add TSS2 replay route (#21953)

* add TSS2 replay route

* skip on sim

* do not set on import time

* update ref

Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: 86f68ff22e

selfdrive/controls/controlsd.py

@@ -332,7 +332,7 @@ class Controls:
     self.sm.update(0)
 
     all_valid = CS.canValid and self.sm.all_alive_and_valid()
-    if not self.initialized and (all_valid or self.sm.frame * DT_CTRL > 3.5):
+    if not self.initialized and (all_valid or self.sm.frame * DT_CTRL > 3.5 or SIMULATION):
       self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
       self.initialized = True
       Params().put_bool("ControlsReady", True)

selfdrive/test/process_replay/process_replay.py

@@ -363,6 +363,8 @@ def python_replay_process(cfg, lr, fingerprint=None):
   params.put_bool("CommunityFeaturesToggle", True)
 
   os.environ['NO_RADAR_SLEEP'] = "1"
+  os.environ["SIMULATION"] = "1"
+
 
   # TODO: remove after getting new route for civic & accord
   migration = {
@@ -441,7 +443,6 @@ def cpp_replay_process(cfg, lr, fingerprint=None):
   pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())]
   log_msgs = []
 
-  os.environ["SIMULATION"] = "1"  # Disable submaster alive checks
   managed_processes[cfg.proc_name].prepare()
   managed_processes[cfg.proc_name].start()
 

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-b845a62e02d23f734dad2811b6a96d17447a933f
+f283ecf7e7938410a81880120ccbabaabe2b3d67

selfdrive/test/process_replay/test_processes.py

@@ -32,6 +32,7 @@ segments = [
   ("HYUNDAI", "fakedata|2021-07-09--16-01-34--0"),
   ("TOYOTA", "1d6dfff4b6098f01|2021-07-26--07-56-21--2"),
   ("TOYOTA2", "fakedata|2021-07-09--16-03-56--0"),
+  ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"),     # TOYOTA.COROLLA_TSS2
   ("HONDA", "fakedata|2021-07-09--16-05-07--0"),
   ("HONDA2", "fakedata|2021-07-09--16-08-28--0"),
   ("CHRYSLER", "fakedata|2021-07-09--16-09-39--0"),