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

tools/carcontrols/debug_controls.py

@@ -46,7 +46,7 @@ def steer_thread():
     if joystick is not None:
       axis_3 = clip(-joystick.testJoystick.axes[3] * 1.05, -1., 1.)          # -1 to 1
       actuators.steer = axis_3
-      actuators.steerAngle = axis_3 * 43.   # deg
+      actuators.steeringAngleDeg = axis_3 * 43.   # deg
       axis_1 = clip(-joystick.testJoystick.axes[1] * 1.05, -1., 1.)          # -1 to 1
       actuators.gas = max(axis_1, 0.)
       actuators.brake = max(-axis_1, 0.)
@@ -67,7 +67,7 @@ def steer_thread():
     CC.actuators.gas = actuators.gas
     CC.actuators.brake = actuators.brake
     CC.actuators.steer = actuators.steer
-    CC.actuators.steerAngle = actuators.steerAngle
+    CC.actuators.steeringAngleDeg = actuators.steeringAngleDeg
     CC.hudControl.visualAlert = hud_alert
     CC.hudControl.setSpeed = 20
     CC.cruiseControl.cancel = pcm_cancel_cmd

tools/nui/FileReader.cpp

@@ -98,8 +98,8 @@ void LogReader::mergeEvents(int dled) {
 
       // hack
       // TODO: rewrite with callback
-      if (event.which() == cereal::Event::ENCODE_IDX) {
-        auto ee = event.getEncodeIdx();
+      if (event.which() == cereal::Event::ROAD_ENCODE_IDX) {
+        auto ee = event.getRoadEncodeIdx();
         eidx_local.insert(ee.getFrameId(), qMakePair(ee.getSegmentNum(), ee.getSegmentId()));
       }
 

tools/nui/Unlogger.cpp

@@ -153,14 +153,14 @@ void Unlogger::process() {
         auto ee = msg.getRoot<cereal::Event>();
         ee.setLogMonoTime(nanos_since_boot());
 
-        if (e.which() == cereal::Event::FRAME) {
-          auto fr = msg.getRoot<cereal::Event>().getFrame();
+        if (e.which() == cereal::Event::ROAD_CAMERA_STATE) {
+          auto fr = msg.getRoot<cereal::Event>().getRoadCameraState();
 
           // TODO: better way?
           auto it = eidx.find(fr.getFrameId());
           if (it != eidx.end()) {
             auto pp = *it;
-            //qDebug() << fr.getFrameId() << pp;
+            //qDebug() << fr.getRoadCameraStateId() << pp;
 
             if (frs->find(pp.first) != frs->end()) {
               auto frm = (*frs)[pp.first];

tools/replay/camera.py

@@ -35,7 +35,7 @@ def ui_thread(addr, frame_address):
 
   camera_surface = pygame.surface.Surface((_FULL_FRAME_SIZE[0] * SCALE, _FULL_FRAME_SIZE[1] * SCALE), 0, 24).convert()
 
-  frame = messaging.sub_sock('frame', conflate=True)
+  frame = messaging.sub_sock('roadCameraState', conflate=True)
 
   img = np.zeros((_FULL_FRAME_SIZE[1], _FULL_FRAME_SIZE[0], 3), dtype='uint8')
   imgff = np.zeros((_FULL_FRAME_SIZE[1], _FULL_FRAME_SIZE[0], 3), dtype=np.uint8)
@@ -46,10 +46,10 @@ def ui_thread(addr, frame_address):
 
     # ***** frame *****
     fpkt = messaging.recv_one(frame)
-    yuv_img = fpkt.frame.image
+    yuv_img = fpkt.roadCameraState.image
 
-    if fpkt.frame.transform:
-      yuv_transform = np.array(fpkt.frame.transform).reshape(3, 3)
+    if fpkt.roadCameraState.transform:
+      yuv_transform = np.array(fpkt.roadCameraState.transform).reshape(3, 3)
     else:
       # assume frame is flipped
       yuv_transform = np.array([[-1.0, 0.0, _FULL_FRAME_SIZE[0] - 1],

tools/replay/ui.py

@@ -53,9 +53,9 @@ def ui_thread(addr, frame_address):
   camera_surface = pygame.surface.Surface((640, 480), 0, 24).convert()
   top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8)
 
