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cereal: group inline deprecated fields (#37791)

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This commit is contained in:
Adeeb Shihadeh
2026-04-09 10:41:04 -07:00
committed by GitHub
parent 9dc4986e21
commit a89ed55b65
12 changed files with 412 additions and 359 deletions
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128
cereal/deprecated.capnp
View File

@@ -659,3 +659,131 @@ struct NavModelData @0xac3de5c437be057a {
} }
} }
struct AndroidBuildInfo @0xfe2919d5c21f426c {
board @0 :Text;
bootloader @1 :Text;
brand @2 :Text;
device @3 :Text;
display @4 :Text;
fingerprint @5 :Text;
hardware @6 :Text;
host @7 :Text;
id @8 :Text;
manufacturer @9 :Text;
model @10 :Text;
product @11 :Text;
radioVersion @12 :Text;
serial @13 :Text;
supportedAbis @14 :List(Text);
tags @15 :Text;
time @16 :Int64;
type @17 :Text;
user @18 :Text;
versionCodename @19 :Text;
versionRelease @20 :Text;
versionSdk @21 :Int32;
versionSecurityPatch @22 :Text;
}
struct AndroidSensor @0x9b513b93a887dbcd {
id @0 :Int32;
name @1 :Text;
vendor @2 :Text;
version @3 :Int32;
handle @4 :Int32;
type @5 :Int32;
maxRange @6 :Float32;
resolution @7 :Float32;
power @8 :Float32;
minDelay @9 :Int32;
fifoReservedEventCount @10 :UInt32;
fifoMaxEventCount @11 :UInt32;
stringType @12 :Text;
maxDelay @13 :Int32;
}
struct IosBuildInfo @0xd97e3b28239f5580 {
appVersion @0 :Text;
appBuild @1 :UInt32;
osVersion @2 :Text;
deviceModel @3 :Text;
}
enum FrameTypeDEPRECATED @0xa37f0d8558e193fd {
unknown @0;
neo @1;
chffrAndroid @2;
front @3;
}
struct AndroidCaptureResult @0xbcc3efbac41d2048 {
sensitivity @0 :Int32;
frameDuration @1 :Int64;
exposureTime @2 :Int64;
rollingShutterSkew @3 :UInt64;
colorCorrectionTransform @4 :List(Int32);
colorCorrectionGains @5 :List(Float32);
displayRotation @6 :Int8;
}
enum UsbPowerModeDEPRECATED @0xa8883583b32c9877 {
none @0;
client @1;
cdp @2;
dcp @3;
}
struct LateralINDIState @0x939463348632375e {
active @0 :Bool;
steeringAngleDeg @1 :Float32;
steeringRateDeg @2 :Float32;
steeringAccelDeg @3 :Float32;
rateSetPoint @4 :Float32;
accelSetPoint @5 :Float32;
accelError @6 :Float32;
delayedOutput @7 :Float32;
delta @8 :Float32;
output @9 :Float32;
saturated @10 :Bool;
steeringAngleDesiredDeg @11 :Float32;
steeringRateDesiredDeg @12 :Float32;
}
struct LateralLQRState @0x9024e2d790c82ade {
active @0 :Bool;
steeringAngleDeg @1 :Float32;
i @2 :Float32;
output @3 :Float32;
lqrOutput @4 :Float32;
saturated @5 :Bool;
steeringAngleDesiredDeg @6 :Float32;
}
struct LateralCurvatureState @0xad9d8095c06f7c61 {
active @0 :Bool;
actualCurvature @1 :Float32;
desiredCurvature @2 :Float32;
error @3 :Float32;
p @4 :Float32;
i @5 :Float32;
f @6 :Float32;
output @7 :Float32;
saturated @8 :Bool;
}
struct LateralPlannerSolution @0x84caeca5a6b4acfe {
x @0 :List(Float32);
y @1 :List(Float32);
yaw @2 :List(Float32);
yawRate @3 :List(Float32);
xStd @4 :List(Float32);
yStd @5 :List(Float32);
yawStd @6 :List(Float32);
yawRateStd @7 :List(Float32);
}
struct GpsTrajectory @0x8cfeb072f5301000 {
x @0 :List(Float32);
y @1 :List(Float32);
}

