From c5c2a60f1aa796e7de464015349db3c336b79220 Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Mon, 4 Mar 2024 13:10:36 -0500
Subject: [PATCH] move actuatorsoutput to new CarOutput service (#596)

* card output

* fix

* add to log
---
 car.capnp   | 15 ++++++++++-----
 log.capnp   |  1 +
 services.py |  1 +
 3 files changed, 12 insertions(+), 5 deletions(-)

diff --git a/car.capnp b/car.capnp
index 3d7d737dc..756a80705 100644
--- a/car.capnp
+++ b/car.capnp
@@ -323,14 +323,12 @@ struct CarControl {
   # Actuator commands as computed by controlsd
   actuators @6 :Actuators;
 
+  # moved to CarOutput
+  actuatorsOutputDEPRECATED @10 :Actuators;
+
   leftBlinker @15: Bool;
   rightBlinker @16: Bool;
 
-  # Any car specific rate limits or quirks applied by
-  # the CarController are reflected in actuatorsOutput
-  # and matches what is sent to the car
-  actuatorsOutput @10 :Actuators;
-
   orientationNED @13 :List(Float32);
   angularVelocity @14 :List(Float32);
 
@@ -418,6 +416,13 @@ struct CarControl {
   pitchDEPRECATED @9 :Float32;
 }
 
+struct CarOutput {
+  # Any car specific rate limits or quirks applied by
+  # the CarController are reflected in actuatorsOutput
+  # and matches what is sent to the car
+  actuatorsOutput @0 :CarControl.Actuators;
+}
+
 # ****** car param ******
 
 struct CarParams {
diff --git a/log.capnp b/log.capnp
index 6fe946324..fc18c445c 100644
--- a/log.capnp
+++ b/log.capnp
@@ -2251,6 +2251,7 @@ struct Event {
     liveCalibration @19 :LiveCalibrationData;
     carState @22 :Car.CarState;
     carControl @23 :Car.CarControl;
+    carOutput @127 :Car.CarOutput;
     longitudinalPlan @24 :LongitudinalPlan;
     uiPlan @106 :UiPlan;
     ubloxGnss @34 :UbloxGnss;
diff --git a/services.py b/services.py
index e79f2e062..77ced2b3b 100755
--- a/services.py
+++ b/services.py
@@ -46,6 +46,7 @@ def __init__(self, port: int, should_log: bool, frequency: float, decimation: Op
   "androidLog": (True, 0.),
   "carState": (True, 100., 10),
   "carControl": (True, 100., 10),
+  "carOutput": (True, 100., 10),
   "longitudinalPlan": (True, 20., 5),
   "procLog": (True, 0.5, 15),
   "gpsLocationExternal": (True, 10., 10),