From db92006dc0b964871c65ca9be88ebdb3b67137ec Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 12 Nov 2021 18:22:39 -0800
Subject: [PATCH] CI: skip cruise mismatch check for can replays

---
 selfdrive/controls/controlsd.py | 12 +++++++-----
 selfdrive/test/test_onroad.py   |  1 +
 2 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 5a63940486..07b68c941a 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -33,6 +33,7 @@ LANE_DEPARTURE_THRESHOLD = 0.1
 STEER_ANGLE_SATURATION_TIMEOUT = 1.0 / DT_CTRL
 STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees
 
+REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
 NOSENSOR = "NOSENSOR" in os.environ
 IGNORE_PROCESSES = {"rtshield", "uploader", "deleter", "loggerd", "logmessaged", "tombstoned",
@@ -291,11 +292,12 @@ class Controls:
       if log.PandaState.FaultType.relayMalfunction in pandaState.faults:
         self.events.add(EventName.relayMalfunction)
 
-    # Check for mismatch between openpilot and car's PCM
-    cruise_mismatch = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise)
-    self.cruise_mismatch_counter = self.cruise_mismatch_counter + 1 if cruise_mismatch else 0
-    if self.cruise_mismatch_counter > int(1. / DT_CTRL):
-      self.events.add(EventName.cruiseMismatch)
+    if not REPLAY:
+      # Check for mismatch between openpilot and car's PCM
+      cruise_mismatch = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise)
+      self.cruise_mismatch_counter = self.cruise_mismatch_counter + 1 if cruise_mismatch else 0
+      if self.cruise_mismatch_counter > int(1. / DT_CTRL):
+        self.events.add(EventName.cruiseMismatch)
 
     # Check for FCW
     stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.5
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 9126e2310e..f051b18b07 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -138,6 +138,7 @@ class TestOnroad(unittest.TestCase):
       cls.lr = list(LogReader(os.path.join(segs[-1], "rlog.bz2")))
       return
 
+    os.environ['REPLAY'] = "1"
     os.environ['SKIP_FW_QUERY'] = "1"
     os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
     set_params_enabled()