uiPlan: add planned acceleration field (#27484)

* add accel

* bump cereal

* Update ref_commit

---------

Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com>

cereal

@@ -1 +1 @@
-Subproject commit b88523f05ac958f87a8f6d57c3f4bb20da55f216
+Subproject commit 42f84fd85d06c0fc85371daa2b4820fca49d763e

selfdrive/controls/lib/longitudinal_planner.py

@@ -122,8 +122,9 @@ class LongitudinalPlanner:
     self.mpc.update(sm['radarState'], v_cruise, x, v, a, j)
 
     self.v_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.v_solution)
+    self.a_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.a_solution)
     self.v_desired_trajectory = self.v_desired_trajectory_full[:CONTROL_N]
-    self.a_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.a_solution)
+    self.a_desired_trajectory = self.a_desired_trajectory_full[:CONTROL_N]
     self.j_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC[:-1], self.mpc.j_solution)
 
     # TODO counter is only needed because radar is glitchy, remove once radar is gone

selfdrive/controls/plannerd.py

@@ -22,6 +22,7 @@ def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner):
   uiPlan.position.x = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,0]).tolist()
   uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,1]).tolist()
   uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist()
+  uiPlan.accel = longitudinal_planner.a_desired_trajectory_full.tolist()
   pm.send('uiPlan', ui_send)
 
 def plannerd_thread(sm=None, pm=None):

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-dfa8e947c4ef76a9d89974a434e94a078e1ccc6a
+f9c7e05b836c4bff364978752e82d64b90f9d6e6