remove old model packet (#19769)

* remove publisher

* move to V2

* radard new model

* fix plant

* change packety

* need hack here too

* change to new

* this has been wrong all along

* no more model msg

* subscribe to new model

* not needed anymore

* make work

* need to ignore that too

* should pass tests, needs car test

* fix process replay

* no more poly

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 124100d0fa

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -8,7 +8,7 @@ import numpy as np
 
 from opendbc import DBC_PATH
 
-from cereal import car
+from cereal import car, log
 from common.realtime import Ratekeeper
 from selfdrive.config import Conversions as CV
 import cereal.messaging as messaging
@@ -111,10 +111,10 @@ class Plant():
 
     if not Plant.messaging_initialized:
 
-      Plant.pm = messaging.PubMaster(['frame', 'frontFrame', 'ubloxRaw', 'modelV2'])
+      Plant.pm = messaging.PubMaster(['frame', 'frontFrame', 'ubloxRaw'])
       Plant.logcan = messaging.pub_sock('can')
       Plant.sendcan = messaging.sub_sock('sendcan')
-      Plant.model = messaging.pub_sock('model')
+      Plant.model = messaging.pub_sock('modelV2')
       Plant.live_params = messaging.pub_sock('liveParameters')
       Plant.live_location_kalman = messaging.pub_sock('liveLocationKalman')
       Plant.health = messaging.pub_sock('health')
@@ -392,13 +392,9 @@ class Plant():
     # ******** publish a fake model going straight and fake calibration ********
     # note that this is worst case for MPC, since model will delay long mpc by one time step
     if publish_model and self.frame % 5 == 0:
-      md = messaging.new_message('model')
+      md = messaging.new_message('modelV2')
       cal = messaging.new_message('liveCalibration')
-      md.model.frameId = 0
-      for x in [md.model.path, md.model.leftLane, md.model.rightLane]:
-        x.points = [0.0]*50
-        x.prob = 1.0
-        x.std = 1.0
+      md.modelV2.frameId = 0
 
       if self.lead_relevancy:
         d_rel = np.maximum(0., distance_lead - distance)
@@ -409,15 +405,11 @@ class Plant():
         v_rel = 0.
         prob = 0.0
 
-      md.model.lead.dist = float(d_rel)
-      md.model.lead.prob = prob
-      md.model.lead.relY = 0.0
-      md.model.lead.relYStd = 1.
-      md.model.lead.relVel = float(v_rel)
-      md.model.lead.relVelStd = 1.
-      md.model.lead.relA = 0.0
-      md.model.lead.relAStd = 10.
-      md.model.lead.std = 1.0
+      lead = log.ModelDataV2.LeadDataV2.new_message()
+      lead.xyva = [float(d_rel), 0.0, float(v_rel), 0.0]
+      lead.xyvaStd = [1.0, 1.0, 1.0, 1.0]
+      lead.prob = prob
+      md.modelV2.leads = [lead, lead]
 
       cal.liveCalibration.calStatus = 1
       cal.liveCalibration.calPerc = 100

selfdrive/test/process_replay/camera_replay.py

@@ -35,7 +35,7 @@ def camera_replay(lr, fr, desire=None, calib=None):
   spinner.update("starting model replay")
 
   pm = messaging.PubMaster(['frame', 'liveCalibration', 'pathPlan'])
-  sm = messaging.SubMaster(['model', 'modelV2'])
+  sm = messaging.SubMaster(['modelV2'])
 
   # TODO: add dmonitoringmodeld
   print("preparing procs")
@@ -74,7 +74,6 @@ def camera_replay(lr, fr, desire=None, calib=None):
 
         pm.send(msg.which(), f)
         with Timeout(seconds=15):
-          log_msgs.append(messaging.recv_one(sm.sock['model']))
           log_msgs.append(messaging.recv_one(sm.sock['modelV2']))
 
         spinner.update("modeld replay %d/%d" % (frame_idx, fr.frame_count))
@@ -109,8 +108,9 @@ if __name__ == "__main__":
     log_fn = "%s_%s_%s.bz2" % (TEST_ROUTE, "model", ref_commit)
     cmp_log = LogReader(BASE_URL + log_fn)
 
-    ignore = ['logMonoTime', 'valid', 'model.frameDropPerc', 'model.modelExecutionTime',
-              'modelV2.frameDropPerc', 'modelV2.modelExecutionTime']
+    ignore = ['logMonoTime', 'valid',
+              'modelV2.frameDropPerc',
+              'modelV2.modelExecutionTime']
     results: Any = {TEST_ROUTE: {}}
     results[TEST_ROUTE]["modeld"] = compare_logs(cmp_log, log_msgs, ignore_fields=ignore)
     diff1, diff2, failed = format_diff(results, ref_commit)

selfdrive/test/process_replay/process_replay.py

@@ -222,7 +222,7 @@ CONFIGS = [
     pub_sub={
       "can": ["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"],
       "thermal": [], "health": [], "liveCalibration": [], "dMonitoringState": [], "plan": [], "pathPlan": [], "gpsLocation": [], "liveLocationKalman": [],
-      "model": [], "frontFrame": [], "frame": [], "ubloxRaw": [],
+      "modelV2": [], "frontFrame": [], "frame": [], "ubloxRaw": [],
     },
     ignore=["logMonoTime", "valid", "controlsState.startMonoTime", "controlsState.cumLagMs"],
     init_callback=fingerprint,
@@ -233,7 +233,7 @@ CONFIGS = [
     proc_name="radard",
     pub_sub={
       "can": ["radarState", "liveTracks"],
-      "liveParameters":  [], "controlsState":  [], "model":  [],
+      "liveParameters":  [], "controlsState":  [], "modelV2":  [],
     },
     ignore=["logMonoTime", "valid", "radarState.cumLagMs"],
     init_callback=get_car_params,
@@ -266,7 +266,7 @@ CONFIGS = [
     proc_name="dmonitoringd",
     pub_sub={
       "driverState": ["dMonitoringState"],
-      "liveCalibration": [], "carState": [], "model": [], "controlsState": [],
+      "liveCalibration": [], "carState": [], "modelV2": [], "controlsState": [],
     },
     ignore=["logMonoTime", "valid"],
     init_callback=get_car_params,

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-3686b117b61bfe6ad49bdef435b9112869bbf7e0
+0b75e9c24662151100e77057ff7d1ffcf55d841a

selfdrive/test/process_replay/test_processes.py

@@ -158,9 +158,6 @@ if __name__ == "__main__":
       if (procs_whitelisted and cfg.proc_name not in args.whitelist_procs) or \
          (not procs_whitelisted and cfg.proc_name in args.blacklist_procs):
         continue
-      # TODO remove this hack
-      if cfg.proc_name == 'plannerd' and car_brand in ["GM", "SUBARU", "VOLKSWAGEN", "NISSAN"]:
-        continue
 
       cmp_log_fn = os.path.join(process_replay_dir, "%s_%s_%s.bz2" % (segment, cfg.proc_name, ref_commit))
       results[segment][cfg.proc_name] = test_process(cfg, lr, cmp_log_fn, args.ignore_fields, args.ignore_msgs)