wip

cereal/car.capnp

@@ -120,22 +120,24 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     # FrogPilot events
     accel30 @120;
     accel35 @121;
-    firefoxSteerSaturated @122;
-    frogSteerSaturated @123;
-    greenLight @124;
-    holidayActive @125;
-    laneChangeBlockedLoud @126;
-    leadDeparting @127;
-    noLaneAvailable @128;
-    openpilotCrashed @129;
-    openpilotCrashedRandomEvents @130;
-    pedalInterceptorNoBrake @131;
-    speedLimitChanged @132;
-    torqueNNLoad @133;
-    turningLeft @134;
-    turningRight @135;
-    vCruise69 @136;
-    yourFrogTriedToKillMe @137;
+    accel40 @122;
+    blockUser @123;
+    firefoxSteerSaturated @124;
+    goatSteerSaturated @125;
+    greenLight @126;
+    holidayActive @127;
+    laneChangeBlockedLoud @128;
+    leadDeparting @129;
+    noLaneAvailable @130;
+    openpilotCrashed @131;
+    openpilotCrashedRandomEvents @132;
+    pedalInterceptorNoBrake @133;
+    speedLimitChanged @134;
+    torqueNNLoad @135;
+    turningLeft @136;
+    turningRight @137;
+    vCruise69 @138;
+    yourFrogTriedToKillMe @139;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
@@ -343,14 +345,12 @@ struct CarControl {
   # Actuator commands as computed by controlsd
   actuators @6 :Actuators;
 
+  # moved to CarOutput
+  actuatorsOutputDEPRECATED @10 :Actuators;
+
   leftBlinker @15: Bool;
   rightBlinker @16: Bool;
 
-  # Any car specific rate limits or quirks applied by
-  # the CarController are reflected in actuatorsOutput
-  # and matches what is sent to the car
-  actuatorsOutput @10 :Actuators;
-
   orientationNED @13 :List(Float32);
   angularVelocity @14 :List(Float32);
 
@@ -400,7 +400,7 @@ struct CarControl {
     leftLaneVisible @7: Bool;
     rightLaneDepart @8: Bool;
     leftLaneDepart @9: Bool;
-    leadVelocity @10: Float32;
+    leadDistanceBars @10: Int8;  # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead
 
     enum VisualAlert {
       # these are the choices from the Honda
@@ -431,14 +431,15 @@ struct CarControl {
 
       # Random Events
       angry @9;
-      fart @10;
-      firefox @11;
-      nessie @12;
-      noice @13;
-      uwu @14;
+      doc @10;
+      fart @11;
+      firefox @12;
+      nessie @13;
+      noice @14;
+      uwu @15;
 
       # Other
-      goat @15;
+      goat @16;
     }
   }
 
@@ -450,6 +451,13 @@ struct CarControl {
   pitchDEPRECATED @9 :Float32;
 }
 
+struct CarOutput {
+  # Any car specific rate limits or quirks applied by
+  # the CarController are reflected in actuatorsOutput
+  # and matches what is sent to the car
+  actuatorsOutput @0 :CarControl.Actuators;
+}
+
 # ****** car param ******
 
 struct CarParams {
@@ -629,6 +637,7 @@ struct CarParams {
     hyundaiCanfd @28;
     volkswagenMqbEvo @29;
     chryslerCusw @30;
+    psa @31;
   }
 
   enum SteerControlType {