dragonpilot/cereal/custom.capnp

using Cxx = import "./include/c++.capnp";
$Cxx.namespace("cereal");

@0xb526ba661d550a59;

# custom.capnp: a home for empty structs reserved for custom forks
# These structs are guaranteed to remain reserved and empty in mainline
# cereal, so use these if you want custom events in your fork.

# DO rename the structs
# DON'T change the identifier (e.g. @0x81c2f05a394cf4af)

struct ControlsStateExt @0x81c2f05a394cf4af {
  alkaActive @0 :Bool;
}

struct CarStateExt @0xaedffd8f31e7b55d {
  # dp - ALKA: lkasOn state from carstate (mirrors panda's lkas_on)
  lkasOn @0 :Bool;
}

struct ModelExt @0xf35cc4560bbf6ec2 {
  leftEdgeDetected @0 :Bool;
  rightEdgeDetected @1 :Bool;
}

struct LiveGPS @0xda96579883444c35 {
  # Position
  latitude @0 :Float64;                # degrees
  longitude @1 :Float64;               # degrees
  altitude @2 :Float64;                # meters (WGS84)

  # Motion
  speed @3 :Float32;                   # m/s (horizontal speed)
  bearingDeg @4 :Float32;              # degrees (heading)

  # Accuracy
  horizontalAccuracy @5 :Float32;      # meters
  verticalAccuracy @6 :Float32;        # meters

  # Status
  gpsOK @7 :Bool;                      # livePose valid + GPS fresh
  status @8 :Status;

  enum Status {
    uninitialized @0;    # no GPS data yet
    uncalibrated @1;     # has GPS but fusion not ready (raw passthrough)
    valid @2;            # fusion active with calibrated bearing
  }

  # Metadata
  unixTimestampMillis @9 :Int64;
  lastGpsTimestamp @10 :UInt64;        # logMonoTime of last GPS

  # livePose health (for debugging fusion issues)
  livePoseOk @11 :Bool;                # livePose valid and providing orientation/velocity
}

struct MaaControl @0x80ae746ee2596b11 {
  # Map-Aware Assist control signals

  # Curvature data (for lateral control)
  curvature @0 :Float32;           # current nav curvature (1/m)
  curvatureValid @1 :Bool;         # curvature data is valid

  # Turn speed data (for longitudinal control)
  turnSpeedLimit @2 :Float32;      # target speed for turn (m/s)
  turnDistance @3 :Float32;        # distance to turn (m)
  turnDirection @4 :TurnDirection;
  turnValid @5 :Bool;              # turn data is valid
  maneuverType @6 :ManeuverType;   # type of maneuver (turn vs lane change)
  turnAngle @7 :Float32;           # expected turn angle in degrees (positive=left, negative=right)
  turnCurvature @8 :Float32;       # curvature at turn point (1/m), used for speed limit calc

  # Turn execution (heading-based tracking)
  desireActive @9 :Bool;           # true when turn desire should be sent to model
  turnState @10 :UInt8;            # TurnState enum: 0=none, 1=approaching, 2=executing, 3=complete
  turnProgress @11 :Float32;       # accumulated heading change during turn (degrees)

  # Driver acknowledgment (blinker = commit to turn)
  driverAcknowledged @12 :Bool;    # driver turned on blinker matching turn direction
  speedLimitActive @13 :Bool;      # turn speed limit should be enforced (blinker on)
  blockLaneChange @14 :Bool;       # within commit distance, block lane change desire

  enum TurnDirection {
    none @0;
    left @1;
    right @2;
  }

  enum ManeuverType {
    none @0;
    turn @1;        # intersection turn - use turnLeft/Right desire
    laneChange @2;  # highway exit/fork - use laneChangeLeft/Right desire
  }
}

struct DashyState @0xa5cd762cd951a455 {
  # Pre-serialized JSON bytes for dashy UI
  # Aggregates all topics needed by dashy into single message
  json @0 :Data;
}

struct NavInstructionExt @0xf98d843bfd7004a3 {
  # Extension fields for NavInstruction (not in upstream)
  turnAngle @0 :Float32;      # degrees, positive=left, negative=right
  turnCurvature @1 :Float32;  # 1/m, positive=left, negative=right
}

struct CustomReserved7 @0xb86e6369214c01c8 {
}

struct CustomReserved8 @0xf416ec09499d9d19 {
}

struct CustomReserved9 @0xa1680744031fdb2d {
}

struct CustomReserved10 @0xcb9fd56c7057593a {
}

struct CustomReserved11 @0xc2243c65e0340384 {
}

struct CustomReserved12 @0x9ccdc8676701b412 {
}

struct CustomReserved13 @0xcd96dafb67a082d0 {
}

struct CustomReserved14 @0xb057204d7deadf3f {
}

struct CustomReserved15 @0xbd443b539493bc68 {
}

struct CustomReserved16 @0xfc6241ed8877b611 {
}

struct CustomReserved17 @0xa30662f84033036c {
}

struct CustomReserved18 @0xc86a3d38d13eb3ef {
}

struct CustomReserved19 @0xa4f1eb3323f5f582 {
}