From b88523f05ac958f87a8f6d57c3f4bb20da55f216 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Fri, 17 Feb 2023 19:35:13 -0800
Subject: [PATCH] Uiplan (#413)

* ui plan

* uiplan

* keep backwards compatibility

* more decimation

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 log.capnp   | 25 +++++++++++++++----------
 services.py |  1 +
 2 files changed, 16 insertions(+), 10 deletions(-)

diff --git a/log.capnp b/log.capnp
index 4e657138c..63510bc93 100644
--- a/log.capnp
+++ b/log.capnp
@@ -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;
@@ -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
@@ -995,6 +996,9 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
     y @1 :List(Float32);
   }
 }
+struct UiPlan {
+  position @0 :XYZTData;
+}
 
 struct LateralPlan @0xe1e9318e2ae8b51e {
   modelMonoTime @31 :UInt64;
@@ -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;
diff --git a/services.py b/services.py
index fd1b34312..58f802c6d 100755
--- a/services.py
+++ b/services.py
@@ -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),