remove uiPlan (#32721)

* remove uiPlan from ui

* remove publishing

* Update log.capnp

* Update services.py

* no uiPlan here

* Update ref_commit

cereal/log.capnp

@@ -2244,7 +2244,6 @@ struct Event {
     carControl @23 :Car.CarControl;
     carOutput @127 :Car.CarOutput;
     longitudinalPlan @24 :LongitudinalPlan;
-    uiPlan @106 :UiPlan;
     ubloxGnss @34 :UbloxGnss;
     ubloxRaw @39 :Data;
     qcomGnss @31 :QcomGnss;
@@ -2365,5 +2364,6 @@ struct Event {
     sensorEventsDEPRECATED @11 :List(SensorEventData);
     lateralPlanDEPRECATED @64 :LateralPlan;
     navModelDEPRECATED @104 :NavModelData;
+    uiPlanDEPRECATED @106 :UiPlan;
   }
 }

cereal/services.py

@@ -66,7 +66,6 @@ _services: dict[str, tuple] = {
   "navInstruction": (True, 1., 10),
   "navRoute": (True, 0.),
   "navThumbnail": (True, 0.),
-  "uiPlan": (True, 20., 40.),
   "qRoadEncodeIdx": (False, 20.),
   "userFlag": (True, 0., 1),
   "microphone": (True, 10., 10),

selfdrive/controls/plannerd.py

@@ -6,16 +6,6 @@ from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
 import cereal.messaging as messaging
 
-def publish_ui_plan(sm, pm, longitudinal_planner):
-  ui_send = messaging.new_message('uiPlan')
-  ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
-  uiPlan = ui_send.uiPlan
-  uiPlan.frameId = sm['modelV2'].frameId
-  uiPlan.position.x = list(sm['modelV2'].position.x)
-  uiPlan.position.y = list(sm['modelV2'].position.y)
-  uiPlan.position.z = list(sm['modelV2'].position.z)
-  uiPlan.accel = longitudinal_planner.a_desired_trajectory_full.tolist()
-  pm.send('uiPlan', ui_send)
 
 def plannerd_thread():
   config_realtime_process(5, Priority.CTRL_LOW)
@@ -27,7 +17,7 @@ def plannerd_thread():
   cloudlog.info("plannerd got CarParams: %s", CP.carName)
 
   longitudinal_planner = LongitudinalPlanner(CP)
-  pm = messaging.PubMaster(['longitudinalPlan', 'uiPlan'])
+  pm = messaging.PubMaster(['longitudinalPlan'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
                            poll='modelV2', ignore_avg_freq=['radarState'])
 
@@ -36,7 +26,7 @@ def plannerd_thread():
     if sm.updated['modelV2']:
       longitudinal_planner.update(sm)
       longitudinal_planner.publish(sm, pm)
-      publish_ui_plan(sm, pm, longitudinal_planner)
+
 
 def main():
   plannerd_thread()

selfdrive/test/process_replay/process_replay.py

@@ -505,7 +505,7 @@ CONFIGS = [
   ProcessConfig(
     proc_name="plannerd",
     pubs=["modelV2", "carControl", "carState", "controlsState", "radarState"],
-    subs=["longitudinalPlan", "uiPlan"],
+    subs=["longitudinalPlan"],
     ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"],
     init_callback=get_car_params_callback,
     should_recv_callback=FrequencyBasedRcvCallback("modelV2"),

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-0ba779ec9f624872b1d038acb15095b726ff8983
+6438bd5edad674c2de3c7e2d126271cb2576383d

selfdrive/ui/qt/onroad/annotated_camera.cc

@@ -235,8 +235,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   QLinearGradient bg(0, height(), 0, 0);
   if (sm["controlsState"].getControlsState().getExperimentalMode()) {
     // The first half of track_vertices are the points for the right side of the path
-    // and the indices match the positions of accel from uiPlan
+    const auto &acceleration = sm["modelV2"].getModelV2().getAcceleration().getX();
-    const auto &acceleration = sm["uiPlan"].getUiPlan().getAccel();
     const int max_len = std::min<int>(scene.track_vertices.length() / 2, acceleration.size());
 
     for (int i = 0; i < max_len; ++i) {
@@ -403,7 +402,7 @@ void AnnotatedCameraWidget::paintGL() {
   painter.setPen(Qt::NoPen);
 
   if (s->scene.world_objects_visible) {
-    update_model(s, model, sm["uiPlan"].getUiPlan());
+    update_model(s, model);
     drawLaneLines(painter, s);
 
     if (s->scene.longitudinal_control && sm.rcv_frame("radarState") > s->scene.started_frame) {

selfdrive/ui/ui.cc

@@ -77,14 +77,10 @@ void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line,
 }
 
 void update_model(UIState *s,
-                  const cereal::ModelDataV2::Reader &model,
+                  const cereal::ModelDataV2::Reader &model) {
-                  const cereal::UiPlan::Reader &plan) {
   UIScene &scene = s->scene;
-  auto plan_position = plan.getPosition();
+  auto model_position = model.getPosition();
-  if (plan_position.getX().size() < model.getPosition().getX().size()) {
+  float max_distance = std::clamp(*(model_position.getX().end() - 1),
-    plan_position = model.getPosition();
-  }
-  float max_distance = std::clamp(*(plan_position.getX().end() - 1),
                                   MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
 
   // update lane lines
@@ -110,8 +106,8 @@ void update_model(UIState *s,
     const float lead_d = lead_one.getDRel() * 2.;
     max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
   }
-  max_idx = get_path_length_idx(plan_position, max_distance);
+  max_idx = get_path_length_idx(model_position, max_distance);
-  update_line_data(s, plan_position, 0.9, 1.22, &scene.track_vertices, max_idx, false);
+  update_line_data(s, model_position, 0.9, 1.22, &scene.track_vertices, max_idx, false);
 }
 
 void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd) {
@@ -212,8 +208,7 @@ static void update_state(UIState *s) {
   scene.world_objects_visible = scene.world_objects_visible ||
                                 (scene.started &&
                                  sm.rcv_frame("liveCalibration") > scene.started_frame &&
-                                 sm.rcv_frame("modelV2") > scene.started_frame &&
+                                 sm.rcv_frame("modelV2") > scene.started_frame);
-                                 sm.rcv_frame("uiPlan") > scene.started_frame);
 }
 
 void ui_update_params(UIState *s) {
@@ -249,7 +244,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
   sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
-    "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "uiPlan", "clocks",
+    "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "clocks",
   });
 
   Params params;

selfdrive/ui/ui.h

@@ -184,8 +184,7 @@ Device *device();
 void ui_update_params(UIState *s);
 int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height);
 void update_model(UIState *s,
-                  const cereal::ModelDataV2::Reader &model,
+                  const cereal::ModelDataV2::Reader &model);
-                  const cereal::UiPlan::Reader &plan);
 void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd);
 void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
 void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line,