file size for a 2s segment in bytes
   CAMERAS = [
-    ("fcamera.hevc", 20, FULL_SIZE),
-    ("dcamera.hevc", 10, 770920),
-    ("qcamera.ts", 20, 77066),
+    ("fcamera.hevc", 20, FULL_SIZE, "roadEncodeIdx"),
+    ("dcamera.hevc", 10, 770920, "driverEncodeIdx"),
+    ("qcamera.ts", 20, 77066, None),
   ]
 else:
   FULL_SIZE = 2507572
   CAMERAS = [
-    ("fcamera.hevc", 20, FULL_SIZE),
-    ("dcamera.hevc", 20, FULL_SIZE),
-    ("ecamera.hevc", 20, FULL_SIZE),
-    ("qcamera.ts", 20, 77066),
+    ("fcamera.hevc", 20, FULL_SIZE, "roadEncodeIdx"),
+    ("dcamera.hevc", 20, FULL_SIZE, "driverEncodeIdx"),
+    ("ecamera.hevc", 20, FULL_SIZE, "wideRoadEncodeIdx"),
+    ("qcamera.ts", 20, 77066, None),
   ]
 
 # we check frame count, so we don't have to be too strict on size
 FILE_SIZE_TOLERANCE = 0.5
 
+
 class TestEncoder(unittest.TestCase):
 
   # TODO: all of loggerd should work on PC
@@ -81,7 +83,7 @@ class TestEncoder(unittest.TestCase):
     def check_seg(i):
       # check each camera file size
       counts = []
-      for camera, fps, size in CAMERAS:
+      for camera, fps, size, encode_idx_name in CAMERAS:
         if not record_front and "dcamera" in camera:
           continue
 
@@ -96,6 +98,9 @@ class TestEncoder(unittest.TestCase):
         # check frame count
         cmd = f"ffprobe -v error -count_frames -select_streams v:0 -show_entries stream=nb_read_frames \
                 -of default=nokey=1:noprint_wrappers=1 {file_path}"
+        if TICI:
+          cmd = "LD_LIBRARY_PATH=/usr/local/lib " + cmd
+
         expected_frames = fps * SEGMENT_LENGTH
         frame_tolerance = 1 if (EON and camera == 'dcamera.hevc') else 0
         probe = subprocess.check_output(cmd, shell=True, encoding='utf8')
@@ -111,6 +116,17 @@ class TestEncoder(unittest.TestCase):
           self.assertTrue(frame_count >= expected_frames,
                           f"{camera} failed frame count check: expected {expected_frames}, got {frame_count}")
 
+        # Check encodeIdx
+        if encode_idx_name is not None:
+          rlog_path = f"{route_prefix_path}--{i}/rlog.bz2"
+          idxs = [getattr(m, encode_idx_name).segmentId for m in LogReader(rlog_path) if m.which() == encode_idx_name]
+          self.assertEqual(frame_count, len(idxs))
+
+          # Check for duplicates or skips
+          self.assertEqual(0, idxs[0])
+          self.assertEqual(len(idxs)-1, idxs[-1])
+          self.assertEqual(len(set(idxs)), len(idxs))
+
       if TICI:
         expected_frames = fps * SEGMENT_LENGTH
         self.assertEqual(min(counts), expected_frames)
@@ -121,7 +137,10 @@ class TestEncoder(unittest.TestCase):
       with Timeout(int(SEGMENT_LENGTH*2), error_msg=f"timed out waiting for segment {i}"):
         while int(self._get_latest_segment_path().rsplit("--", 1)[1]) <= i:
           time.sleep(0.1)
+
+    for i in trange(num_segments):
       check_seg(i)
 
+
 if __name__ == "__main__":
   unittest.main()