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Uiplan #413

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Merged
haraschax merged 4 commits into from
Feb 18, 2023
Merged

Uiplan #413

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6efbaac
ui plan
haraschax Feb 16, 2023
2fcc2fe
uiplan
haraschax Feb 16, 2023
237f293
keep backwards compatibility
adeebshihadeh Feb 18, 2023
ac8010c
more decimation
adeebshihadeh Feb 18, 2023
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25 changes: 15 additions & 10 deletions log.capnp
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Original file line number Diff line number Diff line change
Expand Up @@ -794,6 +794,17 @@ struct ControlsState @0x97ff69c53601abf1 {
canMonoTimesDEPRECATED @21 :List(UInt64);
}

# All SI units and in device frame
struct XYZTData @0xc3cbae1fd505ae80 {
x @0 :List(Float32);
y @1 :List(Float32);
z @2 :List(Float32);
t @3 :List(Float32);
xStd @4 :List(Float32);
yStd @5 :List(Float32);
zStd @6 :List(Float32);
}

struct ModelDataV2 {
frameId @0 :UInt32;
frameIdExtra @20 :UInt32;
Expand Down Expand Up @@ -827,16 +838,6 @@ struct ModelDataV2 {
# Model perceived motion
temporalPose @21 :Pose;

# All SI units and in device frame
struct XYZTData {
x @0 :List(Float32);
y @1 :List(Float32);
z @2 :List(Float32);
t @3 :List(Float32);
xStd @4 :List(Float32);
yStd @5 :List(Float32);
zStd @6 :List(Float32);
}

struct LeadDataV2 {
prob @0 :Float32; # probability that car is your lead at time t
Expand Down Expand Up @@ -995,6 +996,9 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
y @1 :List(Float32);
}
}
struct UiPlan {
position @0 :XYZTData;
}

struct LateralPlan @0xe1e9318e2ae8b51e {
modelMonoTime @31 :UInt64;
Expand Down Expand Up @@ -2081,6 +2085,7 @@ struct Event {
carControl @23 :Car.CarControl;
longitudinalPlan @24 :LongitudinalPlan;
lateralPlan @64 :LateralPlan;
uiPlan @106 :UiPlan;
ubloxGnss @34 :UbloxGnss;
ubloxRaw @39 :Data;
qcomGnss @31 :QcomGnss;
Expand Down
1 change: 1 addition & 0 deletions services.py
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Expand Up @@ -76,6 +76,7 @@ def __init__(self, port: int, should_log: bool, frequency: float, decimation: Op
"navThumbnail": (True, 0.),
"navModel": (True, 2., 4.),
"mapRenderState": (True, 2., 1.),
"uiPlan": (True, 20., 40.),
"qRoadEncodeIdx": (False, 20.),
"userFlag": (True, 0., 1),
"microphone": (True, 10., 10),
Expand Down