586
cereal/log.capnp
View File

@@ -192,66 +192,16 @@ struct InitData {
espVersion @3 :Text; espVersion @3 :Text;
} }
# ***** deprecated stuff *****
gctxDEPRECATED @1 :Text;
androidBuildInfo @5 :AndroidBuildInfo;
androidSensorsDEPRECATED @6 :List(AndroidSensor);
chffrAndroidExtraDEPRECATED @7 :ChffrAndroidExtra;
iosBuildInfoDEPRECATED @14 :IosBuildInfo;
struct AndroidBuildInfo {
board @0 :Text;
bootloader @1 :Text;
brand @2 :Text;
device @3 :Text;
display @4 :Text;
fingerprint @5 :Text;
hardware @6 :Text;
host @7 :Text;
id @8 :Text;
manufacturer @9 :Text;
model @10 :Text;
product @11 :Text;
radioVersion @12 :Text;
serial @13 :Text;
supportedAbis @14 :List(Text);
tags @15 :Text;
time @16 :Int64;
type @17 :Text;
user @18 :Text;
versionCodename @19 :Text;
versionRelease @20 :Text;
versionSdk @21 :Int32;
versionSecurityPatch @22 :Text;
}
struct AndroidSensor {
id @0 :Int32;
name @1 :Text;
vendor @2 :Text;
version @3 :Int32;
handle @4 :Int32;
type @5 :Int32;
maxRange @6 :Float32;
resolution @7 :Float32;
power @8 :Float32;
minDelay @9 :Int32;
fifoReservedEventCount @10 :UInt32;
fifoMaxEventCount @11 :UInt32;
stringType @12 :Text;
maxDelay @13 :Int32;
}
struct ChffrAndroidExtra { struct ChffrAndroidExtra {
allCameraCharacteristics @0 :Map(Text, Text); allCameraCharacteristics @0 :Map(Text, Text);
} }
struct IosBuildInfo { deprecated :group {
appVersion @0 :Text; gctx @1 :Text;
appBuild @1 :UInt32; androidBuildInfo @5 :Deprecated.AndroidBuildInfo;
osVersion @2 :Text; androidSensors @6 :List(Deprecated.AndroidSensor);
deviceModel @3 :Text; chffrAndroidExtra @7 :ChffrAndroidExtra;
iosBuildInfo @14 :Deprecated.IosBuildInfo;
} }
} }
@@ -280,13 +230,6 @@ struct FrameData {
temperaturesC @24 :List(Float32); temperaturesC @24 :List(Float32);
enum FrameTypeDEPRECATED {
unknown @0;
neo @1;
chffrAndroid @2;
front @3;
}
sensor @26 :ImageSensor; sensor @26 :ImageSensor;
enum ImageSensor { enum ImageSensor {
unknown @0; unknown @0;
@@ -295,26 +238,19 @@ struct FrameData {
os04c10 @3; os04c10 @3;
} }
frameLengthDEPRECATED @3 :Int32; deprecated :group {
globalGainDEPRECATED @5 :Int32; frameLength @3 :Int32;
frameTypeDEPRECATED @7 :FrameTypeDEPRECATED; globalGain @5 :Int32;
androidCaptureResultDEPRECATED @9 :AndroidCaptureResult; frameType @7 :Deprecated.FrameTypeDEPRECATED;
lensPosDEPRECATED @11 :Int32; androidCaptureResult @9 :Deprecated.AndroidCaptureResult;
lensSagDEPRECATED @12 :Float32; lensPos @11 :Int32;
lensErrDEPRECATED @13 :Float32; lensSag @12 :Float32;
lensTruePosDEPRECATED @14 :Float32; lensErr @13 :Float32;
focusValDEPRECATED @16 :List(Int16); lensTruePos @14 :Float32;
focusConfDEPRECATED @17 :List(UInt8); focusVal @16 :List(Int16);
sharpnessScoreDEPRECATED @18 :List(UInt16); focusConf @17 :List(UInt8);
recoverStateDEPRECATED @19 :Int32; sharpnessScore @18 :List(UInt16);
struct AndroidCaptureResult { recoverState @19 :Int32;
sensitivity @0 :Int32;
frameDuration @1 :Int64;
exposureTime @2 :Int64;
rollingShutterSkew @3 :UInt64;
colorCorrectionTransform @4 :List(Int32);
colorCorrectionGains @5 :List(Float32);
displayRotation @6 :Int8;
} }
} }
@@ -343,7 +279,6 @@ struct SensorEventData {
sensor @1 :Int32; sensor @1 :Int32;
type @2 :Int32; type @2 :Int32;
timestamp @3 :Int64; timestamp @3 :Int64;
uncalibratedDEPRECATED @10 :Bool;
union { union {
acceleration @4 :SensorVec; acceleration @4 :SensorVec;
@@ -378,6 +313,10 @@ struct SensorEventData {
lsm6ds3trc @10; lsm6ds3trc @10;
mmc5603nj @11; mmc5603nj @11;
} }
deprecated :group {
uncalibrated @10 :Bool;
}
} }
# android struct GpsLocation # android struct GpsLocation
@@ -463,7 +402,10 @@ struct CanData {
address @0 :UInt32; address @0 :UInt32;
dat @2 :Data; dat @2 :Data;
src @3 :UInt8; src @3 :UInt8;
busTimeDEPRECATED @1 :UInt16;
deprecated :group {
busTime @1 :UInt16;
}
} }
struct DeviceState @0xa4d8b5af2aa492eb { struct DeviceState @0xa4d8b5af2aa492eb {
@@ -553,26 +495,27 @@ struct DeviceState @0xa4d8b5af2aa492eb {
wwanRx @1 :Int64; wwanRx @1 :Int64;
} }
# deprecated deprecated :group {
cpu0DEPRECATED @0 :UInt16; cpu0 @0 :UInt16;
cpu1DEPRECATED @1 :UInt16; cpu1 @1 :UInt16;
cpu2DEPRECATED @2 :UInt16; cpu2 @2 :UInt16;
cpu3DEPRECATED @3 :UInt16; cpu3 @3 :UInt16;
memDEPRECATED @4 :UInt16; mem @4 :UInt16;
gpuDEPRECATED @5 :UInt16; gpu @5 :UInt16;
batDEPRECATED @6 :UInt32; bat @6 :UInt32;
pa0DEPRECATED @21 :UInt16; pa0 @21 :UInt16;
cpuUsagePercentDEPRECATED @20 :Int8; cpuUsagePercent @20 :Int8;
batteryStatusDEPRECATED @9 :Text; batteryStatus @9 :Text;
batteryVoltageDEPRECATED @16 :Int32; batteryVoltage @16 :Int32;
batteryTempCDEPRECATED @29 :Float32; batteryTempC @29 :Float32;
batteryPercentDEPRECATED @8 :Int16; batteryPercent @8 :Int16;
batteryCurrentDEPRECATED @15 :Int32; batteryCurrent @15 :Int32;
chargingErrorDEPRECATED @17 :Bool; chargingError @17 :Bool;
