openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

tools/lib/README.md

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+## LogReader
+
+Route is a class for conveniently accessing all the [logs](/system/loggerd/) from your routes. The LogReader class reads the non-video logs, i.e. rlog.bz2 and qlog.bz2. There's also a matching FrameReader class for reading the videos.
+
+```python
+from openpilot.tools.lib.route import Route
+from openpilot.tools.lib.logreader import LogReader
+
+r = Route("a2a0ccea32023010|2023-07-27--13-01-19")
+
+# get a list of paths for the route's rlog files
+print(r.log_paths())
+
+# and road camera (fcamera.hevc) files
+print(r.camera_paths())
+
+# setup a LogReader to read the route's first rlog
+lr = LogReader(r.log_paths()[0])
+
+# print out all the messages in the log
+import codecs
+codecs.register_error("strict", codecs.backslashreplace_errors)
+for msg in lr:
+  print(msg)
+
+# setup a LogReader for the route's second qlog
+lr = LogReader(r.log_paths()[1])
+
+# print all the steering angles values from the log
+for msg in lr:
+  if msg.which() == "carState":
+    print(msg.carState.steeringAngleDeg)
+```
+
+### MultiLogIterator
+
+`MultiLogIterator` is similar to `LogReader`, but reads multiple logs. 
+
+```python
+from openpilot.tools.lib.route import Route
+from openpilot.tools.lib.logreader import MultiLogIterator
+
+# setup a MultiLogIterator to read all the logs in the route
+r = Route("a2a0ccea32023010|2023-07-27--13-01-19")
+lr = MultiLogIterator(r.log_paths())
+
+# print all the steering angles values from all the logs in the route
+for msg in lr:
+  if msg.which() == "carState":
+    print(msg.carState.steeringAngleDeg)
+```