-  frame = messaging.sub_sock('frame', addr=addr, conflate=True)
+  frame = messaging.sub_sock('roadCameraState', addr=addr, conflate=True)
   sm = messaging.SubMaster(['carState', 'longitudinalPlan', 'carControl', 'radarState', 'liveCalibration', 'controlsState',
-                            'liveTracks', 'modelV2', 'liveMpc', 'liveParameters', 'lateralPlan', 'frame'], addr=addr)
+                            'liveTracks', 'modelV2', 'liveMpc', 'liveParameters', 'lateralPlan', 'roadCameraState'], addr=addr)
 
   img = np.zeros((480, 640, 3), dtype='uint8')
   imgff = None
@@ -109,7 +109,7 @@ def ui_thread(addr, frame_address):
 
     # ***** frame *****
     fpkt = messaging.recv_one(frame)
-    rgb_img_raw = fpkt.frame.image
+    rgb_img_raw = fpkt.roadCameraState.image
 
     num_px = len(rgb_img_raw) // 3
     if rgb_img_raw and num_px in _FULL_FRAME_SIZE.keys():
@@ -134,15 +134,15 @@ def ui_thread(addr, frame_address):
 
     w = sm['controlsState'].lateralControlState.which()
     if w == 'lqrState':
-      angle_steers_k = sm['controlsState'].lateralControlState.lqrState.steerAngle
+      angle_steers_k = sm['controlsState'].lateralControlState.lqrState.steeringAngleDeg
     elif w == 'indiState':
-      angle_steers_k = sm['controlsState'].lateralControlState.indiState.steerAngle
+      angle_steers_k = sm['controlsState'].lateralControlState.indiState.steeringAngleDeg
     else:
       angle_steers_k = np.inf
 
     plot_arr[:-1] = plot_arr[1:]
-    plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngle
-    plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steerAngle
+    plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngleDeg
+    plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg
     plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
     plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gas
     plot_arr[-1, name_to_arr_idx['computer_gas']] = sm['carControl'].actuators.gas
@@ -195,7 +195,7 @@ def ui_thread(addr, frame_address):
       info_font.render("LONG CONTROL STATE: " + str(sm['controlsState'].longControlState), True, YELLOW),
       info_font.render("LONG MPC SOURCE: " + str(sm['longitudinalPlan'].longitudinalPlanSource), True, YELLOW),
       None,
-      info_font.render("ANGLE OFFSET (AVG): " + str(round(sm['liveParameters'].angleOffsetAverage, 2)) + " deg", True, YELLOW),
+      info_font.render("ANGLE OFFSET (AVG): " + str(round(sm['liveParameters'].angleOffsetAverageDeg, 2)) + " deg", True, YELLOW),
       info_font.render("ANGLE OFFSET (INSTANT): " + str(round(sm['liveParameters'].angleOffset, 2)) + " deg", True, YELLOW),
       info_font.render("STIFFNESS: " + str(round(sm['liveParameters'].stiffnessFactor * 100., 2)) + " %", True, YELLOW),
       info_font.render("STEER RATIO: " + str(round(sm['liveParameters'].steerRatio, 2)), True, YELLOW)

tools/replay/unlog_segment.py

@@ -27,11 +27,11 @@ def replay(route, loop):
   lr = LogReader(f"cd:/{route}/rlog.bz2")
   fr = FrameReader(f"cd:/{route}/fcamera.hevc", readahead=True)
 
