cereal/log.capnp

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

using Java = import "./include/java.capnp";
$Java.package("ai.comma.openpilot.cereal");
$Java.outerClassname("Log");

using Car = import "car.capnp";
using Legacy = import "legacy.capnp";

@0xf3b1f17e25a4285b;

const logVersion :Int32 = 1;

struct Map(Key, Value) {
  entries @0 :List(Entry);
  struct Entry {
    key @0 :Key;
    value @1 :Value;
  }
}

struct InitData {
  kernelArgs @0 :List(Text);
  kernelVersion @15 :Text;

  gctx @1 :Text;
  dongleId @2 :Text;

  deviceType @3 :DeviceType;
  version @4 :Text;
  gitCommit @10 :Text;
  gitBranch @11 :Text;
  gitRemote @13 :Text;

  androidProperties @16 :Map(Text, Text);

  pandaInfo @8 :PandaInfo;

  dirty @9 :Bool;
  passive @12 :Bool;
  params @17 :Map(Text, Data);

  enum DeviceType {
    unknown @0;
    neo @1;
    chffrAndroid @2;
    chffrIos @3;
    tici @4;
    pc @5;
  }

  struct PandaInfo {
    hasPanda @0 :Bool;
    dongleId @1 :Text;
    stVersion @2 :Text;
    espVersion @3 :Text;
  }

  # ***** deprecated stuff *****
  androidBuildInfo @5 :AndroidBuildInfo;
  androidSensorsDEPRECATED @6 :List(AndroidSensor);
  chffrAndroidExtraDEPRECATED @7 :ChffrAndroidExtra;
  iosBuildInfoDEPRECATED @14 :IosBuildInfo;

  struct AndroidBuildInfo {
    board @0 :Text;
    bootloader @1 :Text;
    brand @2 :Text;
    device @3 :Text;
    display @4 :Text;
    fingerprint @5 :Text;
    hardware @6 :Text;
    host @7 :Text;
    id @8 :Text;
    manufacturer @9 :Text;
    model @10 :Text;
    product @11 :Text;
    radioVersion @12 :Text;
    serial @13 :Text;
    supportedAbis @14 :List(Text);
    tags @15 :Text;
    time @16 :Int64;
    type @17 :Text;
    user @18 :Text;

    versionCodename @19 :Text;
    versionRelease @20 :Text;
    versionSdk @21 :Int32;
    versionSecurityPatch @22 :Text;
  }

  struct AndroidSensor {
    id @0 :Int32;
    name @1 :Text;
    vendor @2 :Text;
    version @3 :Int32;
    handle @4 :Int32;
    type @5 :Int32;
    maxRange @6 :Float32;
    resolution @7 :Float32;
    power @8 :Float32;
    minDelay @9 :Int32;
    fifoReservedEventCount @10 :UInt32;
    fifoMaxEventCount @11 :UInt32;
    stringType @12 :Text;
    maxDelay @13 :Int32;
  }

  struct ChffrAndroidExtra {
    allCameraCharacteristics @0 :Map(Text, Text);
  }

  struct IosBuildInfo {
    appVersion @0 :Text;
    appBuild @1 :UInt32;
    osVersion @2 :Text;
    deviceModel @3 :Text;
  }
}

struct FrameData {
  frameId @0 :UInt32;
  encodeId @1 :UInt32; # DEPRECATED
  timestampEof @2 :UInt64;
  frameLength @3 :Int32;
  integLines @4 :Int32;
  globalGain @5 :Int32;
  lensPos @11 :Int32;
  lensSag @12 :Float32;
  lensErr @13 :Float32;
  lensTruePos @14 :Float32;
  image @6 :Data;
  gainFrac @15 :Float32;
  focusVal @16 :List(Int16);
  focusConf @17 :List(UInt8);
  sharpnessScore @18 :List(UInt16);
  recoverState @19 :Int32;

  frameType @7 :FrameType;
  timestampSof @8 :UInt64;
  transform @10 :List(Float32);

  androidCaptureResult @9 :AndroidCaptureResult;

  enum FrameType {
    unknown @0;
    neo @1;
    chffrAndroid @2;
    front @3;
  }

  struct AndroidCaptureResult {
    sensitivity @0 :Int32;
    frameDuration @1 :Int64;
    exposureTime @2 :Int64;
    rollingShutterSkew @3 :UInt64;
    colorCorrectionTransform @4 :List(Int32);
    colorCorrectionGains @5 :List(Float32);
    displayRotation @6 :Int8;
  }
}

struct Thumbnail {
  frameId @0 :UInt32;
  timestampEof @1 :UInt64;
  thumbnail @2 :Data;
}

struct GPSNMEAData {
  timestamp @0 :Int64;
  localWallTime @1 :UInt64;
  nmea @2 :Text;
}

