process_replay: ability to permanently unlock some sockets (#29070)

Add unlocked_pubs for keeping some sockets permanently unlocked

selfdrive/test/process_replay/process_replay.py

@@ -39,6 +39,7 @@ class ReplayContext:
     self.pubs = cfg.pubs
     self.main_pub = cfg.main_pub
     self.main_pub_drained = cfg.main_pub_drained
+    self.unlocked_pubs = cfg.unlocked_pubs
     assert(len(self.pubs) != 0 or self.main_pub is not None)
   
   def __enter__(self):
@@ -55,7 +56,8 @@ class ReplayContext:
 
     if self.main_pub is None:
       self.events = OrderedDict()
-      for pub in self.pubs:
+      pubs_with_events = [pub for pub in self.pubs if pub not in self.unlocked_pubs]
+      for pub in pubs_with_events:
         self.events[pub] = messaging.fake_event_handle(pub, enable=True)
     else:
       self.events = {self.main_pub: messaging.fake_event_handle(self.main_pub, enable=True)}
@@ -117,6 +119,7 @@ class ProcessConfig:
   main_pub_drained: bool = True
   vision_pubs: List[str] = field(default_factory=list)
   ignore_alive_pubs: List[str] = field(default_factory=list)
+  unlocked_pubs: List[str] = field(default_factory=list)
 
 
 class ProcessContainer: