do process replay

selfdrive/test/process_replay/process_replay.py

@@ -446,13 +446,23 @@ def python_replay_process(cfg, lr, fingerprint=None):
   all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
   pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())]
 
+  controlsState = None
+  initialized = False
+  for msg in lr:
+    if msg.which() == 'controlsState':
+      controlsState = msg.controlsState
+      if initialized:
+        break
+    elif msg.which() == 'carEvents':
+      initialized = car.CarEvent.EventName.controlsInitializing not in [e.name for e in msg.carEvents]
+
   if fingerprint is not None:
     os.environ['SKIP_FW_QUERY'] = "1"
     os.environ['FINGERPRINT'] = fingerprint
-    setup_env(cfg=cfg)
+    setup_env(cfg=cfg, controlsState=controlsState)
   else:
     CP = [m for m in lr if m.which() == 'carParams'][0].carParams
-    setup_env(CP=CP, cfg=cfg)
+    setup_env(CP=CP, cfg=cfg, controlsState=controlsState)
 
   assert(type(managed_processes[cfg.proc_name]) is PythonProcess)
   managed_processes[cfg.proc_name].prepare()

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-118d78e2040103c00b4bfcc875fcdcd6a15e2211
+69844d4499a27bd19542567e18f2c1a230ec7ff8

selfdrive/test/process_replay/test_processes.py

@@ -49,7 +49,7 @@ segments = [
   ("CHRYSLER", "regen38346FB33D0|2022-07-14--18-05-26--0"),
   ("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--3"),
   ("SUBARU", "regen54A1E2BE5AA|2022-07-14--18-07-50--0"),
-  ("GM", "regen01D09D915B5|2022-07-06--14-36-20--0"),
+  ("GM", "regen76027B408B7|2022-08-16--19-56-58--0"),
   ("NISSAN", "regenCA0B0DC946E|2022-07-14--18-10-17--0"),
   ("VOLKSWAGEN", "regen007098CA0EF|2022-07-06--15-01-26--0"),
   ("MAZDA", "regen61BA413D53B|2022-07-06--14-39-42--0"),