Align integration fixtures with reviewed schema and planner behavior

openpilot/starpilot/car/tesla/tests/fixtures/custom_reviewed_schema_additions.json

@@ -920,6 +920,66 @@
           }
         }
       ]
+    },
+    "0xda96579883444c35": {
+      "kind": "struct",
+      "before_name": "StarPilotLongitudinalPlan",
+      "after_name": "StarPilotLongitudinalPlan",
+      "old_field_count": 5,
+      "old_storage": {
+        "dataWordCount": 4,
+        "pointerCount": 0,
+        "preferredListEncoding": "inlineComposite",
+        "isGroup": false,
+        "discriminantCount": 0,
+        "discriminantOffset": 0
+      },
+      "new_storage": {
+        "dataWordCount": 5,
+        "pointerCount": 0,
+        "preferredListEncoding": "inlineComposite",
+        "isGroup": false,
+        "discriminantCount": 0,
+        "discriminantOffset": 0
+      },
+      "added_fields": [
+        {
+          "slot": {
+            "offset": 17,
+            "type": {
+              "bool": null
+            },
+            "defaultValue": {
+              "bool": false
+            },
+            "hadExplicitDefault": false
+          },
+          "name": "forceStopBraking",
+          "codeOrder": 5,
+          "discriminantValue": 65535,
+          "ordinal": {
+            "explicit": 5
+          }
+        },
+        {
+          "slot": {
+            "offset": 4,
+            "type": {
+              "uint64": null
+            },
+            "defaultValue": {
+              "uint64": 0
+            },
+            "hadExplicitDefault": false
+          },
+          "name": "forceStopEpisodeMonoTime",
+          "codeOrder": 6,
+          "discriminantValue": 65535,
+          "ordinal": {
+            "explicit": 6
+          }
+        }
+      ]
     }
   },
   "published_addition_commits": {

openpilot/starpilot/car/tesla/tests/test_pedal_schema_evolution.py

@@ -290,3 +290,40 @@ def test_compiled_compatibility_check_rejects_unreviewed_changes(tmp_path, field
   else:
     with pytest.raises(AssertionError):
       compare_node(old, new)
+
+
+def test_additive_force_stop_fields_preserve_defaults_and_incumbent_relay(historical):
+  old = historical.StarPilotLongitudinalPlan.new_message(
+    version=1, sourcePlanMonoTime=11, modelMonoTime=22, driveStartMonoTime=33, forceStopHolding=True)
+  incumbent = old.to_dict()
+  with custom.StarPilotLongitudinalPlan.from_bytes(old.to_bytes()) as decoded:
+    assert not decoded.forceStopBraking
+    assert decoded.forceStopEpisodeMonoTime == 0
+    current = decoded.as_builder()
+  current.forceStopBraking = True
+  current.forceStopEpisodeMonoTime = 44
+  expected = current.to_dict()
+  with historical.StarPilotLongitudinalPlan.from_bytes(current.to_bytes()) as prior:
+    assert prior.to_dict() == incumbent
+    relayed = prior.as_builder().to_bytes()
+  with custom.StarPilotLongitudinalPlan.from_bytes(relayed) as recovered:
+    assert recovered.to_dict() == expected
+
+
+@pytest.mark.parametrize(('before', 'after'), [
+  ('forceStopHolding @4 :Bool;', 'forceStopHolding @4 :Bool = true;'),
+  ('forceStopBraking @5 :Bool;', 'forceStopBraking @5 :UInt8;'),
+  ('forceStopBraking @5 :Bool;', 'forceStopBraking @5 :Bool = true;'),
+  ('forceStopEpisodeMonoTime @6 :UInt64;', 'forceStopEpisodeMonoTime @6 :UInt32;'),
+  ('forceStopEpisodeMonoTime @6 :UInt64;', 'forceStopEpisodeMonoTime @6 :UInt64 = 1;'),
+  ('forceStopEpisodeMonoTime @6 :UInt64;', 'forceStopEpisodeMonoTime @6 :UInt64; unreviewed @7 :Bool;'),
+])
+def test_reviewed_force_stop_addition_rejects_other_changes(historical, tmp_path, before, after):
+  source = Path(CEREAL_PATH, 'custom.capnp').read_text()
+  assert source.count(before) == 1
+  path = tmp_path / 'unreviewed-force-stop.capnp'
+  path.write_text(source.replace(before, after))
+  parser = capnp.SchemaParser()
+  changed = parser.load(str(path), imports=[CEREAL_PATH, str(files('opendbc') / 'car')])
+  with pytest.raises(AssertionError):
+    compare_node(historical.StarPilotLongitudinalPlan, changed.StarPilotLongitudinalPlan)

openpilot/starpilot/tests/test_global_optional_features.py

@@ -55,7 +55,7 @@ def test_generic_admission_is_brand_independent_and_stock_is_display_only(tmp_pa
 def test_factory_defaults_and_hidden_vision_control_producer(tmp_path):
   params, cp = Params(str(tmp_path)), toyota()
   settings = slc_runtime_settings(params, cp, {})
-  assert settings.selection.slots[:2] == (Source.VISION, Source.DASHBOARD)
+  assert settings.selection.slots == (Source.VISION, Source.MAP, None)
   assert not settings.enabled and settings.display
   assert enabled(params, cp, 'conditional', {})
   assert enabled(params, cp, 'slc', {}) and enabled(params, cp, 'vision', {})
@@ -87,7 +87,7 @@ def test_toyota_actual_default_plannerd_constructs_requested_hosts(tmp_path):
     conditional.assert_called_once()
     profiles.assert_called_once()
     assert 'slcState' in publisher.call_args.args[0]
-    assert 'slcCruiseCommand' in publisher.call_args.args[0]
+    assert 'starpilotLongitudinalPlan' in publisher.call_args.args[0]
     for source in ('slcDashboardObservation', 'slcVisionObservation', 'mapdOut'):
       assert source in subscriber.call_args.args[0]
   assert plannerd.SavedSlcLifecycle(params, cp, {}).refresh(NOW)[0] is not None

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "4b46202fb4638a6dd6d8114db0e3dedec1f76f71f26485e9c873c45231fc541f", "schema_version": 1}
+{"protected_inventory_sha256": "564936502787eb31343301c5990a945d1a2b10904bbe5e7af1022bef47da7c93", "schema_version": 1}