From 78bb03345e0038bc3b7251bf3f3ea7b5f9c00bec Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 1 Apr 2022 20:03:20 -0700
Subject: [PATCH] better support non-car robots (#24106)

* better support non-car robots

* bump cereal

* update refs
old-commit-hash: e40c36f22ba93200a5fc83211005b28fca3fa728
---
 cereal                                          | 2 +-
 selfdrive/car/body/interface.py                 | 1 +
 selfdrive/car/docs_definitions.py               | 5 +++--
 selfdrive/test/process_replay/ref_commit        | 2 +-
 selfdrive/test/process_replay/test_processes.py | 3 +--
 selfdrive/ui/qt/home.cc                         | 4 ++--
 6 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/cereal b/cereal
index c7c22aacfc..f05953e72a 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit c7c22aacfc126d562d1dba7ecb890c1ff3e6039b
+Subproject commit f05953e72ae8eddc87605136e8c1d9d778455c59
diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py
index 325cb366d9..54639b40c6 100644
--- a/selfdrive/car/body/interface.py
+++ b/selfdrive/car/body/interface.py
@@ -9,6 +9,7 @@ class CarInterface(CarInterfaceBase):
 
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
 
+    ret.notCar = True
     ret.carName = "body"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]
 
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 8de7b1d26b..f6e7353483 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -76,8 +76,9 @@ class CarInfo:
       Column.MAINTAINED: CP.carFingerprint not in non_tested_cars,
     }
 
-    if self.name == "comma body":
-      self.row[Column.LONGITUDINAL] = True
+    if CP.notCar:
+      for col in StarColumns:
+        self.row[col] = True
 
     self.all_footnotes = all_footnotes
     for column in StarColumns:
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index b75b3d2f21..37d852ba96 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-7ede67c2798fbe675c078e4d90192efc7e8a3901
\ No newline at end of file
+34c6b9b9a97a448138fa86ff6269d37f68aacb58
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 0387952e2d..a8352ef26b 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -70,8 +70,7 @@ def test_process(cfg, lr, cmp_log_fn, ignore_fields=None, ignore_msgs=None):
   if cfg.proc_name == "controlsd":
     for msg in log_msgs:
       if msg.which() == "carParams":
-        # body doesn't enable
-        if msg.carParams.carName == "body":
+        if msg.carParams.notCar:
           break
       if msg.which() == "controlsState":
         if msg.controlsState.active:
diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc
index 1a10eca445..d2d8c77f48 100644
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -50,8 +50,8 @@ void HomeWindow::showSidebar(bool show) {
 void HomeWindow::updateState(const UIState &s) {
   const SubMaster &sm = *(s.sm);
 
-  // switch to the body UI
-  if (onroad->isVisible() && sm["carParams"].getCarParams().getCarName() == "body") {
+  // switch to the generic robot UI
+  if (onroad->isVisible() && sm["carParams"].getCarParams().getNotCar()) {
     slayout->setCurrentWidget(body);
   }
 }