cereal cleanup part 2 (#20092)

* car stuff

* thermal

* Revert "car stuff"

This reverts commit 77fd1c65ebd01abfa8493ae12c9e6b14f7ada976.

* panda state

* camera stuff

* start deg

* most is building

* builds

* planner + controls run

* fix up paramsd

* cleanup

* process replay passes

* fix webcam build

* camerad

* no more frame

* thermald

* ui

* paramsd

* camera replay

* fix long tests

* fix camerad tests

* maxSteeringAngle

* bump cereal

* more frame

* cereal master
old-commit-hash: 312b681a46b8153314a8420611b6479dd6f70dfc

selfdrive/debug/cycle_alerts.py

@@ -16,11 +16,11 @@ def cycle_alerts(duration=200, is_metric=False):
   print(alerts)
 
   CP = CarInterface.get_params("HONDA CIVIC 2016 TOURING")
-  sm = messaging.SubMaster(['thermal', 'health', 'frame', 'model', 'liveCalibration',
-                            'driverMonitoringState', 'plan', 'lateralPlan', 'liveLocationKalman'])
+  sm = messaging.SubMaster(['deviceState', 'pandaState', 'roadCameraState', 'modelV2', 'liveCalibration',
+                            'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman'])
 
   controls_state = messaging.pub_sock('controlsState')
-  thermal = messaging.pub_sock('thermal')
+  deviceState = messaging.pub_sock('deviceState')
 
   idx, last_alert_millis = 0, 0
 
@@ -56,9 +56,9 @@ def cycle_alerts(duration=200, is_metric=False):
     controls_state.send(dat.to_bytes())
 
     dat = messaging.new_message()
-    dat.init('thermal')
-    dat.thermal.started = True
-    thermal.send(dat.to_bytes())
+    dat.init('deviceState')
+    dat.deviceState.started = True
+    deviceState.send(dat.to_bytes())
 
     frame += 1
     time.sleep(0.01)

selfdrive/debug/internal/check_alive_valid.py

@@ -4,7 +4,7 @@ import cereal.messaging as messaging
 
 
 if __name__ == "__main__":
-  sm = messaging.SubMaster(['thermal', 'health', 'model', 'liveCalibration', 'driverMonitoringState', 'plan', 'lateralPlan'])
+  sm = messaging.SubMaster(['deviceState', 'pandaState', 'modelV2', 'liveCalibration', 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan'])
 
   i = 0
   while True:

selfdrive/debug/internal/measure_steering_accuracy.py

@@ -47,7 +47,7 @@ if __name__ == "__main__":
       if cnt >= 500:
         # calculate error before rounding
         actual_angle = sm['controlsState'].angleSteers
-        desired_angle = sm['carControl'].actuators.steerAngle
+        desired_angle = sm['carControl'].actuators.steeringAngleDeg
         angle_error = abs(desired_angle - actual_angle)
 
         # round numbers

selfdrive/debug/internal/sounds/test_sound_stability.py

@@ -19,7 +19,7 @@ if __name__ == "__main__":
 
   os.environ["LD_LIBRARY_PATH"] = ""
 
-  sm = messaging.SubMaster(["thermal"])
+  sm = messaging.SubMaster(["deviceState"])
 
   FNULL = open(os.devnull, "w")
   start_time = time.time()
@@ -42,4 +42,4 @@ if __name__ == "__main__":
     s = time.time() - start_time
     hhmmss = str(datetime.timedelta(seconds=s)).split(".")[0]
     print("test duration:", hhmmss)
-    print("\tbattery percent", sm["thermal"].batteryPercent)
+    print("\tbattery percent", sm["deviceState"].batteryPercent)

selfdrive/debug/live_cpu_and_temp.py

@@ -33,7 +33,7 @@ if __name__ == "__main__":
   parser.add_argument('--cpu', action='store_true')
   args = parser.parse_args()
 
-  sm = SubMaster(['thermal', 'procLog'])
+  sm = SubMaster(['deviceState', 'procLog'])
 
   last_temp = 0.0
   last_mem = 0.0
@@ -46,10 +46,10 @@ if __name__ == "__main__":
   while True:
     sm.update()
 
-    if sm.updated['thermal']:
-      t = sm['thermal']
-      last_temp = mean(t.cpu)
-      last_mem = t.memUsedPercent
+    if sm.updated['deviceState']:
+      t = sm['deviceState']
+      last_temp = mean(t.cpuTempC)
+      last_mem = t.memoryUsagePercent
 
     if sm.updated['procLog']:
       m = sm['procLog']

selfdrive/debug/test_fw_query_on_routes.py

@@ -46,8 +46,8 @@ if __name__ == "__main__":
       lr = LogReader(qlog_path)
 
       for msg in lr:
-        if msg.which() == "health":
-          if msg.health.pandaType not in ['uno', 'blackPanda']:
+        if msg.which() == "pandaState":
+          if msg.pandaState.pandaType not in ['uno', 'blackPanda']:
             dongles.append(dongle_id)
             break
 

selfdrive/debug/uiview.py

@@ -3,20 +3,20 @@ import time
 import cereal.messaging as messaging
 from selfdrive.manager import start_managed_process, kill_managed_process
 
-services = ['controlsState', 'thermal', 'radarState']  # the services needed to be spoofed to start ui offroad
+services = ['controlsState', 'deviceState', 'radarState']  # the services needed to be spoofed to start ui offroad
 procs = ['camerad', 'ui', 'modeld', 'calibrationd']
 [start_managed_process(p) for p in procs]  # start needed processes
 pm = messaging.PubMaster(services)
 
-dat_cs, dat_thermal, dat_radar = [messaging.new_message(s) for s in services]
+dat_cs, dat_deviceState, dat_radar = [messaging.new_message(s) for s in services]
 dat_cs.controlsState.rearViewCam = False  # ui checks for these two messages
-dat_thermal.thermal.started = True
+dat_deviceState.deviceState.started = True
 
 try:
   while True:
     pm.send('controlsState', dat_cs)
-    pm.send('thermal', dat_thermal)
+    pm.send('deviceState', dat_deviceState)
     pm.send('radarState', dat_radar)
-    time.sleep(1 / 100)  # continually send, rate doesn't matter for thermal
+    time.sleep(1 / 100)  # continually send, rate doesn't matter for deviceState
 except KeyboardInterrupt:
   [kill_managed_process(p) for p in procs]