From 7bd73401cd11667813a92b0df59011e47f995c7d Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Sat, 13 Jun 2026 21:48:35 -0500
Subject: [PATCH] oopsie

---
 selfdrive/controls/radard.py           | 28 ++++++++++++++++----------
 selfdrive/controls/tests/test_leads.py | 22 ++++++++++++++++++++
 2 files changed, 39 insertions(+), 11 deletions(-)

diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index cedf80dac..1bfcb6a07 100644
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -202,30 +202,36 @@ VISION_DUPLICATE_LEAD_MAX_YREL_DIFF = 0.4
 VISION_DUPLICATE_LEAD_MIN_MODEL_PROB = 0.7
 
 
-def leads_are_duplicate(lead_one: dict[str, Any], lead_two: dict[str, Any]) -> bool:
-  if not lead_one.get("status", False) or not lead_two.get("status", False):
+def get_lead_field(lead: Any, field: str, default: Any) -> Any:
+  if isinstance(lead, dict):
+    return lead.get(field, default)
+  return getattr(lead, field, default)
+
+
+def leads_are_duplicate(lead_one: Any, lead_two: Any) -> bool:
+  if not get_lead_field(lead_one, "status", False) or not get_lead_field(lead_two, "status", False):
     return False
 
-  lead_one_radar = bool(lead_one.get("radar", False))
-  lead_two_radar = bool(lead_two.get("radar", False))
+  lead_one_radar = bool(get_lead_field(lead_one, "radar", False))
+  lead_two_radar = bool(get_lead_field(lead_two, "radar", False))
 
   if lead_one_radar and lead_two_radar:
-    lead_one_track_id = int(lead_one.get("radarTrackId", -1))
-    lead_two_track_id = int(lead_two.get("radarTrackId", -1))
+    lead_one_track_id = int(get_lead_field(lead_one, "radarTrackId", -1))
+    lead_two_track_id = int(get_lead_field(lead_two, "radarTrackId", -1))
     return lead_one_track_id != -1 and lead_one_track_id == lead_two_track_id
 
   if lead_one_radar or lead_two_radar:
     return False
 
-  lead_one_prob = float(lead_one.get("modelProb", 0.0))
-  lead_two_prob = float(lead_two.get("modelProb", 0.0))
+  lead_one_prob = float(get_lead_field(lead_one, "modelProb", 0.0))
+  lead_two_prob = float(get_lead_field(lead_two, "modelProb", 0.0))
   if min(lead_one_prob, lead_two_prob) < VISION_DUPLICATE_LEAD_MIN_MODEL_PROB:
     return False
 
   return (
-    abs(float(lead_one.get("dRel", 0.0)) - float(lead_two.get("dRel", 0.0))) <= VISION_DUPLICATE_LEAD_MAX_DREL_DIFF and
-    abs(float(lead_one.get("vLead", 0.0)) - float(lead_two.get("vLead", 0.0))) <= VISION_DUPLICATE_LEAD_MAX_VLEAD_DIFF and
-    abs(float(lead_one.get("yRel", 0.0)) - float(lead_two.get("yRel", 0.0))) <= VISION_DUPLICATE_LEAD_MAX_YREL_DIFF
+    abs(float(get_lead_field(lead_one, "dRel", 0.0)) - float(get_lead_field(lead_two, "dRel", 0.0))) <= VISION_DUPLICATE_LEAD_MAX_DREL_DIFF and
+    abs(float(get_lead_field(lead_one, "vLead", 0.0)) - float(get_lead_field(lead_two, "vLead", 0.0))) <= VISION_DUPLICATE_LEAD_MAX_VLEAD_DIFF and
+    abs(float(get_lead_field(lead_one, "yRel", 0.0)) - float(get_lead_field(lead_two, "yRel", 0.0))) <= VISION_DUPLICATE_LEAD_MAX_YREL_DIFF
   )
 
 
diff --git a/selfdrive/controls/tests/test_leads.py b/selfdrive/controls/tests/test_leads.py
index 09fce2ab4..29410a699 100644
--- a/selfdrive/controls/tests/test_leads.py
+++ b/selfdrive/controls/tests/test_leads.py
@@ -80,6 +80,28 @@ class TestLeads:
     assert leads_are_duplicate(lead_one, lead_two)
     assert not leads_are_duplicate(lead_one, distinct_lead)
 
+  def test_duplicate_lead_helper_supports_attribute_objects(self):
+    lead_one = SimpleNamespace(
+      status=True,
+      radar=False,
+      radarTrackId=-1,
+      dRel=32.1,
+      vLead=14.2,
+      yRel=0.03,
+      modelProb=0.98,
+    )
+    lead_two = SimpleNamespace(
+      status=True,
+      radar=False,
+      radarTrackId=-1,
+      dRel=32.2,
+      vLead=14.1,
+      yRel=0.05,
+      modelProb=0.97,
+    )
+
+    assert leads_are_duplicate(lead_one, lead_two)
+
   def test_radar_fault(self):
     # if there's no radar-related can traffic, radard should either not respond or respond with an error
     # this is tightly coupled with underlying car radar_interface implementation, but it's a good sanity check