chargingDisabledDEPRECATED @18 :Bool; chargingDisabled @18 :Bool;
usbOnlineDEPRECATED @12 :Bool; usbOnline @12 :Bool;
ambientTempCDEPRECATED @30 :Float32; ambientTempC @30 :Float32;
nvmeTempCDEPRECATED @35 :List(Float32); nvmeTempC @35 :List(Float32);
}
} }
struct PandaState @0xa7649e2575e4591e { struct PandaState @0xa7649e2575e4591e {
@@ -714,15 +657,17 @@ struct PandaState @0xa7649e2575e4591e {
} }
} }
gasInterceptorDetectedDEPRECATED @4 :Bool; deprecated :group {
startedSignalDetectedDEPRECATED @5 :Bool; gasInterceptorDetected @4 :Bool;
hasGpsDEPRECATED @6 :Bool; startedSignalDetected @5 :Bool;
gmlanSendErrsDEPRECATED @9 :UInt32; hasGps @6 :Bool;
fanSpeedRpmDEPRECATED @11 :UInt16; gmlanSendErrs @9 :UInt32;
usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED; fanSpeedRpm @11 :UInt16;
safetyParamDEPRECATED @20 :Int16; usbPowerMode @12 :Deprecated.UsbPowerModeDEPRECATED;
safetyParam2DEPRECATED @26 :UInt32; safetyParam @20 :Int16;
fanStallCountDEPRECATED @34 :UInt8; safetyParam2 @26 :UInt32;
fanStallCount @34 :UInt8;
}
} }
struct PeripheralState { struct PeripheralState {
@@ -731,12 +676,8 @@ struct PeripheralState {
current @2 :UInt32; current @2 :UInt32;
fanSpeedRpm @3 :UInt16; fanSpeedRpm @3 :UInt16;
usbPowerModeDEPRECATED @4 :UsbPowerModeDEPRECATED; deprecated :group {
enum UsbPowerModeDEPRECATED @0xa8883583b32c9877 { usbPowerMode @4 :Deprecated.UsbPowerModeDEPRECATED;
none @0;
client @1;
cdp @2;
dcp @3;
} }
} }
@@ -765,19 +706,22 @@ struct RadarState @0x9a185389d6fdd05f {
radar @14 :Bool; radar @14 :Bool;
radarTrackId @15 :Int32 = -1; radarTrackId @15 :Int32 = -1;
aLeadDEPRECATED @5 :Float32; deprecated :group {
aLead @5 :Float32;
}
} }
# deprecated deprecated :group {
ftMonoTimeDEPRECATED @7 :UInt64; ftMonoTime @7 :UInt64;
warpMatrixDEPRECATED @0 :List(Float32); warpMatrix @0 :List(Float32);
angleOffsetDEPRECATED @1 :Float32; angleOffset @1 :Float32;
calStatusDEPRECATED @2 :Int8; calStatus @2 :Int8;
calCycleDEPRECATED @8 :Int32; calCycle @8 :Int32;
calPercDEPRECATED @9 :Int8; calPerc @9 :Int8;
canMonoTimesDEPRECATED @10 :List(UInt64); canMonoTimes @10 :List(UInt64);
cumLagMsDEPRECATED @5 :Float32; cumLagMs @5 :Float32;
radarErrorsDEPRECATED @12 :List(Car.RadarData.ErrorDEPRECATED); radarErrors @12 :List(Car.RadarData.ErrorDEPRECATED);
}
} }
struct LiveCalibrationData { struct LiveCalibrationData {
@@ -795,10 +739,6 @@ struct LiveCalibrationData {
wideFromDeviceEuler @10 :List(Float32); wideFromDeviceEuler @10 :List(Float32);
height @12 :List(Float32); height @12 :List(Float32);
warpMatrixDEPRECATED @0 :List(Float32);
calStatusDEPRECATED @1 :Int8;
warpMatrix2DEPRECATED @5 :List(Float32);
warpMatrixBigDEPRECATED @6 :List(Float32);
enum Status { enum Status {
uncalibrated @0; uncalibrated @0;
@@ -806,6 +746,13 @@ struct LiveCalibrationData {
invalid @2; invalid @2;
recalibrating @3; recalibrating @3;
} }
deprecated :group {
warpMatrix @0 :List(Float32);
calStatus @1 :Int8;
warpMatrix2 @5 :List(Float32);
warpMatrixBig @6 :List(Float32);
}
} }
struct SelfdriveState { struct SelfdriveState {
@@ -868,25 +815,9 @@ struct ControlsState @0x97ff69c53601abf1 {
debugState @59 :LateralDebugState; debugState @59 :LateralDebugState;
torqueState @60 :LateralTorqueState; torqueState @60 :LateralTorqueState;
curvatureStateDEPRECATED @65 :LateralCurvatureState; curvatureStateDEPRECATED @65 :Deprecated.LateralCurvatureState;
lqrStateDEPRECATED @55 :LateralLQRState; lqrStateDEPRECATED @55 :Deprecated.LateralLQRState;
indiStateDEPRECATED @52 :LateralINDIState; indiStateDEPRECATED @52 :Deprecated.LateralINDIState;
}
struct LateralINDIState {
active @0 :Bool;
steeringAngleDeg @1 :Float32;
steeringRateDeg @2 :Float32;
steeringAccelDeg @3 :Float32;
rateSetPoint @4 :Float32;
accelSetPoint @5 :Float32;
accelError @6 :Float32;
delayedOutput @7 :Float32;
delta @8 :Float32;
output @9 :Float32;
saturated @10 :Bool;
steeringAngleDesiredDeg @11 :Float32;
steeringRateDesiredDeg @12 :Float32;
} }
struct LateralPIDState { struct LateralPIDState {
@@ -918,16 +849,6 @@ struct ControlsState @0x97ff69c53601abf1 {
version @12 :Int32; version @12 :Int32;
} }
struct LateralLQRState {
active @0 :Bool;
steeringAngleDeg @1 :Float32;
i @2 :Float32;
output @3 :Float32;
lqrOutput @4 :Float32;
saturated @5 :Bool;
steeringAngleDesiredDeg @6 :Float32;
}
struct LateralAngleState { struct LateralAngleState {
active @0 :Bool; active @0 :Bool;
steeringAngleDeg @1 :Float32; steeringAngleDeg @1 :Float32;
@@ -936,18 +857,6 @@ struct ControlsState @0x97ff69c53601abf1 {
steeringAngleDesiredDeg @4 :Float32; steeringAngleDesiredDeg @4 :Float32;
} }
struct LateralCurvatureState {
active @0 :Bool;
actualCurvature @1 :Float32;
desiredCurvature @2 :Float32;
error @3 :Float32;
p @4 :Float32;
