MSPA: Lat plan deprecation prerequisites (#11)

sunnypilot · Feb 2, 2024 · d3d5b06 · d3d5b06
1 parent e99eb7b
commit d3d5b06
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Showing 3 changed files with 7 additions and 5 deletions.
diff --git a/custom.capnp b/custom.capnp
@@ -117,15 +117,14 @@ struct LateralPlanSP @0xf35cc4560bbf6ec2 {
 
   dProb @3 :Float32;
 
-  laneChangePrev @8 :Bool;
-  laneChangeEdgeBlock @10 :Bool;
-
   dynamicLaneProfile @4 :Int8;
   standstillElapsed @5 :Float32;
   dynamicLaneProfileStatus @9 :Bool;
 
   dPathWLinesXDEPRECATED @6 :List(Float32);
   dPathWLinesYDEPRECATED @7 :List(Float32);
+  laneChangePrevDEPRECATED @8 :Bool;
+  laneChangeEdgeBlockDEPRECATED @10 :Bool;
 }
 
 struct DriverMonitoringStateSP @0xda96579883444c35 {
@@ -176,7 +175,9 @@ struct E2eLongStateSP @0xa5cd762cd951a455 {
   status @0 :UInt16;
 }
 
-struct CustomReserved6 @0xf98d843bfd7004a3 {
+struct ModelDataV2SP @0xf98d843bfd7004a3 {
+  laneChangePrev @0 :Bool;
+  laneChangeEdgeBlock @1 :Bool;
 }
 
 struct CustomReserved7 @0xb86e6369214c01c8 {

diff --git a/log.capnp b/log.capnp
@@ -2292,7 +2292,7 @@ struct Event {
     driverMonitoringStateSP @110 :Custom.DriverMonitoringStateSP;
     liveMapDataSP @111 :Custom.LiveMapDataSP;
     e2eLongStateSP @112 :Custom.E2eLongStateSP;
-    customReserved6 @113 :Custom.CustomReserved6;
+    modelV2SP @113 :Custom.ModelDataV2SP;
     customReserved7 @114 :Custom.CustomReserved7;
     customReserved8 @115 :Custom.CustomReserved8;
     customReserved9 @116 :Custom.CustomReserved9;

diff --git a/services.py b/services.py
@@ -88,6 +88,7 @@ def __init__(self, port: int, should_log: bool, frequency: float, decimation: Op
   "driverMonitoringStateSP": (True, 20., 10),
   "liveMapDataSP": (True, 0.),
   "e2eLongStateSP": (True, 0.),
+  "modelV2SP": (True, 20., 40),
 
   # debug
   "uiDebug": (True, 0., 1),