From d3d5b0670305c8dcb165e7d6a5be8d8af4e4092e Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 2 Feb 2024 01:13:11 -0500 Subject: [PATCH] MSPA: Lat plan deprecation prerequisites (#11) --- custom.capnp | 9 +++++---- log.capnp | 2 +- services.py | 1 + 3 files changed, 7 insertions(+), 5 deletions(-) diff --git a/custom.capnp b/custom.capnp index 1b9b282bb..7bfa8e4d3 100644 --- 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 index b30168f7a..27b4420cb 100644 --- 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 index a765e0239..fc195d305 100755 --- 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),