controlsd: support for SIMULATION mode for process replay (#28895)

* Support for simulation flag while replay

* Update cereal

* Enable simulation for controlsd

* Update ref commit

* Update cereal

cereal

@@ -1 +1 @@
-Subproject commit c94c7c61cc576e950a1604e1a3c9a91b1f86964c
+Subproject commit a2f1f0cb8dd45ea4265255855da7de8fd89156ed

selfdrive/controls/controlsd.py

@@ -373,7 +373,7 @@ class Controls:
     else:
       self.logged_comm_issue = None
 
-    if not self.sm['liveParameters'].valid and not TESTING_CLOSET and not SIMULATION:
+    if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY):
       self.events.add(EventName.vehicleModelInvalid)
     if not self.sm['lateralPlan'].mpcSolutionValid:
       self.events.add(EventName.plannerError)
@@ -411,7 +411,7 @@ class Controls:
         pass
 
     # TODO: fix simulator
-    if not SIMULATION:
+    if not SIMULATION or REPLAY:
       if not NOSENSOR:
         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
@@ -436,7 +436,7 @@ 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)
-      if all_valid or timed_out or SIMULATION:
+      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:
           self.sm.ignore_alive.append('roadCameraState')

selfdrive/test/process_replay/process_replay.py

@@ -273,7 +273,6 @@ CONFIGS = [
     init_callback=controlsd_fingerprint_callback,
     should_recv_callback=controlsd_rcv_callback,
     tolerance=NUMPY_TOLERANCE,
-    simulation=False,
     main_pub="can",
   ),
   ProcessConfig(

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-a683d689bd74ba5ba7c10bfad237aacc04b978c3
+219a815856d8984cb4933d83db9a15bf7cd09f16