Add openpilot tools

tools/replay/README.md

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+# Replay
+
+## Replay driving data
+
+`replay` replays all the messages logged while running openpilot.
+
+```bash
+# Log in via browser to have access to routes from your comma account
+python tools/lib/auth.py
+
+# Start a replay
+tools/replay/replay <route-name>
+
+# Example:
+tools/replay/replay 'a2a0ccea32023010|2023-07-27--13-01-19'
+# or use --demo to replay the default demo route:
+tools/replay/replay --demo
+
+# watch the replay with the normal openpilot UI
+cd selfdrive/ui && ./ui
+
+# or try out a debug visualizer:
+python replay/ui.py
+```
+
+## usage
+
+``` bash
+$ tools/replay/replay -h
+Usage: tools/replay/replay [options] route
+Mock openpilot components by publishing logged messages.
+
+Options:
+  -h, --help             Displays this help.
+  -a, --allow <allow>    whitelist of services to send
+  -b, --block <block>    blacklist of services to send
+  -s, --start <seconds>  start from <seconds>
+  --demo                 use a demo route instead of providing your own
+  --dcam                 load driver camera
+  --ecam                 load wide road camera
+
+Arguments:
+  route                  the drive to replay. find your drives at
+                         connect.comma.ai
+```
+
+## watch3
+
+watch all three cameras simultaneously from your comma three routes with watch3
+
+simply replay a route using the `--dcam` and `--ecam` flags:
+
+```bash
+# start a replay
+cd tools/replay && ./replay --demo --dcam --ecam
+
+# then start watch3
+cd selfdrive/ui && ./watch3
+```
+
+![](https://i.imgur.com/IeaOdAb.png)
+
+## Stream CAN messages to your device
+
+Replay CAN messages as they were recorded using a [panda jungle](https://comma.ai/shop/products/panda-jungle). The jungle has 6x OBD-C ports for connecting all your comma devices. Check out the [jungle repo](https://github.com/commaai/panda_jungle) for more info.
+
+In order to run your device as if it was in a car:
+* connect a panda jungle to your PC
+* connect a comma device or panda to the jungle via OBD-C
+* run `can_replay.py`
+
+``` bash
+batman:replay$ ./can_replay.py -h
+usage: can_replay.py [-h] [route_or_segment_name]
+
+Replay CAN messages from a route to all connected pandas and jungles
+in a loop.
+
+positional arguments:
+  route_or_segment_name
+                        The route or segment name to replay. If not
+                        specified, a default public route will be
+                        used. (default: None)
+
+optional arguments:
+  -h, --help            show this help message and exit
+```