# android sensor_event_t
struct SensorEventData {
  version @0 :Int32;
  sensor @1 :Int32;
  type @2 :Int32;
  timestamp @3 :Int64;
  uncalibratedDEPRECATED @10 :Bool;

  union {
    acceleration @4 :SensorVec;
    magnetic @5 :SensorVec;
    orientation @6 :SensorVec;
    gyro @7 :SensorVec;
    pressure @9 :SensorVec;
    magneticUncalibrated @11 :SensorVec;
    gyroUncalibrated @12 :SensorVec;
    proximity @13: Float32;
    light @14: Float32;
    temperature @15: Float32;
  }
  source @8 :SensorSource;

  struct SensorVec {
    v @0 :List(Float32);
    status @1 :Int8;
  }

  enum SensorSource {
    android @0;
    iOS @1;
    fiber @2;
    velodyne @3;  # Velodyne IMU
    bno055 @4;    # Bosch accelerometer
    lsm6ds3 @5;   # accelerometer (c2)
    bmp280 @6;    # barometer (c2)
    mmc3416x @7;  # magnetometer (c2)
    bmx055 @8;
    rpr0521 @9;
  }
}

# android struct GpsLocation
struct GpsLocationData {
  # Contains GpsLocationFlags bits.
  flags @0 :UInt16;

  # Represents latitude in degrees.
  latitude @1 :Float64;

  # Represents longitude in degrees.
  longitude @2 :Float64;

  # Represents altitude in meters above the WGS 84 reference ellipsoid.
  altitude @3 :Float64;

  # Represents speed in meters per second.
  speed @4 :Float32;

  # Represents heading in degrees.
  bearingDeg @5 :Float32;

  # Represents expected accuracy in meters. (presumably 1 sigma?)
  accuracy @6 :Float32;

  # Timestamp for the location fix.
  # Milliseconds since January 1, 1970.
  timestamp @7 :Int64;

  source @8 :SensorSource;

  # Represents NED velocity in m/s.
  vNED @9 :List(Float32);

  # Represents expected vertical accuracy in meters. (presumably 1 sigma?)
  verticalAccuracy @10 :Float32;

  # Represents bearing accuracy in degrees. (presumably 1 sigma?)
  bearingAccuracyDeg @11 :Float32;

  # Represents velocity accuracy in m/s. (presumably 1 sigma?)
  speedAccuracy @12 :Float32;

  enum SensorSource {
    android @0;
    iOS @1;
    car @2;
    velodyne @3;  # Velodyne IMU
    fusion @4;
    external @5;
    ublox @6;
    trimble @7;
  }
}

struct CanData {
  address @0 :UInt32;
  busTime @1 :UInt16;
  dat     @2 :Data;
  src     @3 :UInt8;
}

struct DeviceState @0xa4d8b5af2aa492eb {
  freeSpacePercent @7 :Float32;
  memoryUsagePercent @19 :Int8;
  cpuUsagePercent @20 :Int8;
  usbOnline @12 :Bool;
  networkType @22 :NetworkType;
  offroadPowerUsageUwh @23 :UInt32;
  networkStrength @24 :NetworkStrength;
  carBatteryCapacityUwh @25 :UInt32;

  fanSpeedPercentDesired @10 :UInt16;
  started @11 :Bool;
  startedMonoTime @13 :UInt64;

  # power
  batteryPercent @8 :Int16;
  batteryStatus @9 :Text;
  batteryCurrent @15 :Int32;
  batteryVoltage @16 :Int32;
  chargingError @17 :Bool;
  chargingDisabled @18 :Bool;

  # device thermals
  cpuTempC @26 :List(Float32);
  gpuTempC @27 :List(Float32);
  memoryTempC @28 :Float32;
  batteryTempC @29 :Float32;
  ambientTempC @30 :Float32;
  thermalStatus @14 :ThermalStatus;

  enum ThermalStatus {
    green @0;
    yellow @1;
    red @2;
    danger @3;
  }

  enum NetworkType {
    none @0;
    wifi @1;
    cell2G @2;
    cell3G @3;
    cell4G @4;
    cell5G @5;
  }

  enum NetworkStrength {
    unknown @0;
    poor @1;
    moderate @2;
    good @3;
    great @4;
  }

  # deprecated
  cpu0DEPRECATED @0 :UInt16;
  cpu1DEPRECATED @1 :UInt16;
  cpu2DEPRECATED @2 :UInt16;
  cpu3DEPRECATED @3 :UInt16;
  memDEPRECATED @4 :UInt16;
  gpuDEPRECATED @5 :UInt16;
  batDEPRECATED @6 :UInt32;
  pa0DEPRECATED @21 :UInt16;
}

struct PandaState @0xa7649e2575e4591e {
  # from can health
  voltage @0 :UInt32;
  current @1 :UInt32;
  ignitionLine @2 :Bool;
  controlsAllowed @3 :Bool;
  gasInterceptorDetected @4 :Bool;
  hasGps @6 :Bool;
  canSendErrs @7 :UInt32;
  canFwdErrs @8 :UInt32;
  canRxErrs @19 :UInt32;
  gmlanSendErrs @9 :UInt32;
  pandaType @10 :PandaType;
  fanSpeedRpm @11 :UInt16;
  usbPowerMode @12 :UsbPowerMode;
  ignitionCan @13 :Bool;
  safetyModel @14 :Car.CarParams.SafetyModel;
  safetyParam @20 :Int16;
  faultStatus @15 :FaultStatus;
  powerSaveEnabled @16 :Bool;
  uptime @17 :UInt32;
  faults @18 :List(FaultType);