i @5 :Float32;
f @6 :Float32;
output @7 :Float32;
saturated @8 :Bool;
}
struct LateralDebugState { struct LateralDebugState {
active @0 :Bool; active @0 :Bool;
steeringAngleDeg @1 :Float32; steeringAngleDeg @1 :Float32;
@@ -955,58 +864,59 @@ struct ControlsState @0x97ff69c53601abf1 {
saturated @3 :Bool; saturated @3 :Bool;
} }
# deprecated deprecated :group {
vEgoDEPRECATED @0 :Float32; vEgo @0 :Float32;
vEgoRawDEPRECATED @32 :Float32; vEgoRaw @32 :Float32;
aEgoDEPRECATED @1 :Float32; aEgo @1 :Float32;
canMonoTimeDEPRECATED @16 :UInt64; canMonoTime @16 :UInt64;
radarStateMonoTimeDEPRECATED @17 :UInt64; radarStateMonoTime @17 :UInt64;
mdMonoTimeDEPRECATED @18 :UInt64; mdMonoTime @18 :UInt64;
yActualDEPRECATED @6 :Float32; yActual @6 :Float32;
yDesDEPRECATED @7 :Float32; yDes @7 :Float32;
upSteerDEPRECATED @8 :Float32; upSteer @8 :Float32;
uiSteerDEPRECATED @9 :Float32; uiSteer @9 :Float32;
ufSteerDEPRECATED @34 :Float32; ufSteer @34 :Float32;
aTargetMinDEPRECATED @10 :Float32; aTargetMin @10 :Float32;
aTargetMaxDEPRECATED @11 :Float32; aTargetMax @11 :Float32;
rearViewCamDEPRECATED @23 :Bool; rearViewCam @23 :Bool;
driverMonitoringOnDEPRECATED @43 :Bool; driverMonitoringOn @43 :Bool;
hudLeadDEPRECATED @14 :Int32; hudLead @14 :Int32;
alertSoundDEPRECATED @45 :Text; alertSound @45 :Text;
angleModelBiasDEPRECATED @27 :Float32; angleModelBias @27 :Float32;
gpsPlannerActiveDEPRECATED @40 :Bool; gpsPlannerActive @40 :Bool;
decelForTurnDEPRECATED @47 :Bool; decelForTurn @47 :Bool;
decelForModelDEPRECATED @54 :Bool; decelForModel @54 :Bool;
awarenessStatusDEPRECATED @26 :Float32; awarenessStatus @26 :Float32;
angleSteersDEPRECATED @13 :Float32; angleSteers @13 :Float32;
vCurvatureDEPRECATED @46 :Float32; vCurvature @46 :Float32;
mapValidDEPRECATED @49 :Bool; mapValid @49 :Bool;
jerkFactorDEPRECATED @12 :Float32; jerkFactor @12 :Float32;
steerOverrideDEPRECATED @20 :Bool; steerOverride @20 :Bool;
steeringAngleDesiredDegDEPRECATED @29 :Float32; steeringAngleDesiredDeg @29 :Float32;
canMonoTimesDEPRECATED @21 :List(UInt64); canMonoTimes @21 :List(UInt64);
desiredCurvatureRateDEPRECATED @62 :Float32; desiredCurvatureRate @62 :Float32;
canErrorCounterDEPRECATED @57 :UInt32; canErrorCounter @57 :UInt32;
vPidDEPRECATED @2 :Float32; vPid @2 :Float32;
alertBlinkingRateDEPRECATED @42 :Float32; alertBlinkingRate @42 :Float32;
alertText1DEPRECATED @24 :Text; alertText1 @24 :Text;
alertText2DEPRECATED @25 :Text; alertText2 @25 :Text;
alertStatusDEPRECATED @38 :SelfdriveState.AlertStatus; alertStatus @38 :SelfdriveState.AlertStatus;
alertSizeDEPRECATED @39 :SelfdriveState.AlertSize; alertSize @39 :SelfdriveState.AlertSize;
alertTypeDEPRECATED @44 :Text; alertType @44 :Text;
alertSound2DEPRECATED @56 :Car.CarControl.HUDControl.AudibleAlert; alertSound2 @56 :Car.CarControl.HUDControl.AudibleAlert;
engageableDEPRECATED @41 :Bool; # can OP be engaged? engageable @41 :Bool; # can OP be engaged?
stateDEPRECATED @31 :SelfdriveState.OpenpilotState; state @31 :SelfdriveState.OpenpilotState;
enabledDEPRECATED @19 :Bool; enabled @19 :Bool;
activeDEPRECATED @36 :Bool; active @36 :Bool;
experimentalModeDEPRECATED @64 :Bool; experimentalMode @64 :Bool;
personalityDEPRECATED @66 :LongitudinalPersonality; personality @66 :LongitudinalPersonality;
vCruiseDEPRECATED @22 :Float32; # actual set speed vCruise @22 :Float32; # actual set speed
vCruiseClusterDEPRECATED @63 :Float32; # set speed to display in the UI vCruiseCluster @63 :Float32; # set speed to display in the UI
startMonoTimeDEPRECATED @48 :UInt64; startMonoTime @48 :UInt64;
cumLagMsDEPRECATED @15 :Float32; cumLagMs @15 :Float32;
aTargetDEPRECATED @35 :Float32; aTarget @35 :Float32;
vTargetLeadDEPRECATED @3 :Float32; vTargetLead @3 :Float32;
}
} }
struct DrivingModelData { struct DrivingModelData {
@@ -1082,16 +992,10 @@ struct ModelDataV2 {
meta @12 :MetaData; meta @12 :MetaData;
confidence @23: ConfidenceClass; confidence @23: ConfidenceClass;
# Model perceived motion
temporalPoseDEPRECATED @21 :Pose;
# e2e lateral planner # e2e lateral planner
action @26: Action; action @26: Action;
gpuExecutionTimeDEPRECATED @17 :Float32; lateralPlannerSolutionDEPRECATED @25: Deprecated.LateralPlannerSolution;
navEnabledDEPRECATED @22 :Bool;
locationMonoTimeDEPRECATED @24 :UInt64;
lateralPlannerSolutionDEPRECATED @25: LateralPlannerSolution;
struct LeadDataV2 { struct LeadDataV2 {
prob @0 :Float32; # probability that car is your lead at time t prob @0 :Float32; # probability that car is your lead at time t
@@ -1133,10 +1037,11 @@ struct ModelDataV2 {
laneChangeDirection @9 :LaneChangeDirection; laneChangeDirection @9 :LaneChangeDirection;
# deprecated deprecated :group {
brakeDisengageProbDEPRECATED @2 :Float32; brakeDisengageProb @2 :Float32;
