From d11ecaf457a8d1ff4f33d2be6d470c7c780c41e4 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Sun, 23 Aug 2026 12:57:42 -0500
Subject: [PATCH] End The Suffering

---
 selfdrive/selfdrived/selfdrived.py            |  2 +-
 selfdrive/selfdrived/tests/test_selfdrived.py | 60 +++++++++++++++++++
 2 files changed, 61 insertions(+), 1 deletion(-)

diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 7fedd395a..a2a1e8834 100644
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -926,7 +926,7 @@ class SelfdriveD:
     fpss.alertSize = self.starpilot_AM.current_alert.alert_size
     fpss.alertStatus = self.starpilot_AM.current_alert.alert_status
     fpss.alertType = self.starpilot_AM.current_alert.alert_type
-    fpss.vEgo = self.sm["carState"].vEgo
+    fpss.vEgo = CS.vEgo
     fpss.alertSound, self.forcing_stop_chime_played = filter_forcing_stop_alert_sound(
       fpss.alertType,
       self.starpilot_AM.current_alert.audible_alert,
diff --git a/selfdrive/selfdrived/tests/test_selfdrived.py b/selfdrive/selfdrived/tests/test_selfdrived.py
index f0c2ba5e9..9d3857ec3 100644
--- a/selfdrive/selfdrived/tests/test_selfdrived.py
+++ b/selfdrive/selfdrived/tests/test_selfdrived.py
@@ -1,3 +1,5 @@
+from types import SimpleNamespace
+
 import cereal.messaging as messaging
 
 from cereal import car, custom, log
@@ -40,6 +42,64 @@ def test_dead_or_slow_comm_issue_is_immediate():
   assert evaluate_comm_issue(False, True, False, 0) == (True, 0)
 
 
+def test_starpilot_selfdrive_state_uses_sampled_car_state_speed():
+  class FakeEvents:
+    names = []
+
+    @staticmethod
+    def contains(_event_type):
+      return False
+
+  class FakeSubMaster:
+    frame = 1
+
+    @staticmethod
+    def __getitem__(service):
+      if service == "starpilotPlan":
+        return SimpleNamespace(forcingStop=False)
+      raise KeyError(service)
+
+  class FakePubMaster:
+    def __init__(self):
+      self.messages = {}
+
+    def send(self, service, message):
+      self.messages[service] = message
+
+  stock_alert = SimpleNamespace(
+    alert_text_1="", alert_text_2="", alert_size=log.SelfdriveState.AlertSize.none,
+    alert_status=log.SelfdriveState.AlertStatus.normal, alert_type="",
+    audible_alert=log.SelfdriveState.AudibleAlert.none,
+    visual_alert=car.CarControl.HUDControl.VisualAlert.none,
+  )
+  starpilot_alert = SimpleNamespace(
+    alert_text_1="", alert_text_2="", alert_size=custom.StarPilotSelfdriveState.AlertSize.none,
+    alert_status=custom.StarPilotSelfdriveState.AlertStatus.normal, alert_type="",
+    audible_alert=log.SelfdriveState.AudibleAlert.none,
+  )
+
+  selfdrived = SelfdriveD.__new__(SelfdriveD)
+  selfdrived.enabled = False
+  selfdrived.active = False
+  selfdrived.state_machine = SimpleNamespace(state=log.SelfdriveState.OpenpilotState.disabled)
+  selfdrived.events = FakeEvents()
+  selfdrived.starpilot_events = FakeEvents()
+  selfdrived.events_prev = []
+  selfdrived.starpilot_events_prev = []
+  selfdrived.experimental_mode = False
+  selfdrived.personality = log.LongitudinalPersonality.standard
+  selfdrived.AM = SimpleNamespace(current_alert=stock_alert)
+  selfdrived.starpilot_AM = SimpleNamespace(current_alert=starpilot_alert)
+  selfdrived.forcing_stop_chime_played = False
+  selfdrived.sm = FakeSubMaster()
+  selfdrived.pm = FakePubMaster()
+
+  selfdrived.publish_selfdriveState(car.CarState.new_message(vEgo=12.5))
+
+  msg = selfdrived.pm.messages["starpilotSelfdriveState"]
+  assert msg.starpilotSelfdriveState.vEgo == 12.5
+
+
 class FakeFallbackParams:
   def __init__(self, controls_ready, ecu_disable_failed, fallback_cp, fallback_fpcp):
     self.controls_ready = controls_ready