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cereal: move deprecated structs to deprecated.capnp (#37786)

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* lil more

* cleanup
This commit is contained in:
Adeeb Shihadeh
2026-04-09 10:03:22 -07:00
committed by GitHub
parent f17a0aac94
commit 9dc4986e21
2 changed files with 92 additions and 93 deletions
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cereal/deprecated.capnp
+87
View File
@@ -571,4 +571,91 @@ struct LidarPts @0xe3d6685d4e9d8f7a {
pkt @4 :Data;
}
struct LiveTracksDEPRECATED @0xb16f60103159415a {
trackId @0 :Int32;
dRel @1 :Float32;
yRel @2 :Float32;
vRel @3 :Float32;
aRel @4 :Float32;
timeStamp @5 :Float32;
status @6 :Float32;
currentTime @7 :Float32;
stationary @8 :Bool;
oncoming @9 :Bool;
}
struct LiveMpcData @0x92a5e332a85f32a0 {
x @0 :List(Float32);
y @1 :List(Float32);
psi @2 :List(Float32);
curvature @3 :List(Float32);
qpIterations @4 :UInt32;
calculationTime @5 :UInt64;
cost @6 :Float64;
}
struct LiveLongitudinalMpcData @0xe7e17c434f865ae2 {
xEgo @0 :List(Float32);
vEgo @1 :List(Float32);
aEgo @2 :List(Float32);
xLead @3 :List(Float32);
vLead @4 :List(Float32);
aLead @5 :List(Float32);
aLeadTau @6 :Float32; # lead accel time constant
qpIterations @7 :UInt32;
mpcId @8 :UInt32;
calculationTime @9 :UInt64;
cost @10 :Float64;
}
struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
frameId @0 :UInt32;
modelExecutionTime @14 :Float32;
dspExecutionTime @16 :Float32;
rawPredictions @15 :Data;
faceOrientation @3 :List(Float32);
facePosition @4 :List(Float32);
faceProb @5 :Float32;
leftEyeProb @6 :Float32;
rightEyeProb @7 :Float32;
leftBlinkProb @8 :Float32;
rightBlinkProb @9 :Float32;
faceOrientationStd @11 :List(Float32);
facePositionStd @12 :List(Float32);
sunglassesProb @13 :Float32;
poorVision @17 :Float32;
partialFace @18 :Float32;
distractedPose @19 :Float32;
distractedEyes @20 :Float32;
eyesOnRoad @21 :Float32;
phoneUse @22 :Float32;
occludedProb @23 :Float32;
readyProb @24 :List(Float32);
notReadyProb @25 :List(Float32);
irPwrDEPRECATED @10 :Float32;
descriptorDEPRECATED @1 :List(Float32);
stdDEPRECATED @2 :Float32;
}
struct NavModelData @0xac3de5c437be057a {
frameId @0 :UInt32;
locationMonoTime @6 :UInt64;
modelExecutionTime @1 :Float32;
dspExecutionTime @2 :Float32;
features @3 :List(Float32);
# predicted future position
position @4 :XYData;
desirePrediction @5 :List(Float32);
# All SI units and in device frame
struct XYData @0xbe09e615b2507e26 {
x @0 :List(Float32);
y @1 :List(Float32);
xStd @2 :List(Float32);
yStd @3 :List(Float32);
}
}
cereal/log.capnp
+5 -93
View File
@@ -808,19 +808,6 @@ struct LiveCalibrationData {
}
}
struct LiveTracksDEPRECATED {
trackId @0 :Int32;
dRel @1 :Float32;
yRel @2 :Float32;
vRel @3 :Float32;
aRel @4 :Float32;
timeStamp @5 :Float32;
status @6 :Float32;
currentTime @7 :Float32;
stationary @8 :Bool;
oncoming @9 :Bool;
}
struct SelfdriveState {
# high level system state
state @0 :OpenpilotState;
@@ -2135,30 +2122,6 @@ struct Clocks {
modemUptimeMillisDEPRECATED @4 :UInt64;
}
struct LiveMpcData {
x @0 :List(Float32);
y @1 :List(Float32);
psi @2 :List(Float32);
curvature @3 :List(Float32);
qpIterations @4 :UInt32;
calculationTime @5 :UInt64;
cost @6 :Float64;
}
struct LiveLongitudinalMpcData {
