logg

cereal/custom.capnp

@@ -239,6 +239,12 @@ struct StarPilotSelfdriveState @0xf416ec09499d9d19 {
 }
 
 struct CustomReserved9 @0xa1680744031fdb2d {
+  slotId @0 :Text;
+  slotName @1 :Text;
+  variant @2 :Text;
+  variantLabel @3 :Text;
+  reason @4 :Text;
+  wallTimeNanos @5 :UInt64;
 }
 
 struct CustomReserved10 @0xcb9fd56c7057593a {

cereal/services.h

@@ -81,6 +81,7 @@ static std::map<std::string, service> services = {
   { "livestreamWideRoadEncodeData", {"livestreamWideRoadEncodeData", false, 20.000000, -1, 2097152}},
   { "livestreamRoadEncodeData", {"livestreamRoadEncodeData", false, 20.000000, -1, 2097152}},
   { "livestreamDriverEncodeData", {"livestreamDriverEncodeData", false, 20.000000, -1, 2097152}},
+  { "customReserved9", {"customReserved9", true, 0.000000, 1, 256000}},
   { "customReservedRawData0", {"customReservedRawData0", true, 0.000000, -1, 256000}},
   { "customReservedRawData1", {"customReservedRawData1", true, 0.000000, -1, 256000}},
   { "customReservedRawData2", {"customReservedRawData2", true, 0.000000, -1, 256000}},
@@ -98,4 +99,3 @@ static std::map<std::string, service> services = {
   { "mapdOut", {"mapdOut", true, 20.000000, 20, 2097152}},
 };
 #endif
-

cereal/services.py

@@ -100,6 +100,7 @@ _services: dict[str, tuple] = {
   "livestreamWideRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
+  "customReserved9": (True, 0., 1),
   "customReservedRawData0": (True, 0.),
   "customReservedRawData1": (True, 0.),
   "customReservedRawData2": (True, 0.),

starpilot/system/the_pond/the_pond.py

@@ -99,7 +99,7 @@ send_from_directory = None
 _POND_WEB_DEPS_READY = False
 _POND_WEB_DEPS_ERROR = None
 
-_TESTING_GROUND_CUSTOM_RESERVED_SERVICE = "customReservedRawData0"
+_TESTING_GROUND_CUSTOM_RESERVED_SERVICE = "customReserved9"
 _TESTING_GROUND_CUSTOM_RESERVED_INTERVAL_S = 15.0
 _TESTING_GROUND_CUSTOM_RESERVED_PM = None
 _TESTING_GROUND_CUSTOM_RESERVED_LOCK = threading.Lock()
@@ -2807,23 +2807,28 @@ def _get_testing_ground_custom_reserved_pm():
 def _build_testing_ground_custom_reserved_payload(state, reason):
   serialized = _serialize_testing_grounds_state(state)
   return {
-    "type": "testingGroundState",
-    "reason": reason,
     "slotId": serialized["activeSlot"],
     "slotName": serialized["activeSlotName"],
     "variant": serialized["activeVariant"],
     "variantLabel": serialized["activeVariantLabel"],
-    "publishedAt": datetime.now(timezone.utc).isoformat(timespec="seconds").replace("+00:00", "Z"),
+    "reason": reason,
+    "wallTimeNanos": time.time_ns(),
   }
 
 def _publish_testing_ground_custom_reserved(state, reason):
   global _TESTING_GROUND_CUSTOM_RESERVED_LAST_PUBLISH_MONO
 
   payload = _build_testing_ground_custom_reserved_payload(state, reason)
+  message_valid = str(payload.get("variant") or "").strip().upper() == "B"
 
   try:
-    message = messaging.new_message(_TESTING_GROUND_CUSTOM_RESERVED_SERVICE)
-    message.customReservedRawData0 = json.dumps(payload, separators=(",", ":"), allow_nan=False).encode("utf-8")
+    message = messaging.new_message(_TESTING_GROUND_CUSTOM_RESERVED_SERVICE, valid=message_valid)
+    message.customReserved9.slotId = payload["slotId"]
+    message.customReserved9.slotName = payload["slotName"]
+    message.customReserved9.variant = payload["variant"]
+    message.customReserved9.variantLabel = payload["variantLabel"]
+    message.customReserved9.reason = payload["reason"]
+    message.customReserved9.wallTimeNanos = payload["wallTimeNanos"]
     _get_testing_ground_custom_reserved_pm().send(_TESTING_GROUND_CUSTOM_RESERVED_SERVICE, message)
   except Exception:
     return