gasDisengageProbDEPRECATED @3 :Float32; gasDisengageProb @3 :Float32;
steerOverrideProbDEPRECATED @4 :Float32; steerOverrideProb @4 :Float32;
}
} }
enum ConfidenceClass { enum ConfidenceClass {
@@ -1164,22 +1069,18 @@ struct ModelDataV2 {
rotStd @3 :List(Float32); # std rad/s in device frame rotStd @3 :List(Float32); # std rad/s in device frame
} }
struct LateralPlannerSolution {
x @0 :List(Float32);
y @1 :List(Float32);
yaw @2 :List(Float32);
yawRate @3 :List(Float32);
xStd @4 :List(Float32);
yStd @5 :List(Float32);
yawStd @6 :List(Float32);
yawRateStd @7 :List(Float32);
}
struct Action { struct Action {
desiredCurvature @0 :Float32; desiredCurvature @0 :Float32;
desiredAcceleration @1 :Float32; desiredAcceleration @1 :Float32;
shouldStop @2 :Bool; shouldStop @2 :Bool;
} }
deprecated :group {
temporalPose @21 :Pose;
gpuExecutionTime @17 :Float32;
navEnabled @22 :Bool;
locationMonoTime @24 :UInt64;
}
} }
struct EncodeIndex { struct EncodeIndex {
@@ -1265,38 +1166,35 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
e2e @4; e2e @4;
} }
# deprecated
vCruiseDEPRECATED @16 :Float32;
aCruiseDEPRECATED @17 :Float32;
vTargetDEPRECATED @3 :Float32;
vTargetFutureDEPRECATED @14 :Float32;
vStartDEPRECATED @26 :Float32;
aStartDEPRECATED @27 :Float32;
vMaxDEPRECATED @20 :Float32;
radarStateMonoTimeDEPRECATED @10 :UInt64;
jerkFactorDEPRECATED @6 :Float32;
hasLeftLaneDEPRECATED @23 :Bool;
hasRightLaneDEPRECATED @24 :Bool;
aTargetMinDEPRECATED @4 :Float32;
aTargetMaxDEPRECATED @5 :Float32;
lateralValidDEPRECATED @0 :Bool;
longitudinalValidDEPRECATED @2 :Bool;
dPolyDEPRECATED @1 :List(Float32);
laneWidthDEPRECATED @11 :Float32;
vCurvatureDEPRECATED @21 :Float32;
decelForTurnDEPRECATED @22 :Bool;
mapValidDEPRECATED @25 :Bool;
radarValidDEPRECATED @28 :Bool;
radarCanErrorDEPRECATED @30 :Bool;
commIssueDEPRECATED @31 :Bool;
eventsDEPRECATED @13 :List(Car.OnroadEventDEPRECATED);
gpsTrajectoryDEPRECATED @12 :GpsTrajectory;
gpsPlannerActiveDEPRECATED @19 :Bool;
personalityDEPRECATED @36 :LongitudinalPersonality;
struct GpsTrajectory { deprecated :group {
x @0 :List(Float32); vCruise @16 :Float32;
y @1 :List(Float32); aCruise @17 :Float32;
vTarget @3 :Float32;
vTargetFuture @14 :Float32;
vStart @26 :Float32;
aStart @27 :Float32;
vMax @20 :Float32;
radarStateMonoTime @10 :UInt64;
jerkFactor @6 :Float32;
hasLeftLane @23 :Bool;
hasRightLane @24 :Bool;
aTargetMin @4 :Float32;
aTargetMax @5 :Float32;
lateralValid @0 :Bool;
longitudinalValid @2 :Bool;
dPoly @1 :List(Float32);
laneWidth @11 :Float32;
vCurvature @21 :Float32;
decelForTurn @22 :Bool;
mapValid @25 :Bool;
radarValid @28 :Bool;
radarCanError @30 :Bool;
commIssue @31 :Bool;
events @13 :List(Car.OnroadEventDEPRECATED);
gpsTrajectory @12 :Deprecated.GpsTrajectory;
gpsPlannerActive @19 :Bool;
personality @36 :LongitudinalPersonality;
} }
} }
struct UiPlan { struct UiPlan {
@@ -1307,11 +1205,7 @@ struct UiPlan {
struct LateralPlan @0xe1e9318e2ae8b51e { struct LateralPlan @0xe1e9318e2ae8b51e {
modelMonoTime @31 :UInt64; modelMonoTime @31 :UInt64;
laneWidthDEPRECATED @0 :Float32;
lProbDEPRECATED @5 :Float32;
rProbDEPRECATED @7 :Float32;
dPathPoints @20 :List(Float32); dPathPoints @20 :List(Float32);
dProbDEPRECATED @21 :Float32;
mpcSolutionValid @9 :Bool; mpcSolutionValid @9 :Bool;
desire @17 :Desire; desire @17 :Desire;
@@ -1333,24 +1227,29 @@ struct LateralPlan @0xe1e9318e2ae8b51e {
u @1 :List(Float32); u @1 :List(Float32);
} }
# deprecated deprecated :group {
curvatureDEPRECATED @22 :Float32; laneWidth @0 :Float32;
curvatureRateDEPRECATED @23 :Float32; lProb @5 :Float32;
rawCurvatureDEPRECATED @24 :Float32; rProb @7 :Float32;
rawCurvatureRateDEPRECATED @25 :Float32; dProb @21 :Float32;
cProbDEPRECATED @3 :Float32; curvature @22 :Float32;
dPolyDEPRECATED @1 :List(Float32); curvatureRate @23 :Float32;
cPolyDEPRECATED @2 :List(Float32); rawCurvature @24 :Float32;
lPolyDEPRECATED @4 :List(Float32); rawCurvatureRate @25 :Float32;
rPolyDEPRECATED @6 :List(Float32); cProb @3 :Float32;
modelValidDEPRECATED @12 :Bool; dPoly @1 :List(Float32);
commIssueDEPRECATED @15 :Bool; cPoly @2 :List(Float32);
posenetValidDEPRECATED @16 :Bool; lPoly @4 :List(Float32);
sensorValidDEPRECATED @14 :Bool; rPoly @6 :List(Float32);
paramsValidDEPRECATED @10 :Bool; modelValid @12 :Bool;
steeringAngleDegDEPRECATED @8 :Float32; # deg commIssue @15 :Bool;
steeringRateDegDEPRECATED @13 :Float32; # deg/s posenetValid @16 :Bool;
angleOffsetDegDEPRECATED @11 :Float32; sensorValid @14 :Bool;
paramsValid @10 :Bool;
steeringAngleDeg @8 :Float32; # deg
steeringRateDeg @13 :Float32; # deg/s
angleOffsetDeg @11 :Float32;
}
} }
struct LiveLocationKalman { struct LiveLocationKalman {
@@ -1545,7 +1444,10 @@ struct GnssMeasurements {
# Satellite position and velocity [x,y,z] # Satellite position and velocity [x,y,z]
satPos @7 :List(Float64); satPos @7 :List(Float64);