  enum FaultStatus {
    none @0;
    faultTemp @1;
    faultPerm @2;
  }

  enum FaultType {
    relayMalfunction @0;
    unusedInterruptHandled @1;
    interruptRateCan1 @2;
    interruptRateCan2 @3;
    interruptRateCan3 @4;
    interruptRateTach @5;
    interruptRateGmlan @6;
    interruptRateInterrupts @7;
    interruptRateSpiDma @8;
    interruptRateSpiCs @9;
    interruptRateUart1 @10;
    interruptRateUart2 @11;
    interruptRateUart3 @12;
    interruptRateUart5 @13;
    interruptRateUartDma @14;
    interruptRateUsb @15;
    interruptRateTim1 @16;
    interruptRateTim3 @17;
    registerDivergent @18;
    interruptRateKlineInit @19;
    interruptRateClockSource @20;
    interruptRateTim9 @21;
    # Update max fault type in boardd when adding faults
  }

  enum PandaType @0x8a58adf93e5b3751 {
    unknown @0;
    whitePanda @1;
    greyPanda @2;
    blackPanda @3;
    pedal @4;
    uno @5;
    dos @6;
  }

  enum UsbPowerMode {
    none @0;
    client @1;
    cdp @2;
    dcp @3;
  }

  startedSignalDetectedDEPRECATED @5 :Bool;
}

struct RadarState @0x9a185389d6fdd05f {
  canMonoTimes @10 :List(UInt64);
  mdMonoTime @6 :UInt64;
  carStateMonoTime @11 :UInt64;
  radarErrors @12 :List(Car.RadarData.Error);

  leadOne @3 :LeadData;
  leadTwo @4 :LeadData;
  cumLagMs @5 :Float32;

  struct LeadData {
    dRel @0 :Float32;
    yRel @1 :Float32;
    vRel @2 :Float32;
    aRel @3 :Float32;
    vLead @4 :Float32;
    dPath @6 :Float32;
    vLat @7 :Float32;
    vLeadK @8 :Float32;
    aLeadK @9 :Float32;
    fcw @10 :Bool;
    status @11 :Bool;
    aLeadTau @12 :Float32;
    modelProb @13 :Float32;
    radar @14 :Bool;

    aLeadDEPRECATED @5 :Float32;
  }

  # deprecated
  ftMonoTimeDEPRECATED @7 :UInt64;
  warpMatrixDEPRECATED @0 :List(Float32);
  angleOffsetDEPRECATED @1 :Float32;
  calStatusDEPRECATED @2 :Int8;
  calCycleDEPRECATED @8 :Int32;
  calPercDEPRECATED @9 :Int8;
}

struct LiveCalibrationData {
  calStatus @1 :Int8;
  calCycle @2 :Int32;
  calPerc @3 :Int8;
  validBlocks @9 :Int32;

  # view_frame_from_road_frame
  # ui's is inversed needs new
  extrinsicMatrix @4 :List(Float32);
  # the direction of travel vector in device frame
  rpyCalib @7 :List(Float32);
  rpyCalibSpread @8 :List(Float32);

  warpMatrixDEPRECATED @0 :List(Float32);
  warpMatrix2DEPRECATED @5 :List(Float32);
  warpMatrixBigDEPRECATED @6 :List(Float32);
}

struct LiveTracks {
  trackId @0 :Int32;
  dRel @1 :Float32;
  yRel @2 :Float32;
  vRel @3 :Float32;
  aRel @4 :Float32;
  timeStamp @5 :Float32;
  status @6 :Float32;
  currentTime @7 :Float32;
  stationary @8 :Bool;
  oncoming @9 :Bool;
}

struct ControlsState @0x97ff69c53601abf1 {
  startMonoTime @48 :UInt64;
  canMonoTimes @21 :List(UInt64);
  longitudinalPlanMonoTime @28 :UInt64;
  lateralPlanMonoTime @50 :UInt64;

  state @31 :OpenpilotState;
  enabled @19 :Bool;
  active @36 :Bool;

  longControlState @30 :LongControlState;
  vPid @2 :Float32;
  vTargetLead @3 :Float32;
  vCruise @22 :Float32;
  upAccelCmd @4 :Float32;
  uiAccelCmd @5 :Float32;
  ufAccelCmd @33 :Float32;
  aTarget @35 :Float32;
  steeringAngleDesiredDeg @29 :Float32;
  curvature @37 :Float32;  # path curvature from vehicle model
  forceDecel @51 :Bool;

  # UI alerts
  alertText1 @24 :Text;
  alertText2 @25 :Text;
  alertStatus @38 :AlertStatus;
  alertSize @39 :AlertSize;
  alertBlinkingRate @42 :Float32;
  alertType @44 :Text;
  alertSound @56 :Car.CarControl.HUDControl.AudibleAlert;
  engageable @41 :Bool;  # can OP be engaged?

