From 1e1120316f63b85fb2d9daa8d0145d0fe8cfb5fb Mon Sep 17 00:00:00 2001
From: Dom <168790843+firestar5683@users.noreply.github.com>
Date: Fri, 16 Oct 2026 08:31:08 -0500
Subject: [PATCH] Clarify radar projection types without changing behavior

---
 .../tests/test_radar_lead_projection_cache.py        | 12 +++++++++++-
 .../starpilot/longitudinal/toyota_output_policy.py   |  3 ++-
 prebuilt.json                                        |  2 +-
 3 files changed, 14 insertions(+), 3 deletions(-)

diff --git a/openpilot/starpilot/longitudinal/tests/test_radar_lead_projection_cache.py b/openpilot/starpilot/longitudinal/tests/test_radar_lead_projection_cache.py
index 42735a26ee..98b01ddbc6 100644
--- a/openpilot/starpilot/longitudinal/tests/test_radar_lead_projection_cache.py
+++ b/openpilot/starpilot/longitudinal/tests/test_radar_lead_projection_cache.py
@@ -2,6 +2,7 @@
 from collections import OrderedDict
 from concurrent.futures import ThreadPoolExecutor
 import threading
+from typing import TypedDict
 import unittest
 from unittest.mock import patch
 
@@ -9,11 +10,19 @@ from openpilot.cereal import log
 from openpilot.starpilot.longitudinal import toyota_output_policy as policy
 
 
+class ProjectionArguments(TypedDict):
+  message_ns: int
+  receipt_ns: int
+  now_ns: int
+  drive_id: int
+  valid: bool
+
+
 class TestRadarLeadProjectionCache(unittest.TestCase):
   def setUp(self):
     with policy._RADAR_LEAD_LOCK:
       policy._RADAR_LEAD_ROWS.clear()
-    self.kwargs = {'message_ns': 1_000_000_000, 'receipt_ns': 1_001_000_000,
+    self.kwargs: ProjectionArguments = {'message_ns': 1_000_000_000, 'receipt_ns': 1_001_000_000,
                    'now_ns': 1_002_000_000, 'drive_id': 900_000_000, 'valid': True}
 
   def tearDown(self):
@@ -80,6 +89,7 @@ class TestRadarLeadProjectionCache(unittest.TestCase):
         for _ in range(5):
           leads = policy.leads_from_radar(radar, **self.kwargs)
           self.assertIsNotNone(leads)
+          assert leads is not None
           self.assertEqual(leads[0], policy.Lead(True, worker + 1., 0., 0., 0.))
       return True
 
diff --git a/openpilot/starpilot/longitudinal/toyota_output_policy.py b/openpilot/starpilot/longitudinal/toyota_output_policy.py
index 2906f26032..4f7da01192 100644
--- a/openpilot/starpilot/longitudinal/toyota_output_policy.py
+++ b/openpilot/starpilot/longitudinal/toyota_output_policy.py
@@ -7,6 +7,7 @@ source authority is lost. It does not select a planner profile or grant control.
 
 from collections import OrderedDict
 from dataclasses import dataclass
+from typing import cast
 
 import capnp
 import math
@@ -60,7 +61,7 @@ def leads_from_radar(radar, *, message_ns: int, receipt_ns: int, now_ns: int,
       now_ns - message_ns > RADAR_MAX_AGE_NS or now_ns - receipt_ns > RADAR_MAX_AGE_NS):
     return None
   rows = _radar_lead_rows(radar)
-  return tuple(Lead(*row) for row in rows) if rows is not None else None
+  return cast(tuple[Lead, Lead], tuple(Lead(*row) for row in rows)) if rows is not None else None
 
 
 # Only immutable pure projection values are retained, never transport authority.
diff --git a/prebuilt.json b/prebuilt.json
index ab1bfa2621..f57eb688c4 100644
--- a/prebuilt.json
+++ b/prebuilt.json
@@ -1 +1 @@
-{"protected_inventory_sha256": "e1dcbcb17d8c48b0e4c07784d7872ba43d45f067e7043b019f61db708457124d", "schema_version": 1}
+{"protected_inventory_sha256": "4303ba5948f7926d28d165289350db695927a393280d474174ee563a81c5a5a0", "schema_version": 1}