  import cereal.messaging as messaging
  
  
  def plannerd_thread(sm=None, pm=None):
    config_realtime_process(5, Priority.CTRL_LOW)
  
 
</s> remove void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::ModelDataV2::XYZTData::Reader &line);
void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Reader &line,
 </s> add void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line, </s> remove int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line, const float path_height);
void update_model(UIState *s, const cereal::ModelDataV2::Reader &model);
 </s> add int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height);
void update_model(UIState *s,
                  const cereal::ModelDataV2::Reader &model,
                  const cereal::UiPlan::Reader &plan); </s> remove       "modelV2": ["lateralPlan", "longitudinalPlan"],
 </s> add       "modelV2": ["lateralPlan", "longitudinalPlan", "uiPlan"], </s> remove     pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan'])
 </s> add     pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan', 'uiPlan'])
def cumtrapz(x, t):
  return np.concatenate([[0], np.cumsum(((x[0:-1] + x[1:])/2) * np.diff(t))])

def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner):
  plan_odo = cumtrapz(longitudinal_planner.v_desired_trajectory_full, T_IDXS)
  model_odo = cumtrapz(lateral_planner.v_plan, T_IDXS)

  ui_send = messaging.new_message('uiPlan')
  ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
  uiPlan = ui_send.uiPlan
  uiPlan.position.x = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,0]).tolist()
  uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,1]).tolist()
  uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist()
  pm.send('uiPlan', ui_send)
  import cereal.messaging as messaging
  
def cumtrapz(x, t):
  return np.concatenate([[0], np.cumsum(((x[0:-1] + x[1:])/2) * np.diff(t))])

def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner):
  plan_odo = cumtrapz(longitudinal_planner.v_desired_trajectory_full, T_IDXS)
  model_odo = cumtrapz(lateral_planner.v_plan, T_IDXS)

  ui_send = messaging.new_message('uiPlan')
  ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
  uiPlan = ui_send.uiPlan
  uiPlan.position.x = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,0]).tolist()
  uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,1]).tolist()
  uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist()
  pm.send('uiPlan', ui_send)
  
  def plannerd_thread(sm=None, pm=None):
    config_realtime_process(5, Priority.CTRL_LOW)
  
keep add keep keep keep keep
 MPC path in UI (#27380)

* 10s lat

* Full length MPC

* redfine N

* Leave controls the same for now

* Updates

* use long plan in lat plan

* interp plan

* simplergit add selfdrive/controls/plannerd.py selfdrive/controls/

* expand to 10s

* revert this

* fix linter

* vizualize

* fix long test

* typo

* cleanup

* compiles

* unused

* unused

* bump cereal

* bump cereal

* use model if no uiplanm

* update replay

* update ref commit

* bump cereal to master 
selfdrive/controls/plannerd.py