  cumLagMs @15 :Float32;
  canErrorCounter @57 :UInt32;

  lateralControlState :union {
    indiState @52 :LateralINDIState;
    pidState @53 :LateralPIDState;
    lqrState @55 :LateralLQRState;
    angleState @58 :LateralAngleState;
  }

  enum OpenpilotState @0xdbe58b96d2d1ac61 {
    disabled @0;
    preEnabled @1;
    enabled @2;
    softDisabling @3;
  }

  enum LongControlState {
    off @0;
    pid @1;
    stopping @2;
    starting @3;
  }

  enum AlertStatus {
    normal @0;       # low priority alert for user's convenience
    userPrompt @1;   # mid priority alert that might require user intervention
    critical @2;     # high priority alert that needs immediate user intervention
  }

  enum AlertSize {
    none @0;    # don't display the alert
    small @1;   # small box
    mid @2;     # mid screen
    full @3;    # full screen
  }

  struct LateralINDIState {
    active @0 :Bool;
    steeringAngleDeg @1 :Float32;
    steeringRateDeg @2 :Float32;
    steeringAccelDeg @3 :Float32;
    rateSetPoint @4 :Float32;
    accelSetPoint @5 :Float32;
    accelError @6 :Float32;
    delayedOutput @7 :Float32;
    delta @8 :Float32;
    output @9 :Float32;
    saturated @10 :Bool;
  }

  struct LateralPIDState {
    active @0 :Bool;
    steeringAngleDeg @1 :Float32;
    steeringRateDeg @2 :Float32;
    angleError @3 :Float32;
    p @4 :Float32;
    i @5 :Float32;
    f @6 :Float32;
    output @7 :Float32;
    saturated @8 :Bool;
   }

  struct LateralLQRState {
    active @0 :Bool;
    steeringAngleDeg @1 :Float32;
    i @2 :Float32;
    output @3 :Float32;
    lqrOutput @4 :Float32;
    saturated @5 :Bool;
  }

  struct LateralAngleState {
    active @0 :Bool;
    steeringAngleDeg @1 :Float32;
    output @2 :Float32;
    saturated @3 :Bool;
  }

  # deprecated
  vEgoDEPRECATED @0 :Float32;
  vEgoRawDEPRECATED @32 :Float32;
  aEgoDEPRECATED @1 :Float32;
  canMonoTimeDEPRECATED @16 :UInt64;
  radarStateMonoTimeDEPRECATED @17 :UInt64;
  mdMonoTimeDEPRECATED @18 :UInt64;
  yActualDEPRECATED @6 :Float32;
  yDesDEPRECATED @7 :Float32;
  upSteerDEPRECATED @8 :Float32;
  uiSteerDEPRECATED @9 :Float32;
  ufSteerDEPRECATED @34 :Float32;
  aTargetMinDEPRECATED @10 :Float32;
  aTargetMaxDEPRECATED @11 :Float32;
  rearViewCamDEPRECATED @23 :Bool;
  driverMonitoringOnDEPRECATED @43 :Bool;
  hudLeadDEPRECATED @14 :Int32;
  alertSoundDEPRECATED @45 :Text;
  angleModelBiasDEPRECATED @27 :Float32;
  gpsPlannerActiveDEPRECATED @40 :Bool;
  decelForTurnDEPRECATED @47 :Bool;
  decelForModelDEPRECATED @54 :Bool;
  awarenessStatusDEPRECATED @26 :Float32;
  angleSteersDEPRECATED @13 :Float32;
  vCurvatureDEPRECATED @46 :Float32;
  mapValidDEPRECATED @49 :Bool;
  jerkFactorDEPRECATED @12 :Float32;
  steerOverrideDEPRECATED @20 :Bool;
}

struct ModelDataV2 {
  frameId @0 :UInt32;
  frameAge @1 :UInt32;
  frameDropPerc @2 :Float32;
  timestampEof @3 :UInt64;
  modelExecutionTime @15 :Float32;
  gpuExecutionTime @17 :Float32;
  rawPredictions @16 :Data;

  # predicted future position, orientation, etc..
  position @4 :XYZTData;
  orientation @5 :XYZTData;
  velocity @6 :XYZTData;
  orientationRate @7 :XYZTData;

  # prediction lanelines and road edges
  laneLines @8 :List(XYZTData);
  laneLineProbs @9 :List(Float32);
  laneLineStds @13 :List(Float32);
  roadEdges @10 :List(XYZTData);
  roadEdgeStds @14 :List(Float32);

  # predicted lead cars
  leads @11 :List(LeadDataV2);

  meta @12 :MetaData;

  # All SI units and in device frame
  struct XYZTData {
    x @0 :List(Float32);
    y @1 :List(Float32);
    z @2 :List(Float32);
    t @3 :List(Float32);
    xStd @4 :List(Float32);
    yStd @5 :List(Float32);
    zStd @6 :List(Float32);
  }

  struct LeadDataV2 {
    prob @0 :Float32; # probability that car is your lead at time t
    t @1 :Float32;

    # x and y are relative position in device frame
    # v is norm relative speed
    # a is norm relative acceleration
    xyva @2 :List(Float32);
    xyvaStd @3 :List(Float32);
  }

  struct MetaData {
    engagedProb @0 :Float32;
    desirePrediction @1 :List(Float32);
    brakeDisengageProb @2 :Float32;
    gasDisengageProb @3 :Float32;
    steerOverrideProb @4 :Float32;
    desireState @5 :List(Float32);
  }
}

struct EncodeIndex {
  # picture from camera
  frameId @0 :UInt32;
  type @1 :Type;
  # index of encoder from start of route
  encodeId @2 :UInt32;
  # minute long segment this frame is in
  segmentNum @3 :Int32;
  # index into camera file in segment in presentation order
  segmentId @4 :UInt32;
  # index into camera file in segment in encode order
  segmentIdEncode @5 :UInt32;
  timestampSof @6 :UInt64;
  timestampEof @7 :UInt64;

