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Merge cereal subtree

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Vehicle Researcher
Vehicle Researcher committed Sep 9, 2019
2 parents da42760 + df46400 commit f274a8e3b03fbea74cba4630d94ddf45e76a5fa4
Showing with 38 additions and 1 deletion.
  1. +6 −0 cereal/car.capnp
  2. +32 −1 cereal/log.capnp
@@ -79,6 +79,9 @@ struct CarEvent @0x9b1657f34caf3ad3 {
tooDistracted @54;
posenetInvalid @55;
soundsUnavailable @56;
preLaneChangeLeft @57;
preLaneChangeRight @58;
laneChange @59;
}
}

@@ -300,6 +303,7 @@ struct CarParams {
minEnableSpeed @7 :Float32;
minSteerSpeed @8 :Float32;
safetyModel @9 :SafetyModel;
safetyModelPassive @42 :SafetyModel = noOutput;
safetyParam @10 :Int16;

steerMaxBP @11 :List(Float32);
@@ -343,6 +347,7 @@ struct CarParams {
openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
carVin @38 :Text; # VIN number queried during fingerprinting
isPandaBlack @39: Bool;
dashcamOnly @41: Bool;

struct LateralPIDTuning {
kpBP @0 :List(Float32);
@@ -398,6 +403,7 @@ struct CarParams {
chrysler @9;
tesla @10;
subaru @11;
gmPassive @12;
}

enum SteerControlType {
@@ -442,7 +442,7 @@ struct ControlsState @0x97ff69c53601abf1 {
alertSoundDEPRECATED @45 :Text;
alertSound @56 :Car.CarControl.HUDControl.AudibleAlert;
awarenessStatus @26 :Float32;
angleModelBias @27 :Float32;
angleModelBiasDEPRECATED @27 :Float32;
gpsPlannerActive @40 :Bool;
engageable @41 :Bool; # can OP be engaged?
driverMonitoringOn @43 :Bool;
@@ -516,8 +516,10 @@ struct ControlsState @0x97ff69c53601abf1 {
steerAngle @1 :Float32;
i @2 :Float32;
output @3 :Float32;
lqrOutput @4 :Float32;
}


}

struct LiveEventData {
@@ -527,6 +529,7 @@ struct LiveEventData {

struct ModelData {
frameId @0 :UInt32;
timestampEof @9 :UInt64;

path @1 :PathData;
leftLane @2 :PathData;
@@ -697,6 +700,32 @@ struct PathPlan {
sensorValid @14 :Bool;
commIssue @15 :Bool;
posenetValid @16 :Bool;
desire @17 :Desire;
laneChangeState @18 :LaneChangeState;
laneChangeDirection @19 :LaneChangeDirection;

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 LiveLocationData {
@@ -1726,6 +1755,8 @@ struct LiveMapData {
}

struct CameraOdometry {
frameId @4 :UInt32;
timestampEof @5 :UInt64;
trans @0 :List(Float32); # m/s in device frame
rot @1 :List(Float32); # rad/s in device frame
transStd @2 :List(Float32); # std m/s in device frame

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