From 0f22e7c4959801b4072c1e28e3fdbd528ee00335 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Mon, 20 Apr 2026 00:24:04 -0500
Subject: [PATCH] update migration

---
 selfdrive/test/process_replay/migration.py    |  5 ++--
 .../test/process_replay/test_migration.py     | 24 +++++++++++++++++++
 2 files changed, 27 insertions(+), 2 deletions(-)
 create mode 100644 selfdrive/test/process_replay/test_migration.py

diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index c9b4e8841..171c84323 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -97,9 +97,10 @@ def migration(inputs: list[str], product: str|None=None):
 
 @migration(inputs=["longitudinalPlan", "carParams"])
 def migrate_longitudinalPlan(msgs):
-  from openpilot.selfdrive.controls.lib.longitudinal_planner import CONTROL_N_T_IDX, get_accel_from_plan
+  from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_accel_from_plan
 
   ops = []
+  control_n_t_idx = ModelConstants.T_IDXS[:CONTROL_N]
 
   needs_migration = all(msg.longitudinalPlan.aTarget == 0.0 for _, msg in msgs if msg.which() == 'longitudinalPlan')
   CP = next((m.carParams for _, m in msgs if m.which() == 'carParams'), None)
@@ -110,7 +111,7 @@ def migrate_longitudinalPlan(msgs):
     if msg.which() != 'longitudinalPlan':
       continue
     new_msg = msg.as_builder()
-    a_target, should_stop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels, CONTROL_N_T_IDX)
+    a_target, should_stop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels, control_n_t_idx)
     new_msg.longitudinalPlan.aTarget, new_msg.longitudinalPlan.shouldStop = float(a_target), bool(should_stop)
     ops.append((index, new_msg.as_reader()))
   return ops, [], []
diff --git a/selfdrive/test/process_replay/test_migration.py b/selfdrive/test/process_replay/test_migration.py
new file mode 100644
index 000000000..7a70e33b7
--- /dev/null
+++ b/selfdrive/test/process_replay/test_migration.py
@@ -0,0 +1,24 @@
+import cereal.messaging as messaging
+
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
+from openpilot.selfdrive.test.process_replay.migration import migrate_longitudinalPlan
+
+
+def test_migrate_longitudinal_plan_uses_legacy_helper_signature():
+  long_plan = messaging.new_message('longitudinalPlan')
+  long_plan.longitudinalPlan.speeds = [float(i) for i in range(CONTROL_N)]
+  long_plan.longitudinalPlan.accels = [0.1] * CONTROL_N
+
+  car_params = messaging.new_message('carParams')
+
+  ops, add_ops, del_ops = migrate_longitudinalPlan([
+    (0, long_plan.as_reader()),
+    (1, car_params.as_reader()),
+  ])
+
+  assert len(ops) == 1
+  assert add_ops == []
+  assert del_ops == []
+
+  _, migrated = ops[0]
+  assert migrated.longitudinalPlan.aTarget != 0.0