xEgo @0 :List(Float32);
vEgo @1 :List(Float32);
aEgo @2 :List(Float32);
xLead @3 :List(Float32);
vLead @4 :List(Float32);
aLead @5 :List(Float32);
aLeadTau @6 :Float32; # lead accel time constant
qpIterations @7 :UInt32;
mpcId @8 :UInt32;
calculationTime @9 :UInt64;
cost @10 :Float64;
}
struct Joystick {
# convenient for debug and live tuning
axes @0: List(Float32);
@@ -2198,38 +2161,6 @@ struct DriverStateV2 {
poorVisionProbDEPRECATED @4 :Float32;
}
struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
frameId @0 :UInt32;
modelExecutionTime @14 :Float32;
dspExecutionTime @16 :Float32;
rawPredictions @15 :Data;
faceOrientation @3 :List(Float32);
facePosition @4 :List(Float32);
faceProb @5 :Float32;
leftEyeProb @6 :Float32;
rightEyeProb @7 :Float32;
leftBlinkProb @8 :Float32;
rightBlinkProb @9 :Float32;
faceOrientationStd @11 :List(Float32);
facePositionStd @12 :List(Float32);
sunglassesProb @13 :Float32;
poorVision @17 :Float32;
partialFace @18 :Float32;
distractedPose @19 :Float32;
distractedEyes @20 :Float32;
eyesOnRoad @21 :Float32;
phoneUse @22 :Float32;
occludedProb @23 :Float32;
readyProb @24 :List(Float32);
notReadyProb @25 :List(Float32);
irPwrDEPRECATED @10 :Float32;
descriptorDEPRECATED @1 :List(Float32);
stdDEPRECATED @2 :Float32;
}
struct DriverMonitoringState @0xb83cda094a1da284 {
events @18 :List(OnroadEvent);
faceDetected @1 :Bool;
@@ -2464,25 +2395,6 @@ struct MapRenderState {
frameId @2: UInt32;
}
struct NavModelData {
frameId @0 :UInt32;
locationMonoTime @6 :UInt64;
modelExecutionTime @1 :Float32;
dspExecutionTime @2 :Float32;
features @3 :List(Float32);
# predicted future position
position @4 :XYData;
desirePrediction @5 :List(Float32);
# All SI units and in device frame
struct XYData {
x @0 :List(Float32);
y @1 :List(Float32);
xStd @2 :List(Float32);
yStd @3 :List(Float32);
}
}
struct EncodeData {
idx @0 :EncodeIndex;
data @1 :Data;
@@ -2672,8 +2584,8 @@ struct Event {
# *********** legacy + deprecated ***********
model @9 :Deprecated.ModelData; # TODO: rename modelV2 and mark this as deprecated
liveMpcDEPRECATED @36 :LiveMpcData;
liveLongitudinalMpcDEPRECATED @37 :LiveLongitudinalMpcData;
liveMpcDEPRECATED @36 :Deprecated.LiveMpcData;
liveLongitudinalMpcDEPRECATED @37 :Deprecated.LiveLongitudinalMpcData;
liveLocationKalmanDeprecatedDEPRECATED @51 :Deprecated.LiveLocationData;
orbslamCorrectionDEPRECATED @45 :Deprecated.OrbslamCorrection;
liveUIDEPRECATED @14 :Deprecated.LiveUI;
@@ -2706,13 +2618,13 @@ struct Event {
kalmanOdometryDEPRECATED @65 :Deprecated.KalmanOdometry;
uiLayoutStateDEPRECATED @57 :Deprecated.UiLayoutState;
pandaStateDEPRECATED @12 :PandaState;
driverStateDEPRECATED @59 :DriverStateDEPRECATED;
driverStateDEPRECATED @59 :Deprecated.DriverStateDEPRECATED;
sensorEventsDEPRECATED @11 :List(SensorEventData);
lateralPlanDEPRECATED @64 :LateralPlan;
navModelDEPRECATED @104 :NavModelData;
navModelDEPRECATED @104 :Deprecated.NavModelData;
uiPlanDEPRECATED @106 :UiPlan;
liveLocationKalmanDEPRECATED @72 :LiveLocationKalman;
liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
liveTracksDEPRECATED @16 :List(Deprecated.LiveTracksDEPRECATED);
onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED);
gyroscope2DEPRECATED @100 :SensorEventData;
accelerometer2DEPRECATED @101 :SensorEventData;