From 08d8bb9975a3b42fdd2d2fecb81e2a015c98bcab Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Fri, 20 Mar 2026 18:19:47 -0700
Subject: [PATCH] livePose timestamp migration (#37705)

* Add livePose migraiton

* Fix
---
 selfdrive/test/process_replay/migration.py | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index 2a2633c34b..14b38e0481 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -39,6 +39,7 @@ def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: boo
     migrate_controlsState,
     migrate_carState,
     migrate_liveLocationKalman,
+    migrate_livePose,
     migrate_liveTracks,
     migrate_driverAssistance,
     migrate_drivingModelData,
@@ -187,6 +188,21 @@ def migrate_liveLocationKalman(msgs):
   return ops, [], []
 
 
+@migration(inputs=["livePose"])
+def migrate_livePose(msgs):
+  ops = []
+  needs_migration = all(msg.livePose.timestamp == 0 for _, msg in msgs if msg.which() == 'livePose')
+  if not needs_migration:
+    return [], [], []
+
+  for index, msg in msgs:
+    if msg.which() == "livePose":
+      new_msg = msg.as_builder()
+      new_msg.livePose.timestamp = msg.logMonoTime
+      ops.append((index, new_msg.as_reader()))
+  return ops, [], []
+
+
 @migration(inputs=["controlsState"], product="selfdriveState")
 def migrate_controlsState(msgs):
   add_ops = []