no hud

cereal/custom.capnp

@@ -371,15 +371,6 @@ struct CarControlSP @0xa5cd762cd951a455 {
   leadOne @2 :LeadData;
   leadTwo @3 :LeadData;
   intelligentCruiseButtonManagement @4 :IntelligentCruiseButtonManagement;
-  radarTracks @5 :List(RadarTrack);
-  radarTracksActive @6 :Bool;
-
-  struct RadarTrack {
-    trackId @0 :UInt64;
-    dRel @1 :Float32;
-    yRel @2 :Float32;
-    vRel @3 :Float32;
-  }
 
   struct Param {
     key @0 :Text;

selfdrive/car/helpers.py

@@ -60,7 +60,6 @@ def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> struct
   # struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])]
   struct_dataclass.leadOne = structs.LeadData(**remove_deprecated(struct_dict.get('leadOne', {})))
   struct_dataclass.leadTwo = structs.LeadData(**remove_deprecated(struct_dict.get('leadTwo', {})))
-  struct_dataclass.radarTracks = [structs.CarControlSP.RadarTrack(**track) for track in struct_dict.get('radarTracks', [])]
   struct_dataclass.intelligentCruiseButtonManagement = structs.IntelligentCruiseButtonManagement(
     **remove_deprecated(struct_dict.get('intelligentCruiseButtonManagement', {}))
   )

sunnypilot/selfdrive/controls/controlsd_ext.py

@@ -31,7 +31,7 @@ class ControlsExt(ModelStateBase):
     self.CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP)
     cloudlog.info("controlsd_ext got CarParamsSP")
 
-    self.sm_services_ext = ['radarState', 'selfdriveStateSP', 'liveTracks']
+    self.sm_services_ext = ['radarState', 'selfdriveStateSP']
     self.pm_services_ext = ['carControlSP']
 
   def initialize_lateral_control(self, lac, CI, dt):
@@ -85,25 +85,12 @@ class ControlsExt(ModelStateBase):
     _lead.radar = src.radar
     _lead.radarTrackId = src.radarTrackId
 
-  @staticmethod
-  def get_radar_track_data(CC_SP: custom.CarControlSP, live_tracks, valid: bool) -> None:
-    CC_SP.radarTracksActive = valid and len(live_tracks.trackSources) > 0
-    source_tracks = live_tracks.points if CC_SP.radarTracksActive else ()
-    radar_tracks = CC_SP.init('radarTracks', len(source_tracks))
-    for dst, src in zip(radar_tracks, source_tracks, strict=True):
-      dst.trackId = src.trackId
-      dst.dRel = src.dRel
-      dst.yRel = src.yRel
-      dst.vRel = src.vRel
-
   def state_control_ext(self, sm: messaging.SubMaster) -> custom.CarControlSP:
     CC_SP = custom.CarControlSP.new_message()
 
     self.get_lead_data(CC_SP.leadOne, sm['radarState'].leadOne)
     self.get_lead_data(CC_SP.leadTwo, sm['radarState'].leadTwo)
 
-    self.get_radar_track_data(CC_SP, sm['liveTracks'], sm.valid['liveTracks'])
-
     # MADS state
     mads_src = sm['selfdriveStateSP'].mads
     CC_SP.mads.state = mads_src.state

sunnypilot/selfdrive/controls/test_controlsd_ext.py

@@ -1,34 +0,0 @@
-from cereal import car, custom
-
-from openpilot.sunnypilot.selfdrive.controls.controlsd_ext import ControlsExt
-
-
-def make_live_tracks(with_source: bool):
-  live_tracks = car.RadarData.new_message()
-  point = live_tracks.init("points", 1)[0]
-  point.trackId = 7
-  point.dRel = 12
-  point.yRel = -3
-  point.vRel = 1
-  if with_source:
-    live_tracks.trackSources = [{"startAddress": 0x500, "endAddress": 0x51F, "bus": 1, "trackCount": 1}]
-  return live_tracks
-
-
-def test_inactive_radar_tracks_ignores_stale_points():
-  cc_sp = custom.CarControlSP.new_message()
-
-  ControlsExt.get_radar_track_data(cc_sp, make_live_tracks(with_source=False), valid=True)
-
-  assert not cc_sp.radarTracksActive
-  assert len(cc_sp.radarTracks) == 0
-
-
-def test_active_radar_tracks_are_copied():
-  cc_sp = custom.CarControlSP.new_message()
-
-  ControlsExt.get_radar_track_data(cc_sp, make_live_tracks(with_source=True), valid=True)
-
-  assert cc_sp.radarTracksActive
-  assert len(cc_sp.radarTracks) == 1
-  assert cc_sp.radarTracks[0].trackId == 7