satVel @8 :List(Float64); satVel @8 :List(Float64);
ephemerisSourceDEPRECATED @9 :EphemerisSourceDEPRECATED;
deprecated :group {
ephemerisSource @9 :EphemerisSourceDEPRECATED;
}
} }
struct EphemerisSourceDEPRECATED { struct EphemerisSourceDEPRECATED {
@@ -1700,7 +1602,6 @@ struct UbloxGnss {
iDot @26 :Float64; iDot @26 :Float64;
codesL2 @27 :Float64; codesL2 @27 :Float64;
gpsWeekDEPRECATED @28 :Float64;
l2 @29 :Float64; l2 @29 :Float64;
svAcc @30 :Float64; svAcc @30 :Float64;
@@ -1720,6 +1621,10 @@ struct UbloxGnss {
towCount @40 :UInt32; towCount @40 :UInt32;
toeWeek @41 :UInt16; toeWeek @41 :UInt16;
tocWeek @42 :UInt16; tocWeek @42 :UInt16;
deprecated :group {
gpsWeek @28 :Float64;
}
} }
struct IonoData { struct IonoData {
@@ -1798,7 +1703,6 @@ struct UbloxGnss {
age @17 :UInt8; age @17 :UInt8;
svHealth @18 :UInt8; svHealth @18 :UInt8;
tkDEPRECATED @19 :UInt16;
tb @20 :UInt16; tb @20 :UInt16;
tauN @21 :Float64; tauN @21 :Float64;
@@ -1810,12 +1714,16 @@ struct UbloxGnss {
p3 @26 :UInt8; p3 @26 :UInt8;
p4 @27 :UInt8; p4 @27 :UInt8;
freqNumDEPRECATED @28 :UInt32;
n4 @29 :UInt8; n4 @29 :UInt8;
nt @30 :UInt16; nt @30 :UInt16;
freqNum @31 :Int16; freqNum @31 :Int16;
tkSeconds @32 :UInt32; tkSeconds @32 :UInt32;
deprecated :group {
tk @19 :UInt16;
freqNum @28 :UInt32;
}
} }
} }
@@ -2116,10 +2024,12 @@ struct QcomGnss @0xde94674b07ae51c1 {
struct Clocks { struct Clocks {
wallTimeNanos @3 :UInt64; # unix epoch time wallTimeNanos @3 :UInt64; # unix epoch time
bootTimeNanosDEPRECATED @0 :UInt64; deprecated :group {
monotonicNanosDEPRECATED @1 :UInt64; bootTimeNanos @0 :UInt64;
monotonicRawNanosDEPRECATD @2 :UInt64; monotonicNanos @1 :UInt64;
modemUptimeMillisDEPRECATED @4 :UInt64; monotonicRawNanos @2 :UInt64;
modemUptimeMillis @4 :UInt64;
}
} }
struct Joystick { struct Joystick {
@@ -2147,18 +2057,23 @@ struct DriverStateV2 {
eyesVisibleProb @14 :Float32; eyesVisibleProb @14 :Float32;
eyesClosedProb @15 :Float32; eyesClosedProb @15 :Float32;
phoneProb @13 :Float32; phoneProb @13 :Float32;
leftEyeProbDEPRECATED @5 :Float32;
rightEyeProbDEPRECATED @6 :Float32; deprecated :group {
leftBlinkProbDEPRECATED @7 :Float32; leftEyeProb @5 :Float32;
rightBlinkProbDEPRECATED @8 :Float32; rightEyeProb @6 :Float32;
sunglassesProbDEPRECATED @9 :Float32; leftBlinkProb @7 :Float32;
notReadyProbDEPRECATED @12 :List(Float32); rightBlinkProb @8 :Float32;
occludedProbDEPRECATED @10 :Float32; sunglassesProb @9 :Float32;
readyProbDEPRECATED @11 :List(Float32); notReadyProb @12 :List(Float32);
occludedProb @10 :Float32;
readyProb @11 :List(Float32);
}
} }
dspExecutionTimeDEPRECATED @2 :Float32; deprecated :group {
poorVisionProbDEPRECATED @4 :Float32; dspExecutionTime @2 :Float32;
poorVisionProb @4 :Float32;
}
} }
struct DriverMonitoringState @0xb83cda094a1da284 { struct DriverMonitoringState @0xb83cda094a1da284 {
@@ -2180,11 +2095,13 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
isRHD @4 :Bool; isRHD @4 :Bool;
uncertainCount @19 :UInt32; uncertainCount @19 :UInt32;
phoneProbOffsetDEPRECATED @20 :Float32; deprecated :group {
phoneProbValidCountDEPRECATED @21 :UInt32; phoneProbOffset @20 :Float32;
isPreviewDEPRECATED @15 :Bool; phoneProbValidCount @21 :UInt32;
rhdCheckedDEPRECATED @5 :Bool; isPreview @15 :Bool;
eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED); rhdChecked @5 :Bool;
events @0 :List(Car.OnroadEventDEPRECATED);
}
} }
struct Boot { struct Boot {
@@ -2193,8 +2110,10 @@ struct Boot {
commands @5 :Map(Text, Data); commands @5 :Map(Text, Data);
launchLog @3 :Text; launchLog @3 :Text;
lastKmsgDEPRECATED @1 :Data; deprecated :group {
lastPmsgDEPRECATED @2 :Data; lastKmsg @1 :Data;
lastPmsg @2 :Data;
}
} }
struct LiveParametersData { struct LiveParametersData {
@@ -2219,13 +2138,16 @@ struct LiveParametersData {
steerRatioValid @19 :Bool = true; steerRatioValid @19 :Bool = true;
stiffnessFactorValid @20 :Bool = true; stiffnessFactorValid @20 :Bool = true;
yawRateDEPRECATED @7 :Float32;
filterStateDEPRECATED @15 :LiveLocationKalman.Measurement;
struct FilterState { struct FilterState {
value @0 : List(Float64); value @0 : List(Float64);
std @1 : List(Float64); std @1 : List(Float64);
} }
deprecated :group {
yawRate @7 :Float32;
filterState @15 :LiveLocationKalman.Measurement;
}
} }
struct LiveTorqueParametersData { struct LiveTorqueParametersData {
@@ -2419,7 +2341,9 @@ struct SoundPressure @0xdc24138990726023 {
soundPressureWeighted @3 :Float32; soundPressureWeighted @3 :Float32;
soundPressureWeightedDb @1 :Float32; soundPressureWeightedDb @1 :Float32;
filteredSoundPressureWeightedDbDEPRECATED @2 :Float32; deprecated :group {
filteredSoundPressureWeightedDb @2 :Float32;
}
} }
struct AudioData { struct AudioData {

