Cereal cleanup (#20003)

* start cleanup

* fan speed

* cleanup dm

* fix cereal

* hwType -> pandaType

* update refs

* update refs

* bump cereal

* freeSpacePercent

* cereal master

tools/carcontrols/debug_controls.py

@@ -7,7 +7,7 @@ import cereal.messaging as messaging
 from selfdrive.car.car_helpers import get_car, get_one_can
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 
-HwType = log.HealthData.HwType
+PandaType = log.HealthData.PandaType
 
 
 def steer_thread():

tools/nui/Unlogger.cpp

@@ -4,8 +4,9 @@
 #include <capnp/schema.h>
 
 // include the dynamic struct
-#include "cereal/gen/cpp/car.capnp.c++"
 #include "cereal/gen/cpp/log.capnp.c++"
+#include "cereal/gen/cpp/car.capnp.c++"
+#include "cereal/gen/cpp/legacy.capnp.c++"
 #include "cereal/services.h"
 
 #include "Unlogger.hpp"

tools/nui/main.cpp

@@ -165,6 +165,7 @@ void Window::paintEvent(QPaintEvent *event) {
   //p.drawRect(0, 0, 600, 100);
 
   // TODO: we really don't have to redraw this every time, only on updates to events
+  float vEgo = 0.;
   int this_event_size = events.size();
   if (last_event_size != this_event_size) {
     if (px != NULL) delete px;
@@ -179,10 +180,11 @@ void Window::paintEvent(QPaintEvent *event) {
     for (auto e : events) {
       auto type = e.which();
       //printf("%lld %d\n", e.getLogMonoTime()-t0, type);
-      if (type == cereal::Event::CONTROLS_STATE) {
+      if (type == cereal::Event::CAR_STATE) {
+        vEgo = e.getCarState().getVEgo();
+      } else if (type == cereal::Event::CONTROLS_STATE) {
         auto controlsState = e.getControlsState();
         uint64_t t = (e.getLogMonoTime()-t0);
-        float vEgo = controlsState.getVEgo();
         int enabled = controlsState.getState() == cereal::ControlsState::OpenpilotState::ENABLED;
         int rt = timeToPixel(t); // 250 ms per pixel
         if (rt != lt) {

tools/replay/ui.py

@@ -70,7 +70,7 @@ def ui_thread(addr, frame_address):
 
   frame = messaging.sub_sock('frame', addr=addr, conflate=True)
   sm = messaging.SubMaster(['carState', 'plan', 'carControl', 'radarState', 'liveCalibration', 'controlsState',
-                            'liveTracks', 'model', 'liveMpc', 'liveParameters', 'pathPlan', 'frame'], addr=addr)
+                            'liveTracks', 'model', 'liveMpc', 'liveParameters', 'lateralPlan', 'frame'], addr=addr)
 
   calibration = None
   img = np.zeros((480, 640, 3), dtype='uint8')
@@ -184,7 +184,7 @@ def ui_thread(addr, frame_address):
     if len(sm['model'].path.poly) > 0:
       model_data = extract_model_data(sm['model'])
       plot_model(model_data, VM, sm['controlsState'].vEgo, sm['controlsState'].curvature, imgw, calibration,
-                  top_down, np.array(sm['pathPlan'].dPolyDEPRECATED))
+                  top_down, np.array(sm['lateralPlan'].dPolyDEPRECATED))
 
     # MPC
     if sm.updated['liveMpc']:

tools/sim/bridge.py

@@ -88,7 +88,7 @@ def health_function():
     dat.valid = True
     dat.health = {
       'ignitionLine': True,
-      'hwType': "blackPanda",
+      'pandaType': "blackPanda",
       'controlsAllowed': True,
       'safetyModel': 'hondaNidec'
     }
@@ -104,7 +104,7 @@ def fake_gps():
     time.sleep(0.01)
 
 def fake_driver_monitoring():
-  pm = messaging.PubMaster(['driverState','dMonitoringState'])
+  pm = messaging.PubMaster(['driverState','driverMonitoringState'])
   while 1:
 
     # dmonitoringmodeld output
@@ -113,14 +113,14 @@ def fake_driver_monitoring():
     pm.send('driverState', dat)
 
     # dmonitoringd output
-    dat = messaging.new_message('dMonitoringState')
-    dat.dMonitoringState = {
+    dat = messaging.new_message('driverMonitoringState')
+    dat.driverMonitoringState = {
       "faceDetected": True,
       "isDistracted": False,
       "awarenessStatus": 1.,
       "isRHD": False,
     }
-    pm.send('dMonitoringState', dat)
+    pm.send('driverMonitoringState', dat)
 
     time.sleep(DT_DMON)