From 714348e17e145c1dc97cc08a11280f63cbe376f2 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 14 Mar 2025 20:40:28 -0700
Subject: [PATCH] liveTracks: bool error fields (#34869)

* bool fields

* liveTracks.valid is already set using errors

* fix

* clean up

* same but diff

* fix

* fix

* fix test

* clean up

* rm radarErrors

* whoops

* no struct

* Revert "no struct"

This reverts commit ed8ec02493673f850800344c73c969508fc38991.

* bump

* update
---
 cereal/log.capnp                         | 2 +-
 opendbc_repo                             | 2 +-
 selfdrive/car/card.py                    | 2 +-
 selfdrive/car/tests/test_models.py       | 2 +-
 selfdrive/controls/radard.py             | 1 -
 selfdrive/controls/tests/test_leads.py   | 2 +-
 selfdrive/test/process_replay/ref_commit | 2 +-
 7 files changed, 6 insertions(+), 7 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 78b511ca64..1cc37cf642 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -728,7 +728,6 @@ struct PeripheralState {
 struct RadarState @0x9a185389d6fdd05f {
   mdMonoTime @6 :UInt64;
   carStateMonoTime @11 :UInt64;
-  radarErrors @12 :List(Car.RadarData.Error);
 
   leadOne @3 :LeadData;
   leadTwo @4 :LeadData;
@@ -762,6 +761,7 @@ struct RadarState @0x9a185389d6fdd05f {
   calPercDEPRECATED @9 :Int8;
   canMonoTimesDEPRECATED @10 :List(UInt64);
   cumLagMsDEPRECATED @5 :Float32;
+  radarErrorsDEPRECATED @12 :List(Car.RadarData.ErrorDEPRECATED);
 }
 
 struct LiveCalibrationData {
diff --git a/opendbc_repo b/opendbc_repo
index de96aaf51b..5d74dd6e73 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit de96aaf51b60be02b4978b15fbf3b6dd0d829cfd
+Subproject commit 5d74dd6e7344900805c58eb2fb2b5a8d52e83050
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index f00cbe55e1..8a21df3340 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -227,7 +227,7 @@ class Car:
 
     if RD is not None:
       tracks_msg = messaging.new_message('liveTracks')
-      tracks_msg.valid = len(RD.errors) == 0
+      tracks_msg.valid = not any(RD.errors.to_dict().values())
       tracks_msg.liveTracks = RD
       self.pm.send('liveTracks', tracks_msg)
 
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 9a042ed372..9885358e71 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -219,7 +219,7 @@ class TestCarModelBase(unittest.TestCase):
     for i, msg in enumerate(self.can_msgs[self.elm_frame:]):
       rr: structs.RadarData | None = RI.update(msg)
       if rr is not None and i > 50:
-        error_cnt += structs.RadarData.Error.canError in rr.errors
+        error_cnt += rr.errors.canError
     self.assertEqual(error_cnt, 0)
 
   def test_panda_safety_rx_checks(self):
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 9f5bea53ff..f91c53431d 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -234,7 +234,6 @@ class RadarD:
     self.radar_state_valid = sm.all_checks()
     self.radar_state = log.RadarState.new_message()
     self.radar_state.mdMonoTime = sm.logMonoTime['modelV2']
-    self.radar_state.radarErrors = list(rr.errors)
     self.radar_state.carStateMonoTime = sm.logMonoTime['carState']
 
     if len(sm['modelV2'].velocity.x):
diff --git a/selfdrive/controls/tests/test_leads.py b/selfdrive/controls/tests/test_leads.py
index 89582d1e64..77384fea20 100644
--- a/selfdrive/controls/tests/test_leads.py
+++ b/selfdrive/controls/tests/test_leads.py
@@ -26,6 +26,6 @@ class TestLeads:
     msgs = [m for _ in range(3) for m in single_iter_pkg()]
     out = replay_process_with_name("card", msgs, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2)
     states = [m for m in out if m.which() == "liveTracks"]
-    failures = [not state.valid and len(state.liveTracks.errors) for state in states]
+    failures = [not state.valid for state in states]
 
     assert len(states) == 0 or all(failures)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 86bdc46fea..353b8fa7ce 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-98672ccf23dc08fcd08b53cae3ec305c04219fe8
\ No newline at end of file
+e9d57157494480637a8ffb52257d2b660a48be67
\ No newline at end of file