4
common/utils.py
View File

@@ -131,11 +131,11 @@ def get_upload_stream(filepath: str, should_compress: bool) -> tuple[io.Buffered
return compressed_stream, compressed_size return compressed_stream, compressed_size
# remove all keys that end in DEPRECATED # remove all keys that end in DEPRECATED, plus any "deprecated" group
def strip_deprecated_keys(d): def strip_deprecated_keys(d):
for k in list(d.keys()): for k in list(d.keys()):
if isinstance(k, str): if isinstance(k, str):
if k.endswith('DEPRECATED'): if k.endswith('DEPRECATED') or k == 'deprecated':
d.pop(k) d.pop(k)
elif isinstance(d[k], dict): elif isinstance(d[k], dict):
strip_deprecated_keys(d[k]) strip_deprecated_keys(d[k])

4
selfdrive/test/fuzzy_generation.py
View File

@@ -46,8 +46,8 @@ class FuzzyGenerator:
def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str | None = None) -> st.SearchStrategy[dict[str, Any]]: def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str | None = None) -> st.SearchStrategy[dict[str, Any]]:
single_fill: tuple[str, ...] = (event,) if event else (self.draw(st.sampled_from(schema.union_fields)),) if schema.union_fields else () single_fill: tuple[str, ...] = (event,) if event else (self.draw(st.sampled_from(schema.union_fields)),) if schema.union_fields else ()
fields_to_generate = schema.non_union_fields + single_fill fields_to_generate = [f for f in schema.non_union_fields + single_fill if not f.endswith('DEPRECATED') and f != 'deprecated']
return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in fields_to_generate if not field.endswith('DEPRECATED')}) return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in fields_to_generate})
@staticmethod @staticmethod
@cache @cache

10
selfdrive/test/process_replay/migration.py
View File

@@ -225,7 +225,7 @@ def migrate_controlsState(msgs):
for field in ("enabled", "active", "state", "engageable", "alertText1", "alertText2", for field in ("enabled", "active", "state", "engageable", "alertText1", "alertText2",
"alertStatus", "alertSize", "alertType", "experimentalMode", "alertStatus", "alertSize", "alertType", "experimentalMode",
"personality"): "personality"):
setattr(ss, field, getattr(msg.controlsState, field+"DEPRECATED")) setattr(ss, field, getattr(msg.controlsState.deprecated, field))
add_ops.append(m.as_reader()) add_ops.append(m.as_reader())
return [], add_ops, [] return [], add_ops, []
@@ -238,10 +238,10 @@ def migrate_carState(msgs):
if msg.which() == 'controlsState': if msg.which() == 'controlsState':
last_cs = msg last_cs = msg
elif msg.which() == 'carState' and last_cs is not None: elif msg.which() == 'carState' and last_cs is not None:
if last_cs.controlsState.vCruiseDEPRECATED - msg.carState.vCruise > 0.1: if last_cs.controlsState.deprecated.vCruise - msg.carState.vCruise > 0.1:
msg = msg.as_builder() msg = msg.as_builder()
msg.carState.vCruise = last_cs.controlsState.vCruiseDEPRECATED msg.carState.vCruise = last_cs.controlsState.deprecated.vCruise
msg.carState.vCruiseCluster = last_cs.controlsState.vCruiseClusterDEPRECATED msg.carState.vCruiseCluster = last_cs.controlsState.deprecated.vCruiseCluster
ops.append((index, msg.as_reader())) ops.append((index, msg.as_reader()))
return ops, [], [] return ops, [], []
@@ -488,7 +488,7 @@ def migrate_driverMonitoringState(msgs):
for index, msg in msgs: for index, msg in msgs:
msg = msg.as_builder() msg = msg.as_builder()
events = [] events = []
for event in msg.driverMonitoringState.eventsDEPRECATED: for event in msg.driverMonitoringState.deprecated.events:
try: try:
if not str(event.name).endswith('DEPRECATED'): if not str(event.name).endswith('DEPRECATED'):
migrated_event = migrate_onroad_event(event) migrated_event = migrate_onroad_event(event)

2
selfdrive/ui/mici/onroad/hud_renderer.py
View File

@@ -153,7 +153,7 @@ class HudRenderer(Widget):
v_cruise_cluster = car_state.vCruiseCluster v_cruise_cluster = car_state.vCruiseCluster
set_speed = ( set_speed = (
controls_state.vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster controls_state.deprecated.vCruise if v_cruise_cluster == 0.0 else v_cruise_cluster
) )
engaged = sm['selfdriveState'].enabled engaged = sm['selfdriveState'].enabled
if (set_speed != self.set_speed and engaged) or (engaged and not self._engaged): if (set_speed != self.set_speed and engaged) or (engaged and not self._engaged):

