From ec9060c7babb78abda9e9820f10975c8bbb95f14 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Sat, 10 Dec 2022 02:03:40 -0800
Subject: [PATCH] CarController: log steer sent to the car (#26743)

* log value sent to the car

* rename

* bump

* Update ref_commit
old-commit-hash: f36a3664b056a3500b68f4b5d7955b13bc8d0e4c
---
 cereal                                    | 2 +-
 selfdrive/car/body/carcontroller.py       | 1 +
 selfdrive/car/chrysler/carcontroller.py   | 1 +
 selfdrive/car/gm/carcontroller.py         | 1 +
 selfdrive/car/honda/carcontroller.py      | 1 +
 selfdrive/car/hyundai/carcontroller.py    | 1 +
 selfdrive/car/mazda/carcontroller.py      | 1 +
 selfdrive/car/subaru/carcontroller.py     | 1 +
 selfdrive/car/toyota/carcontroller.py     | 1 +
 selfdrive/car/volkswagen/carcontroller.py | 1 +
 selfdrive/test/process_replay/ref_commit  | 2 +-
 11 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/cereal b/cereal
index eaf962bceb..439429cad4 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit eaf962bcebee713d26008db30d95c6a713e9fc59
+Subproject commit 439429cad4d1e2ab874520cb5d4db8b8d978cbde
diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py
index 0d5d780bd3..00673a7e28 100644
--- a/selfdrive/car/body/carcontroller.py
+++ b/selfdrive/car/body/carcontroller.py
@@ -85,6 +85,7 @@ class CarController:
     new_actuators = CC.actuators.copy()
     new_actuators.accel = torque_l
     new_actuators.steer = torque_r
+    new_actuators.steerOutputCan = torque_r
 
     self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index 879da88123..31cd01b654 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -78,5 +78,6 @@ class CarController:
 
     new_actuators = CC.actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
+    new_actuators.steerOutputCan = self.apply_steer_last
 
     return new_actuators, can_sends
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index a6cd2f19b9..d380abf8e3 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -158,6 +158,7 @@ class CarController:
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
+    new_actuators.steerOutputCan = self.apply_steer_last
     new_actuators.gas = self.apply_gas
     new_actuators.brake = self.apply_brake
 
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 66a1485dc6..ab944a30aa 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -262,6 +262,7 @@ class CarController:
     new_actuators.gas = self.gas
     new_actuators.brake = self.brake
     new_actuators.steer = self.last_steer
+    new_actuators.steerOutputCan = apply_steer
 
     self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 3f128b1598..2f95a29e7b 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -186,6 +186,7 @@ class CarController:
 
     new_actuators = actuators.copy()
     new_actuators.steer = apply_steer / self.params.STEER_MAX
+    new_actuators.steerOutputCan = apply_steer
     new_actuators.accel = accel
 
     self.frame += 1
diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
index 2add59ccb0..027822cc3f 100644
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@@ -59,6 +59,7 @@ class CarController:
 
     new_actuators = CC.actuators.copy()
     new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
+    new_actuators.steerOutputCan = apply_steer
 
     self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index b5429daef2..a56e63408e 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -87,6 +87,7 @@ class CarController:
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
+    new_actuators.steerOutputCan = self.apply_steer_last
 
     self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 4ec9500171..1f469c72be 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -158,6 +158,7 @@ class CarController:
 
     new_actuators = actuators.copy()
     new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
+    new_actuators.steerOutputCan = apply_steer
     new_actuators.accel = self.accel
     new_actuators.gas = self.gas
 
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index f9ce2dc326..628962de75 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -107,6 +107,7 @@ class CarController:
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX
+    new_actuators.steerOutputCan = self.apply_steer_last
 
     self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"]
     self.frame += 1
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 4641299458..64f1c5d472 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-f17412941a0e8229eea308c33189a5bdb1a17ae8
+9876d91c77d3f7611398c43c4d79237cadb01c9c