      sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
                               poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])
  
    if pm is None:
      pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan'])
  
    while True:
      sm.update()
  
      if sm.updated['modelV2']:
 
</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"],
    pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan', 'uiPlan'])
      sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
                               poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])
  
    if pm is None:
    pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan', 'uiPlan'])
  
    while True:
      sm.update()
  
      if sm.updated['modelV2']:
keep keep keep keep replace keep 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