MSPA: lateralPlanSP legacy support (commaai#274)

* MSPA: `lateralPlanSP` legacy support * bump cereal
opgm · Feb 2, 2024 · fbabd57 · fbabd57
1 parent 8f0b4c4
commit fbabd57
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Showing 5 changed files with 11 additions and 11 deletions.
diff --git a/cereal b/cereal
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
@@ -81,7 +81,7 @@ def __init__(self, CI=None):
     self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                    'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
-                                   'testJoystick', 'longitudinalPlanSP', 'lateralPlanSP'] + self.camera_packets + self.sensor_packets,
+                                   'testJoystick', 'longitudinalPlanSP', 'lateralPlanSPDEPRECATED'] + self.camera_packets + self.sensor_packets,
                                   ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick'])
 
     if CI is None:
@@ -299,7 +299,7 @@ def update_events(self, CS):
     lane_change_set_timer = int(self.params.get("AutoLaneChangeTimer", encoding="utf8"))
     if self.sm['lateralPlan'].laneChangeState == LaneChangeState.preLaneChange:
       direction = self.sm['lateralPlan'].laneChangeDirection
-      lc_prev = self.sm['lateralPlanSP'].laneChangePrev
+      lc_prev = self.sm['lateralPlanSPDEPRECATED'].laneChangePrev
       if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
          (CS.rightBlindspot and direction == LaneChangeDirection.right):
         self.events.add(EventName.laneChangeBlocked)

diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
@@ -74,13 +74,13 @@ def publish(self, sm, pm):
 
     pm.send('lateralPlan', plan_send)
 
-    plan_sp_send = messaging.new_message('lateralPlanSP')
+    plan_sp_send = messaging.new_message('lateralPlanSPDEPRECATED')
     plan_sp_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
 
-    lateralPlanSP = plan_sp_send.lateralPlanSP
-    lateralPlanSP.laneChangePrev = self.DH.prev_lane_change
+    lateralPlanSPDEPRECATED = plan_sp_send.lateralPlanSPDEPRECATED
+    lateralPlanSPDEPRECATED.laneChangePrev = self.DH.prev_lane_change
 
-    lateralPlanSP.dPathWLinesX = [float(x) for x in self.d_path_w_lines_xyz[:, 0]]
-    lateralPlanSP.dPathWLinesY = [float(y) for y in self.d_path_w_lines_xyz[:, 1]]
+    lateralPlanSPDEPRECATED.dPathWLinesX = [float(x) for x in self.d_path_w_lines_xyz[:, 0]]
+    lateralPlanSPDEPRECATED.dPathWLinesY = [float(y) for y in self.d_path_w_lines_xyz[:, 1]]
 
-    pm.send('lateralPlanSP', plan_sp_send)
+    pm.send('lateralPlanSPDEPRECATED', plan_sp_send)
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
@@ -41,7 +41,7 @@ def plannerd_thread():
   longitudinal_planner = LongitudinalPlanner(CP)
   lateral_planner = LateralPlanner(CP, debug=debug_mode)
 
-  pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan', 'uiPlan', 'longitudinalPlanSP', 'lateralPlanSP'])
+  pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan', 'uiPlan', 'longitudinalPlanSP', 'lateralPlanSPDEPRECATED'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
                            poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])
 

diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py
@@ -55,7 +55,7 @@ def cycle_alerts(duration=200, is_metric=False):
   CP = CarInterface.get_non_essential_params("HONDA CIVIC 2016")
   sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration',
                             'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
-                            'managerState', 'longitudinalPlanSP', 'lateralPlanSP',
+                            'managerState', 'longitudinalPlanSP', 'lateralPlanSPDEPRECATED',
                             'driverMonitoringStateSP'] + cameras)
 
   pm = messaging.PubMaster(['controlsState', 'pandaStates', 'deviceState'])