  enum Type {
    bigBoxLossless @0;   # rcamera.mkv
    fullHEVC @1;         # fcamera.hevc
    bigBoxHEVC @2;       # bcamera.hevc
    chffrAndroidH264 @3; # acamera
    fullLosslessClip @4; # prcamera.mkv
    front @5;            # dcamera.hevc
  }
}

struct AndroidLogEntry {
  id @0 :UInt8;
  ts @1 :UInt64;
  priority @2 :UInt8;
  pid @3 :Int32;
  tid @4 :Int32;
  tag @5 :Text;
  message @6 :Text;
}

struct LongitudinalPlan @0xe00b5b3eba12876c {
  mdMonoTime @9 :UInt64;
  radarStateMonoTime @10 :UInt64;

  vCruise @16 :Float32;
  aCruise @17 :Float32;
  vTarget @3 :Float32;
  vTargetFuture @14 :Float32;
  vMax @20 :Float32;
  aTarget @18 :Float32;

  vStart @26 :Float32;
  aStart @27 :Float32;

  hasLead @7 :Bool;
  fcw @8 :Bool;
  longitudinalPlanSource @15 :LongitudinalPlanSource;

  processingDelay @29 :Float32;

  enum LongitudinalPlanSource {
    cruise @0;
    mpc1 @1;
    mpc2 @2;
    mpc3 @3;
    model @4;
  }

  # deprecated
  jerkFactorDEPRECATED @6 :Float32;
  hasLeftLaneDEPRECATED @23 :Bool;
  hasRightLaneDEPRECATED @24 :Bool;
  aTargetMinDEPRECATED @4 :Float32;
  aTargetMaxDEPRECATED @5 :Float32;
  lateralValidDEPRECATED @0 :Bool;
  longitudinalValidDEPRECATED @2 :Bool;
  dPolyDEPRECATED @1 :List(Float32);
  laneWidthDEPRECATED @11 :Float32;
  vCurvatureDEPRECATED @21 :Float32;
  decelForTurnDEPRECATED @22 :Bool;
  mapValidDEPRECATED @25 :Bool;
  radarValidDEPRECATED @28 :Bool;
  radarCanErrorDEPRECATED @30 :Bool;
  commIssueDEPRECATED @31 :Bool;
  eventsDEPRECATED @13 :List(Car.CarEvent);
  gpsTrajectoryDEPRECATED @12 :GpsTrajectory;
  gpsPlannerActiveDEPRECATED @19 :Bool;

  struct GpsTrajectory {
    x @0 :List(Float32);
    y @1 :List(Float32);
  }
}

struct LateralPlan @0xe1e9318e2ae8b51e {
  laneWidth @0 :Float32;
  lProb @5 :Float32;
  rProb @7 :Float32;
  dPathPoints @20 :List(Float32);
  dProb @21 :Float32;

  mpcSolutionValid @9 :Bool;
  desire @17 :Desire;
  laneChangeState @18 :LaneChangeState;
  laneChangeDirection @19 :LaneChangeDirection;

  # curvature is in rad/m
  curvature @22 :Float32;
  curvatureRate @23 :Float32;
  rawCurvature @24 :Float32;
  rawCurvatureRate @25 :Float32;

  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;
  }

  # deprecated
  cProbDEPRECATED @3 :Float32;
  dPolyDEPRECATED @1 :List(Float32);
  cPolyDEPRECATED @2 :List(Float32);
  lPolyDEPRECATED @4 :List(Float32);
  rPolyDEPRECATED @6 :List(Float32);
  modelValidDEPRECATED @12 :Bool;
  commIssueDEPRECATED @15 :Bool;
  posenetValidDEPRECATED @16 :Bool;
  sensorValidDEPRECATED @14 :Bool;
  paramsValidDEPRECATED @10 :Bool;
  steeringAngleDegDEPRECATED @8 :Float32; # deg
  steeringRateDegDEPRECATED @13 :Float32; # deg/s
  angleOffsetDegDEPRECATED @11 :Float32;
}

struct LiveLocationKalman {

  # More info on reference frames:
  # https://github.com/commaai/openpilot/tree/master/common/transformations

  positionECEF @0 : Measurement;
  positionGeodetic @1 : Measurement;
  velocityECEF @2 : Measurement;
  velocityNED @3 : Measurement;
  velocityDevice @4 : Measurement;
  accelerationDevice @5: Measurement;


  # These angles are all eulers and roll, pitch, yaw
  # orientationECEF transforms to rot matrix: ecef_from_device
  orientationECEF @6 : Measurement;
  calibratedOrientationECEF @20 : Measurement;
  orientationNED @7 : Measurement;
  angularVelocityDevice @8 : Measurement;

