Merge branch 'commaai:master' into master

car.capnp

@@ -51,7 +51,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     parkBrake @29;
     manualRestart @30;
     lowSpeedLockout @31;
-    plannerError @32;
     joystickDebug @34;
     steerTempUnavailableSilent @35;
     resumeRequired @36;
@@ -142,6 +141,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     startupFuzzyFingerprintDEPRECATED @97;
     noTargetDEPRECATED @25;
     brakeUnavailableDEPRECATED @2;
+    plannerErrorDEPRECATED @32;
   }
 }
 

log.capnp

@@ -299,6 +299,29 @@ struct GpsLocationData {
   }
 }
 
+enum Desire {
+  none @0;
+  turnLeft @1;
+  turnRight @2;
+  laneChangeLeft @3;
+  laneChangeRight @4;
+  keepLeft @5;
+  keepRight @6;
+}
+
+enum LaneChangeState {
+  off @0;
+  preLaneChange @1;
+  laneChangeStarting @2;
+  laneChangeFinishing @3;
+}
+
+enum LaneChangeDirection {
+  none @0;
+  left @1;
+  right @2;
+}
+
 struct CanData {
   address @0 :UInt32;
   busTime @1 :UInt16;
@@ -877,7 +900,8 @@ struct ModelDataV2 {
   locationMonoTime @24 :UInt64;
 
   # e2e lateral planner
-  lateralPlannerSolution @25: LateralPlannerSolution;
+  lateralPlannerSolutionDEPRECATED @25: LateralPlannerSolution;
+  action @26: Action;
 
   struct LeadDataV2 {
     prob @0 :Float32; # probability that car is your lead at time t
@@ -915,6 +939,9 @@ struct ModelDataV2 {
     desireState @5 :List(Float32);
     disengagePredictions @6 :DisengagePredictions;
     hardBrakePredicted @7 :Bool;
+    laneChangeState @8 :LaneChangeState;
+    laneChangeDirection @9 :LaneChangeDirection;
+
 
     # deprecated
     brakeDisengageProbDEPRECATED @2 :Float32;
@@ -956,6 +983,9 @@ struct ModelDataV2 {
     yawRateStd @7 :List(Float32);
   }
 
+  struct Action {
+    desiredCurvature @0 :Float32;
+  }
 }
 
 struct EncodeIndex {
@@ -2216,7 +2246,6 @@ struct Event {
     carState @22 :Car.CarState;
     carControl @23 :Car.CarControl;
     longitudinalPlan @24 :LongitudinalPlan;
-    lateralPlan @64 :LateralPlan;
     uiPlan @106 :UiPlan;
     ubloxGnss @34 :UbloxGnss;
     ubloxRaw @39 :Data;
@@ -2337,5 +2366,6 @@ struct Event {
     pandaStateDEPRECATED @12 :PandaState;
     driverStateDEPRECATED @59 :DriverStateDEPRECATED;
     sensorEventsDEPRECATED @11 :List(SensorEventData);
+    lateralPlanDEPRECATED @64 :LateralPlan;
   }
 }

services.py

@@ -58,7 +58,6 @@ def __init__(self, port: int, should_log: bool, frequency: float, decimation: Op
   "liveLocationKalman": (True, 20., 5),
   "liveParameters": (True, 20., 5),
   "cameraOdometry": (True, 20., 5),
-  "lateralPlan": (True, 20., 5),
   "thumbnail": (True, 0.2, 1),
   "onroadEvents": (True, 1., 1),
   "carParams": (True, 0.02, 1),