-  # Build mapping from frameId to segmentId from encodeIdx, type == fullHEVC
+  # Build mapping from frameId to segmentId from roadEncodeIdx, type == fullHEVC
   msgs = [m for m in lr if m.which() not in IGNORE]
   msgs = sorted(msgs, key=lambda m: m.logMonoTime)
   times = [m.logMonoTime for m in msgs]
-  frame_idx = {m.encodeIdx.frameId: m.encodeIdx.segmentId for m in msgs if m.which() == 'encodeIdx' and m.encodeIdx.type == 'fullHEVC'}
+  frame_idx = {m.roadEncodeIdx.frameId: m.roadEncodeIdx.segmentId for m in msgs if m.which() == 'roadEncodeIdx' and m.roadEncodeIdx.type == 'fullHEVC'}
 
   socks = {}
   lag = 0
@@ -45,11 +45,11 @@ def replay(route, loop):
     start_time = time.time()
     w = msg.which()
 
-    if w == 'frame':
+    if w == 'roadCameraState':
       try:
         img = fr.get(frame_idx[msg.frame.frameId], pix_fmt="rgb24")
         img = img[0][:, :, ::-1]  # Convert RGB to BGR, which is what the camera outputs
-        msg.frame.image = img.flatten().tobytes()
+        msg.roadCameraState.image = img.flatten().tobytes()
       except (KeyError, ValueError):
         pass
 

tools/replay/unlogger.py

@@ -49,9 +49,9 @@ class UnloggerWorker(object):
     poller = zmq.Poller()
     poller.register(commands_socket, zmq.POLLIN)
 
-    # We can't publish frames without encodeIdx, so add when it's missing.
-    if "frame" in pub_types:
-      pub_types["encodeIdx"] = None
+    # We can't publish frames without roadEncodeIdx, so add when it's missing.
+    if "roadCameraState" in pub_types:
+      pub_types["roadEncodeIdx"] = None
 
     # gc.set_debug(gc.DEBUG_LEAK | gc.DEBUG_OBJECTS | gc.DEBUG_STATS | gc.DEBUG_SAVEALL |
     # gc.DEBUG_UNCOLLECTABLE)
@@ -86,11 +86,11 @@ class UnloggerWorker(object):
         continue
 
       # **** special case certain message types ****
-      if typ == "encodeIdx" and msg.encodeIdx.type == fullHEVC:
-        # this assumes the encodeIdx always comes before the frame
+      if typ == "roadEncodeIdx" and msg.roadEncodeIdx.type == fullHEVC:
+        # this assumes the roadEncodeIdx always comes before the frame
         self._frame_id_lookup[
-          msg.encodeIdx.frameId] = msg.encodeIdx.segmentNum, msg.encodeIdx.segmentId
-        #print "encode", msg.encodeIdx.frameId, len(self._readahead), route_time
+          msg.roadEncodeIdx.frameId] = msg.roadEncodeIdx.segmentNum, msg.roadEncodeIdx.segmentId
+        #print "encode", msg.roadEncodeIdx.frameId, len(self._readahead), route_time
       self._readahead.appendleft((typ, msg, route_time, cookie))
 
   def _send_logs(self, data_socket):
@@ -98,7 +98,7 @@ class UnloggerWorker(object):
       typ, msg, route_time, cookie = self._readahead.pop()
       smsg = msg.as_builder()
 
-      if typ == "frame":
+      if typ == "roadCameraState":
         frame_id = msg.frame.frameId
 
         # Frame exists, make sure we have a framereader.
@@ -135,7 +135,7 @@ class UnloggerWorker(object):
       self._lr = MultiLogIterator(route.log_paths(), wraparound=True)
       if self._frame_reader is not None:
         self._frame_reader.close()
-      if "frame" in pub_types or "encodeIdx" in pub_types:
+      if "roadCameraState" in pub_types or "roadEncodeIdx" in pub_types:
         # reset frames for a route
         self._frame_id_lookup = {}
         self._frame_reader = RouteFrameReader(
@@ -313,8 +313,8 @@ def absolute_time_str(s, start_time):
 def _get_address_mapping(args):
   if args.min is not None:
     services_to_mock = [
-      'thermal', 'can', 'health', 'sensorEvents', 'gpsNMEA', 'frame', 'encodeIdx',
-      'model', 'features', 'liveLocation',
+      'deviceState', 'can', 'pandaState', 'sensorEvents', 'gpsNMEA', 'roadCameraState', 'roadEncodeIdx',
+      'modelV2', 'liveLocation',
     ]
   elif args.enabled is not None:
     services_to_mock = args.enabled