  # orientationNEDCalibrated transforms to rot matrix: NED_from_calibrated
  orientationNEDCalibrated @9 : Measurement;

  # Calibrated frame is simply device frame
  # aligned with the vehicle
  velocityCalibrated @10 : Measurement;
  accelerationCalibrated @11 : Measurement;
  angularVelocityCalibrated @12 : Measurement;

  gpsWeek @13 :Int32;
  gpsTimeOfWeek @14 :Float64;
  status @15 :Status;
  unixTimestampMillis @16 :Int64;
  inputsOK @17 :Bool = true;
  posenetOK @18 :Bool = true;
  gpsOK @19 :Bool = true;
  sensorsOK @21 :Bool = true;
  deviceStable @22 :Bool = true;

  enum Status {
    uninitialized @0;
    uncalibrated @1;
    valid @2;
  }

  struct Measurement {
    value @0 : List(Float64);
    std @1 : List(Float64);
    valid @2 : Bool;
  }
}

struct ProcLog {
  cpuTimes @0 :List(CPUTimes);
  mem @1 :Mem;
  procs @2 :List(Process);

  struct Process {
    pid @0 :Int32;
    name @1 :Text;
    state @2 :UInt8;
    ppid @3 :Int32;

    cpuUser @4 :Float32;
    cpuSystem @5 :Float32;
    cpuChildrenUser @6 :Float32;
    cpuChildrenSystem @7 :Float32;
    priority @8 :Int64;
    nice @9 :Int32;
    numThreads @10 :Int32;
    startTime @11 :Float64;

    memVms @12 :UInt64;
    memRss @13 :UInt64;

    processor @14 :Int32;

    cmdline @15 :List(Text);
    exe @16 :Text;
  }

  struct CPUTimes {
    cpuNum @0 :Int64;
    user @1 :Float32;
    nice @2 :Float32;
    system @3 :Float32;
    idle @4 :Float32;
    iowait @5 :Float32;
    irq @6 :Float32;
    softirq @7 :Float32;
  }

  struct Mem {
    total @0 :UInt64;
    free @1 :UInt64;
    available @2 :UInt64;
    buffers @3 :UInt64;
    cached @4 :UInt64;
    active @5 :UInt64;
    inactive @6 :UInt64;
    shared @7 :UInt64;
  }
}

struct UbloxGnss {
  union {
    measurementReport @0 :MeasurementReport;
    ephemeris @1 :Ephemeris;
    ionoData @2 :IonoData;
    hwStatus @3 :HwStatus;
    hwStatus2 @4 :HwStatus2;
  }

  struct MeasurementReport {
    #received time of week in gps time in seconds and gps week
    rcvTow @0 :Float64;
    gpsWeek @1 :UInt16;
    # leap seconds in seconds
    leapSeconds @2 :UInt16;
    # receiver status
    receiverStatus @3 :ReceiverStatus;
    # num of measurements to follow
    numMeas @4 :UInt8;
    measurements @5 :List(Measurement);

    struct ReceiverStatus {
      # leap seconds have been determined
      leapSecValid @0 :Bool;
      # Clock reset applied
      clkReset @1 :Bool;
    }

    struct Measurement {
      svId @0 :UInt8;
      trackingStatus @1 :TrackingStatus;
      # pseudorange in meters
      pseudorange @2 :Float64;
      # carrier phase measurement in cycles
      carrierCycles @3 :Float64;
      # doppler measurement in Hz
      doppler @4 :Float32;
      # GNSS id, 0 is gps
      gnssId @5 :UInt8;
      glonassFrequencyIndex @6 :UInt8;
      # carrier phase locktime counter in ms
      locktime @7 :UInt16;
      # Carrier-to-noise density ratio (signal strength) in dBHz
      cno @8 :UInt8;
      # pseudorange standard deviation in meters
      pseudorangeStdev @9 :Float32;
      # carrier phase standard deviation in cycles
      carrierPhaseStdev @10 :Float32;
      # doppler standard deviation in Hz
      dopplerStdev @11 :Float32;
      sigId @12 :UInt8;

      struct TrackingStatus {
        # pseudorange valid
        pseudorangeValid @0 :Bool;
        # carrier phase valid
        carrierPhaseValid @1 :Bool;
        # half cycle valid
        halfCycleValid @2 :Bool;
        # half sycle subtracted from phase
        halfCycleSubtracted @3 :Bool;
      }
    }
  }

  struct Ephemeris {
    # This is according to the rinex (2?) format
    svId @0 :UInt16;
    year @1 :UInt16;
    month @2 :UInt16;
    day @3 :UInt16;
    hour @4 :UInt16;
    minute @5 :UInt16;
    second @6 :Float32;
    af0 @7 :Float64;
    af1 @8 :Float64;
    af2 @9 :Float64;

    iode @10 :Float64;
    crs @11 :Float64;
    deltaN @12 :Float64;
    m0 @13 :Float64;

    cuc @14 :Float64;
    ecc @15 :Float64;
    cus @16 :Float64;
    a @17 :Float64; # note that this is not the root!!

    toe @18 :Float64;
    cic @19 :Float64;
    omega0 @20 :Float64;
    cis @21 :Float64;

    i0 @22 :Float64;
    crc @23 :Float64;
    omega @24 :Float64;
    omegaDot @25 :Float64;

    iDot @26 :Float64;
    codesL2 @27 :Float64;
    gpsWeek @28 :Float64;
    l2 @29 :Float64;

    svAcc @30 :Float64;
    svHealth @31 :Float64;
    tgd @32 :Float64;
    iodc @33 :Float64;

    transmissionTime @34 :Float64;
    fitInterval @35 :Float64;

    toc @36 :Float64;

    ionoCoeffsValid @37 :Bool;
    ionoAlpha @38 :List(Float64);
    ionoBeta @39 :List(Float64);

