LongyLongNeck

selfdrive/test/process_replay/process_replay.py

@@ -465,7 +465,8 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="plannerd",
-    pubs=["modelV2", "carControl", "carState", "controlsState", "liveParameters", "radarState", "selfdriveState"],
+    pubs=["modelV2", "carControl", "carState", "controlsState", "liveParameters", "radarState", "selfdriveState",
+          "starpilotCarState", "starpilotPlan"],
     subs=["longitudinalPlan", "driverAssistance"],
     ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"],
     init_callback=get_car_params_callback,

selfdrive/test/process_replay/test_process_replay_starpilot.py

@@ -0,0 +1,12 @@
+import os
+
+os.environ["DEBUG"] = "0"
+
+from openpilot.selfdrive.test.process_replay.process_replay import get_process_config
+
+
+def test_plannerd_replay_includes_starpilot_inputs():
+  cfg = get_process_config("plannerd")
+
+  assert "starpilotPlan" in cfg.pubs
+  assert "starpilotCarState" in cfg.pubs