2
selfdrive/ui/onroad/hud_renderer.py
View File

@@ -86,7 +86,7 @@ class HudRenderer(Widget):
v_cruise_cluster = car_state.vCruiseCluster v_cruise_cluster = car_state.vCruiseCluster
self.set_speed = ( self.set_speed = (
controls_state.vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster controls_state.deprecated.vCruise if v_cruise_cluster == 0.0 else v_cruise_cluster
) )
self.is_cruise_set = 0 < self.set_speed < SET_SPEED_NA self.is_cruise_set = 0 < self.set_speed < SET_SPEED_NA
self.is_cruise_available = self.set_speed != -1 self.is_cruise_available = self.set_speed != -1

2
system/ubloxd/ubloxd.py
View File

@@ -365,7 +365,7 @@ class UbloxMsgParser:
assert isinstance(s1, Glonass.String1) assert isinstance(s1, Glonass.String1)
eph.p1 = int(s1.p1) eph.p1 = int(s1.p1)
tk = int(s1.t_k) tk = int(s1.t_k)
eph.tkDEPRECATED = tk eph.deprecated.tk = tk
eph.xVel = float(s1.x_vel) * math.pow(2, -20) eph.xVel = float(s1.x_vel) * math.pow(2, -20)
eph.xAccel = float(s1.x_accel) * math.pow(2, -30) eph.xAccel = float(s1.x_accel) * math.pow(2, -30)
eph.x = float(s1.x) * math.pow(2, -11) eph.x = float(s1.x) * math.pow(2, -11)

2
system/webrtc/schema.py
View File

@@ -16,7 +16,7 @@ def generate_type(type_walker, schema_walker) -> str | list[Any] | dict[str, Any
def generate_struct(schema: capnp.lib.capnp._StructSchema) -> dict[str, Any]: def generate_struct(schema: capnp.lib.capnp._StructSchema) -> dict[str, Any]:
return {field: generate_field(schema.fields[field]) for field in schema.fields if not field.endswith("DEPRECATED")} return {field: generate_field(schema.fields[field]) for field in schema.fields if not field.endswith("DEPRECATED") and field != "deprecated"}
def generate_field(field: capnp.lib.capnp._StructSchemaField) -> str | list[Any] | dict[str, Any]: def generate_field(field: capnp.lib.capnp._StructSchemaField) -> str | list[Any] | dict[str, Any]:

2
tools/jotpluggler/browser.cc
View File

@@ -73,7 +73,7 @@ std::vector<BrowserNode> build_browser_tree(const std::vector<std::string> &path
} }
bool is_deprecated_browser_path(const std::string &path) { bool is_deprecated_browser_path(const std::string &path) {
return path.find("DEPRECATED") != std::string::npos; return path.find("DEPRECATED") != std::string::npos || path.find("/deprecated/") != std::string::npos;
} }
std::vector<std::string> visible_browser_paths(const RouteData &route_data, bool show_deprecated_fields) { std::vector<std::string> visible_browser_paths(const RouteData &route_data, bool show_deprecated_fields) {

4
tools/jotpluggler/sketch_layout.cc
View File

@@ -1304,7 +1304,7 @@ void append_event_fast(cereal::Event::Which which,
append_can_frame(can_service, append_can_frame(can_service,
static_cast<uint8_t>(msg.getSrc()), static_cast<uint8_t>(msg.getSrc()),
msg.getAddress(), msg.getAddress(),
msg.getBusTimeDEPRECATED(), msg.getDeprecated().getBusTime(),
msg.getDat(), msg.getDat(),
tm, tm,
series); series);
@@ -1316,7 +1316,7 @@ void append_event_fast(cereal::Event::Which which,
append_can_frame(can_service, append_can_frame(can_service,
static_cast<uint8_t>(msg.getSrc()), static_cast<uint8_t>(msg.getSrc()),
msg.getAddress(), msg.getAddress(),
msg.getBusTimeDEPRECATED(), msg.getDeprecated().getBusTime(),
msg.getDat(), msg.getDat(),
tm, tm,
series); series);

25
tools/replay/logreader.cc
View File

@@ -142,18 +142,19 @@ void LogReader::migrateOldEvents() {
new_evt.setLogMonoTime(old_evt.getLogMonoTime()); new_evt.setLogMonoTime(old_evt.getLogMonoTime());
auto new_state = new_evt.initSelfdriveState(); auto new_state = new_evt.initSelfdriveState();
new_state.setActive(old_state.getActiveDEPRECATED()); auto old_dep = old_state.getDeprecated();
new_state.setAlertSize(old_state.getAlertSizeDEPRECATED()); new_state.setActive(old_dep.getActive());
new_state.setAlertSound(old_state.getAlertSound2DEPRECATED()); new_state.setAlertSize(old_dep.getAlertSize());
new_state.setAlertStatus(old_state.getAlertStatusDEPRECATED()); new_state.setAlertSound(old_dep.getAlertSound2());
new_state.setAlertText1(old_state.getAlertText1DEPRECATED()); new_state.setAlertStatus(old_dep.getAlertStatus());
new_state.setAlertText2(old_state.getAlertText2DEPRECATED()); new_state.setAlertText1(old_dep.getAlertText1());
new_state.setAlertType(old_state.getAlertTypeDEPRECATED()); new_state.setAlertText2(old_dep.getAlertText2());
new_state.setEnabled(old_state.getEnabledDEPRECATED()); new_state.setAlertType(old_dep.getAlertType());
new_state.setEngageable(old_state.getEngageableDEPRECATED()); new_state.setEnabled(old_dep.getEnabled());
new_state.setExperimentalMode(old_state.getExperimentalModeDEPRECATED()); new_state.setEngageable(old_dep.getEngageable());
new_state.setPersonality(old_state.getPersonalityDEPRECATED()); new_state.setExperimentalMode(old_dep.getExperimentalMode());
new_state.setState(old_state.getStateDEPRECATED()); new_state.setPersonality(old_dep.getPersonality());
new_state.setState(old_dep.getState());
// Serialize the new event to the buffer // Serialize the new event to the buffer
auto buf_size = msg.getSerializedSize(); auto buf_size = msg.getSerializedSize();