  }

  struct IonoData {
    svHealth @0 :UInt32;
    tow  @1 :Float64;
    gpsWeek @2 :Float64;

    ionoAlpha @3 :List(Float64);
    ionoBeta @4 :List(Float64);

    healthValid @5 :Bool;
    ionoCoeffsValid @6 :Bool;
  }

  struct HwStatus {
    noisePerMS @0 :UInt16;
    agcCnt @1 :UInt16;
    aStatus @2 :AntennaSupervisorState;
    aPower @3 :AntennaPowerStatus;
    jamInd @4 :UInt8;

    enum AntennaSupervisorState {
      init @0;
      dontknow @1;
      ok @2;
      short @3;
      open @4;
    }

    enum AntennaPowerStatus {
      off @0;
      on @1;
      dontknow @2;
    }
  }

  struct HwStatus2 {
    ofsI @0 :Int8;
    magI @1 :UInt8;
    ofsQ @2 :Int8;
    magQ @3 :UInt8;
    cfgSource @4 :ConfigSource;
    lowLevCfg @5 :UInt32;
    postStatus @6 :UInt32;

    enum ConfigSource {
      undefined @0;
      rom @1;
      otp @2;
      configpins @3;
      flash @4;
    }
  }
}

struct Clocks {
  bootTimeNanos @0 :UInt64;
  monotonicNanos @1 :UInt64;
  monotonicRawNanos @2 :UInt64;
  wallTimeNanos @3 :UInt64;
  modemUptimeMillis @4 :UInt64;
}

struct LiveMpcData {
  x @0 :List(Float32);
  y @1 :List(Float32);
  psi @2 :List(Float32);
  curvature @3 :List(Float32);
  qpIterations @4 :UInt32;
  calculationTime @5 :UInt64;
  cost @6 :Float64;
}

struct LiveLongitudinalMpcData {
  xEgo @0 :List(Float32);
  vEgo @1 :List(Float32);
  aEgo @2 :List(Float32);
  xLead @3 :List(Float32);
  vLead @4 :List(Float32);
  aLead @5 :List(Float32);
  aLeadTau @6 :Float32;    # lead accel time constant
  qpIterations @7 :UInt32;
  mpcId @8 :UInt32;
  calculationTime @9 :UInt64;
  cost @10 :Float64;
}

struct Joystick {
  # convenient for debug and live tuning
  axes @0: List(Float32);
  buttons @1: List(Bool);
}

struct DriverState {
  frameId @0 :UInt32;
  modelExecutionTime @14 :Float32;
  dspExecutionTime @16 :Float32;
  rawPredictions @15 :Data;

  faceOrientation @3 :List(Float32);
  facePosition @4 :List(Float32);
  faceProb @5 :Float32;
  leftEyeProb @6 :Float32;
  rightEyeProb @7 :Float32;
  leftBlinkProb @8 :Float32;
  rightBlinkProb @9 :Float32;
  faceOrientationStd @11 :List(Float32);
  facePositionStd @12 :List(Float32);
  sunglassesProb @13 :Float32;
  poorVision @17 :Float32;
  partialFace @18 :Float32;
  distractedPose @19 :Float32;
  distractedEyes @20 :Float32;

  irPwrDEPRECATED @10 :Float32;
  descriptorDEPRECATED @1 :List(Float32);
  stdDEPRECATED @2 :Float32;
}

struct DriverMonitoringState @0xb83cda094a1da284 {
  events @0 :List(Car.CarEvent);
  faceDetected @1 :Bool;
  isDistracted @2 :Bool;
  awarenessStatus @3 :Float32;
  posePitchOffset @6 :Float32;
  posePitchValidCount @7 :UInt32;
  poseYawOffset @8 :Float32;
  poseYawValidCount @9 :UInt32;
  stepChange @10 :Float32;
  awarenessActive @11 :Float32;
  awarenessPassive @12 :Float32;
  isLowStd @13 :Bool;
  hiStdCount @14 :UInt32;
  isActiveMode @16 :Bool;

  isRHDDEPRECATED @4 :Bool;
  isPreviewDEPRECATED @15 :Bool;
  rhdCheckedDEPRECATED @5 :Bool;
}

struct Boot {
  wallTimeNanos @0 :UInt64;
  lastKmsg @1 :Data;
  lastPmsg @2 :Data;
  launchLog @3 :Text;
}

struct LiveParametersData {
  valid @0 :Bool;
  gyroBias @1 :Float32;
  angleOffsetDeg @2 :Float32;
  angleOffsetAverageDeg @3 :Float32;
  stiffnessFactor @4 :Float32;
  steerRatio @5 :Float32;
  sensorValid @6 :Bool;
  yawRate @7 :Float32;
  posenetSpeed @8 :Float32;
  posenetValid @9 :Bool;
}

struct LiveMapDataDEPRECATED {
  speedLimitValid @0 :Bool;
  speedLimit @1 :Float32;
  speedAdvisoryValid @12 :Bool;
  speedAdvisory @13 :Float32;
  speedLimitAheadValid @14 :Bool;
  speedLimitAhead @15 :Float32;
  speedLimitAheadDistance @16 :Float32;
  curvatureValid @2 :Bool;
  curvature @3 :Float32;
  wayId @4 :UInt64;
  roadX @5 :List(Float32);
  roadY @6 :List(Float32);
  lastGps @7: GpsLocationData;
  roadCurvatureX @8 :List(Float32);
  roadCurvature @9 :List(Float32);
  distToTurn @10 :Float32;
  mapValid @11 :Bool;
}

