Sensor events splitup (commaai#357)

* change from sensorEvents to separated events

* fix numbering

* remove sensorEvent

* update after rebase

* .

* move bmx gyro and accel to its own channels

* address PR comments

* .

* inc frequency in tests

* .

* rename sensorEventsDEPRECATED sensorEvents

* readd sensorEvents in services.py

* .

Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com>

log.capnp

@@ -1949,6 +1949,13 @@ struct Event {
     can @5 :List(CanData);
     controlsState @7 :ControlsState;
     sensorEvents @11 :List(SensorEventData);
+    gyroscope @99 :SensorEventData;
+    gyroscope2 @100 :SensorEventData;
+    accelerometer @98 :SensorEventData;
+    accelerometer2 @101 :SensorEventData;
+    magnetometer @95 :SensorEventData;
+    lightSensor @96 :SensorEventData;
+    temperatureSensor @97 :SensorEventData;
     pandaStates @81 :List(PandaState);
     peripheralState @80 :PeripheralState;
     radarState @13 :RadarState;

messaging/tests/test_services.py

@@ -15,7 +15,7 @@ def test_services(self, s):
     service = service_list[s]
     self.assertTrue(service.port != RESERVED_PORT)
     self.assertTrue(service.port >= STARTING_PORT)
-    self.assertTrue(service.frequency <= 100)
+    self.assertTrue(service.frequency <= 104)
 
   def test_no_duplicate_port(self):
     ports = {}

services.py

@@ -22,6 +22,13 @@ def __init__(self, port: int, should_log: bool, frequency: float, decimation: Op
   # service: (should_log, frequency, qlog decimation (optional))
   # note: the "EncodeIdx" packets will still be in the log
   "sensorEvents": (True, 100., 100),
+  "gyroscope": (True, 104., 104),
+  "gyroscope2": (True, 100., 100),
+  "accelerometer": (True, 104., 104),
+  "accelerometer2": (True, 100., 100),
+  "magnetometer": (True, 100., 100),
+  "lightSensor": (True, 100., 100),
+  "temperatureSensor": (True, 100., 100),
   "gpsNMEA": (True, 9.),
   "deviceState": (True, 2., 1),
   "can": (True, 100.),