  #ifndef MODELDATA_H
  #define MODELDATA_H
  
  #define MODEL_PATH_DISTANCE 192
  #define POLYFIT_DEGREE 4
  #define SPEED_PERCENTILES 10
  #define DESIRE_PRED_SIZE 32
 
</s> remove #define MODEL_PATH_DISTANCE 192
#define POLYFIT_DEGREE 4
#define SPEED_PERCENTILES 10
 </s> add  </s> remove #define DESIRE_PRED_SIZE 32
#define OTHER_META_SIZE 4
 </s> add  </s> remove 
typedef struct PathData {
  float points[MODEL_PATH_DISTANCE];
  float prob;
  float std;
  float stds[MODEL_PATH_DISTANCE];
  float poly[POLYFIT_DEGREE];
  float validLen;
} PathData;

typedef struct LeadData {
  float dist;
  float prob;
  float std;
  float rel_y;
  float rel_y_std;
  float rel_v;
  float rel_v_std;
  float rel_a;
  float rel_a_std;
} LeadData;

typedef struct ModelData {
  PathData path;
  PathData left_lane;
  PathData right_lane;
  LeadData lead;
  LeadData lead_future;
  float meta[OTHER_META_SIZE + DESIRE_PRED_SIZE];
  float speed[SPEED_PERCENTILES];
} ModelData;

#endif
 </s> add  </s> remove   // clamp to 5 and 192
  valid_len = fmin(192, fmax(5, data[MODEL_PATH_DISTANCE*2]));
 </s> add   // clamp to 5 and MODEL_PATH_DISTANCE
  valid_len = fmin(MODEL_PATH_DISTANCE, fmax(5, data[MODEL_PATH_DISTANCE*2])); </s> remove     read_model(scene.model, sm["model"].getModel());
 </s> add     scene.model = sm["model"].getModel();
    fill_path_points(scene.model.getPath(), scene.path_points);
    fill_path_points(scene.model.getLeftLane(), scene.left_lane_points);
    fill_path_points(scene.model.getRightLane(), scene.right_lane_points);
#pragma once
#pragma once
#pragma once
  
  #define MODEL_PATH_DISTANCE 192
  #define POLYFIT_DEGREE 4
  #define SPEED_PERCENTILES 10
  #define DESIRE_PRED_SIZE 32
replace replace keep keep keep keep keep
 ui: refactor model related functions (#2026)

* remove read_model

* remove structs for c-capnp

* remove duplicate #define from modeld

* add function fill_path_points

* fix Indentation

* use MODEL_PATH_DISTANCE instead of 192

* fix type

use validLen

* rename left_path_points&right_path_points to xxx_lane_points 
selfdrive/common/modeldata.h