tools/sim/bridge.py

@@ -32,7 +32,7 @@ REPEAT_COUNTER = 5
 PRINT_DECIMATION = 100
 STEER_RATIO = 15.
 
-pm = messaging.PubMaster(['frame', 'sensorEvents', 'can'])
+pm = messaging.PubMaster(['roadCameraState', 'sensorEvents', 'can'])
 sm = messaging.SubMaster(['carControl','controlsState'])
 
 class VehicleState:
@@ -59,13 +59,13 @@ def cam_callback(image):
   img = np.reshape(img, (H, W, 4))
   img = img[:, :, [0, 1, 2]].copy()
 
-  dat = messaging.new_message('frame')
-  dat.frame = {
+  dat = messaging.new_message('roadCameraState')
+  dat.roadCameraState = {
     "frameId": image.frame,
     "image": img.tostring(),
     "transform": [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
   }
-  pm.send('frame', dat)
+  pm.send('roadCameraState', dat)
   frame_id += 1
 
 def imu_callback(imu):
@@ -81,18 +81,18 @@ def imu_callback(imu):
   dat.sensorEvents[1].gyroUncalibrated.v = [imu.gyroscope.x, imu.gyroscope.y, imu.gyroscope.z]
   pm.send('sensorEvents', dat)
 
-def health_function():
-  pm = messaging.PubMaster(['health'])
+def panda_state_function():
+  pm = messaging.PubMaster(['pandaState'])
   while 1:
-    dat = messaging.new_message('health')
+    dat = messaging.new_message('pandaState')
     dat.valid = True
-    dat.health = {
+    dat.pandaState = {
       'ignitionLine': True,
       'pandaType': "blackPanda",
       'controlsAllowed': True,
       'safetyModel': 'hondaNidec'
     }
-    pm.send('health', dat)
+    pm.send('pandaState', dat)
     time.sleep(0.5)
 
 def fake_gps():
@@ -197,7 +197,7 @@ def go(q):
   vehicle_state = VehicleState()
 
   # launch fake car threads
-  threading.Thread(target=health_function).start()
+  threading.Thread(target=panda_state_function).start()
   threading.Thread(target=fake_driver_monitoring).start()
   threading.Thread(target=fake_gps).start()
   threading.Thread(target=can_function_runner, args=(vehicle_state,)).start()

tools/streamer/streamerd.py

@@ -35,7 +35,7 @@ def receiver_thread():
 
   context = zmq.Context()
   s = messaging.sub_sock(context, 9002, addr=addr)
-  frame_sock = messaging.pub_sock(context, service_list['frame'].port)
+  frame_sock = messaging.pub_sock(context, service_list['roadCameraState'].port)
 
   ctx = av.codec.codec.Codec('hevc', 'r').create()
   ctx.decode(av.packet.Packet(start.decode("hex")))
@@ -64,10 +64,10 @@ def receiver_thread():
     #print 'ms to make yuv:', (t1-t2)*1000
     #print 'tsEof:', ts
 
-    dat = messaging.new_message('frame')
-    dat.frame.image = yuv_img
-    dat.frame.timestampEof = ts
-    dat.frame.transform = map(float, list(np.eye(3).flatten()))
+    dat = messaging.new_message('roadCameraState')
+    dat.roadCameraState.image = yuv_img
+    dat.roadCameraState.timestampEof = ts
+    dat.roadCameraState.transform = map(float, list(np.eye(3).flatten()))
     frame_sock.send(dat.to_bytes())
 
     if PYGAME: