Deprecate controlsState state fields (#33437)

* Deprecate controlsState state fields

* sim works

* update refs

* one more

* these too

* update sim
old-commit-hash: 3924ac587b735d1e735af4cb77faf6ccf053f656

selfdrive/controls/controlsd.py

@@ -733,22 +733,10 @@ class Controls:
     dat = messaging.new_message('controlsState')
     dat.valid = CS.canValid
     controlsState = dat.controlsState
-    if current_alert:
-      controlsState.alertText1 = current_alert.alert_text_1
-      controlsState.alertText2 = current_alert.alert_text_2
-      controlsState.alertSize = current_alert.alert_size
-      controlsState.alertStatus = current_alert.alert_status
-      controlsState.alertType = current_alert.alert_type
-      controlsState.alertSound = current_alert.audible_alert
-
     controlsState.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan']
     controlsState.lateralPlanMonoTime = self.sm.logMonoTime['modelV2']
-    controlsState.enabled = self.enabled
-    controlsState.active = self.active
     controlsState.curvature = curvature
     controlsState.desiredCurvature = self.desired_curvature
-    controlsState.state = self.state
-    controlsState.engageable = not self.events.contains(ET.NO_ENTRY)
     controlsState.longControlState = self.LoC.long_control_state
     controlsState.upAccelCmd = float(self.LoC.pid.p)
     controlsState.uiAccelCmd = float(self.LoC.pid.i)
@@ -756,8 +744,6 @@ class Controls:
     controlsState.cumLagMs = -self.rk.remaining * 1000.
     controlsState.startMonoTime = int(start_time * 1e9)
     controlsState.forceDecel = bool(force_decel)
-    controlsState.experimentalMode = self.experimental_mode
-    controlsState.personality = self.personality
 
     lat_tuning = self.CP.lateralTuning.which()
     if self.joystick_mode:

selfdrive/controls/lib/longitudinal_planner.py

@@ -96,7 +96,7 @@ class LongitudinalPlanner:
     return x, v, a, j
 
   def update(self, sm):
-    self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'
+    self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
 
     v_ego = sm['carState'].vEgo
     v_cruise_kph = min(sm['carState'].vCruise, V_CRUISE_MAX)
@@ -106,7 +106,7 @@ class LongitudinalPlanner:
     force_slow_decel = sm['controlsState'].forceDecel
 
     # Reset current state when not engaged, or user is controlling the speed
-    reset_state = long_control_off if self.CP.openpilotLongitudinalControl else not sm['controlsState'].enabled
+    reset_state = long_control_off if self.CP.openpilotLongitudinalControl else not sm['selfdriveState'].enabled
 
     # No change cost when user is controlling the speed, or when standstill
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)
@@ -134,11 +134,11 @@ class LongitudinalPlanner:
     accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05)
     accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05)
 
-    self.mpc.set_weights(prev_accel_constraint, personality=sm['controlsState'].personality)
+    self.mpc.set_weights(prev_accel_constraint, personality=sm['selfdriveState'].personality)
     self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
     x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
-    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['controlsState'].personality)
+    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['selfdriveState'].personality)
 
     self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
     self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
@@ -157,7 +157,7 @@ class LongitudinalPlanner:
   def publish(self, sm, pm):
     plan_send = messaging.new_message('longitudinalPlan')
 
-    plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
+    plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'selfdriveState'])
 
     longitudinalPlan = plan_send.longitudinalPlan
     longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']

selfdrive/controls/plannerd.py

@@ -17,7 +17,7 @@ def plannerd_thread():
 
   longitudinal_planner = LongitudinalPlanner(CP)
   pm = messaging.PubMaster(['longitudinalPlan'])
-  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'selfdriveState'],
                            poll='modelV2', ignore_avg_freq=['radarState'])
 
   while True: