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2024-04-27 03:15:27 -05:00
parent f23e5441b5
commit 02a5a8d343
70 changed files with 5217 additions and 105736 deletions
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24
cereal/log.capnp
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@@ -57,6 +57,7 @@ struct InitData {
tici @4;
pc @5;
tizi @6;
mici @7;
}
struct PandaInfo {
@@ -250,7 +251,7 @@ struct SensorEventData {
# android struct GpsLocation
struct GpsLocationData {
# Contains GpsLocationFlags bits.
# Contains module-specific flags.
flags @0 :UInt16;
# Represents latitude in degrees.
@@ -268,8 +269,8 @@ struct GpsLocationData {
# Represents heading in degrees.
bearingDeg @5 :Float32;
# Represents expected accuracy in meters. (presumably 1 sigma?)
accuracy @6 :Float32;
# Represents expected horizontal accuracy in meters.
horizontalAccuracy @6 :Float32;
unixTimestampMillis @7 :Int64;
@@ -287,6 +288,8 @@ struct GpsLocationData {
# Represents velocity accuracy in m/s. (presumably 1 sigma?)
speedAccuracy @12 :Float32;
hasFix @13 :Bool;
enum SensorSource {
android @0;
iOS @1;
@@ -297,6 +300,7 @@ struct GpsLocationData {
ublox @6;
trimble @7;
qcomdiag @8;
unicore @9;
}
}
@@ -337,6 +341,8 @@ struct CanData {
}
struct DeviceState @0xa4d8b5af2aa492eb {
deviceType @45 :InitData.DeviceType;
networkType @22 :NetworkType;
networkInfo @31 :NetworkInfo;
networkStrength @24 :NetworkStrength;
@@ -687,6 +693,7 @@ struct ControlsState @0x97ff69c53601abf1 {
active @36 :Bool;
experimentalMode @64 :Bool;
personality @66 :LongitudinalPersonality;
longControlState @30 :Car.CarControl.Actuators.LongControlState;
vPid @2 :Float32;
@@ -1056,7 +1063,6 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
jerks @34 :List(Float32);
solverExecutionTime @35 :Float32;
personality @36 :LongitudinalPersonality;
enum LongitudinalPlanSource {
cruise @0;
@@ -1094,6 +1100,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
eventsDEPRECATED @13 :List(Car.CarEvent);
gpsTrajectoryDEPRECATED @12 :GpsTrajectory;
gpsPlannerActiveDEPRECATED @19 :Bool;
personalityDEPRECATED @36 :LongitudinalPersonality;
struct GpsTrajectory {
x @0 :List(Float32);
@@ -2259,6 +2266,7 @@ struct Event {
liveCalibration @19 :LiveCalibrationData;
carState @22 :Car.CarState;
carControl @23 :Car.CarControl;
carOutput @127 :Car.CarOutput;
longitudinalPlan @24 :LongitudinalPlan;
uiPlan @106 :UiPlan;
ubloxGnss @34 :UbloxGnss;
@@ -2332,10 +2340,10 @@ struct Event {
# *********** Custom: reserved for forks ***********
frogpilotCarControl @107 :Custom.FrogPilotCarControl;
frogpilotDeviceState @108 :Custom.FrogPilotDeviceState;
frogpilotNavigation @109 :Custom.FrogPilotNavigation;
frogpilotPlan @110 :Custom.FrogPilotPlan;
customReserved4 @111 :Custom.CustomReserved4;
frogpilotCarState @108 :Custom.FrogPilotCarState;
frogpilotDeviceState @109 :Custom.FrogPilotDeviceState;
frogpilotNavigation @110 :Custom.FrogPilotNavigation;
frogpilotPlan @111 :Custom.FrogPilotPlan;
customReserved5 @112 :Custom.CustomReserved5;
customReserved6 @113 :Custom.CustomReserved6;
customReserved7 @114 :Custom.CustomReserved7;