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
  rotStd @3 :List(Float32); # std rad/s in device frame
}

struct Sentinel {
  enum SentinelType {
    endOfSegment @0;
    endOfRoute @1;
    startOfSegment @2;
    startOfRoute @3;
  }
  type @0 :SentinelType;
}

struct ManagerState {
  processes @0 :List(ProcessState);

  struct ProcessState {
    name @0 :Text;
    pid @1 :Int32;
    running @2 :Bool;
    exitCode @3 :Int32;
  }
}

struct Event {
  logMonoTime @0 :UInt64;  # nanoseconds
  valid @67 :Bool = true;

  union {
    # *********** log metadata ***********
    initData @1 :InitData;
    sentinel @73 :Sentinel;

    # *********** bootlog ***********
    boot @60 :Boot;

    # ********** openpilot daemon msgs **********
    gpsNMEA @3 :GPSNMEAData;
    can @5 :List(CanData);
    controlsState @7 :ControlsState;
    sensorEvents @11 :List(SensorEventData);
    pandaState @12 :PandaState;
    radarState @13 :RadarState;
    liveTracks @16 :List(LiveTracks);
    sendcan @17 :List(CanData);
    liveCalibration @19 :LiveCalibrationData;
    carState @22 :Car.CarState;
    carControl @23 :Car.CarControl;
    longitudinalPlan @24 :LongitudinalPlan;
    lateralPlan @64 :LateralPlan;
    ubloxGnss @34 :UbloxGnss;
    liveMpc @36 :LiveMpcData;
    liveLongitudinalMpc @37 :LiveLongitudinalMpcData;
    ubloxRaw @39 :Data;
    gpsLocationExternal @48 :GpsLocationData;
    driverState @59 :DriverState;
    liveParameters @61 :LiveParametersData;
    cameraOdometry @63 :CameraOdometry;
    thumbnail @66: Thumbnail;
    carEvents @68: List(Car.CarEvent);
    carParams @69: Car.CarParams;
    driverMonitoringState @71: DriverMonitoringState;
    liveLocationKalman @72 :LiveLocationKalman;
    modelV2 @75 :ModelDataV2;

    # camera stuff, each camera state has a matching encode idx
    roadCameraState @2 :FrameData;
    driverCameraState @70: FrameData;
    wideRoadCameraState @74: FrameData;
    roadEncodeIdx @15 :EncodeIndex;
    driverEncodeIdx @76 :EncodeIndex;
    wideRoadEncodeIdx @77 :EncodeIndex;

    # systems stuff
    androidLog @20 :AndroidLogEntry;
    managerState @78 :ManagerState;
    procLog @33 :ProcLog;
    clocks @35 :Clocks;
    deviceState @6 :DeviceState;
    logMessage @18 :Text;


    # *********** debug ***********
    testJoystick @52 :Joystick;

    # *********** legacy + deprecated ***********
    model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
    liveLocationKalmanDEPRECATED @51 :Legacy.LiveLocationData;
    orbslamCorrectionDEPRECATED @45 :Legacy.OrbslamCorrection;
    liveUIDEPRECATED @14 :Legacy.LiveUI;
    sensorEventDEPRECATED @4 :SensorEventData;
    liveEventDEPRECATED @8 :List(Legacy.LiveEventData);
    liveLocationDEPRECATED @25 :Legacy.LiveLocationData;
    ethernetDataDEPRECATED @26 :List(Legacy.EthernetPacket);
    cellInfoDEPRECATED @28 :List(Legacy.CellInfo);
    wifiScanDEPRECATED @29 :List(Legacy.WifiScan);
    uiNavigationEventDEPRECATED @50 :Legacy.UiNavigationEvent;
    liveMapDataDEPRECATED @62 :LiveMapDataDEPRECATED;
    gpsPlannerPointsDEPRECATED @40 :Legacy.GPSPlannerPoints;
    gpsPlannerPlanDEPRECATED @41 :Legacy.GPSPlannerPlan;
    applanixRawDEPRECATED @42 :Data;
    androidGnssDEPRECATED @30 :Legacy.AndroidGnss;
    qcomGnssDEPRECATD @31 :Legacy.QcomGnss;
    lidarPtsDEPRECATED @32 :Legacy.LidarPts;
    navStatusDEPRECATED @38 :Legacy.NavStatus;
    trafficEventsDEPRECATED @43 :List(Legacy.TrafficEvent);
    liveLocationTimingDEPRECATED @44 :Legacy.LiveLocationData;
    liveLocationCorrectedDEPRECATED @46 :Legacy.LiveLocationData;
    navUpdateDEPRECATED @27 :Legacy.NavUpdate;
    orbObservationDEPRECATED @47 :List(Legacy.OrbObservation);
    locationDEPRECATED @49 :Legacy.LiveLocationData;
    orbOdometryDEPRECATED @53 :Legacy.OrbOdometry;
    orbFeaturesDEPRECATED @54 :Legacy.OrbFeatures;
    applanixLocationDEPRECATED @55 :Legacy.LiveLocationData;
    orbKeyFrameDEPRECATED @56 :Legacy.OrbKeyFrame;
    orbFeaturesSummaryDEPRECATED @58 :Legacy.OrbFeaturesSummary;
    featuresDEPRECATED @10 :Legacy.CalibrationFeatures;
    kalmanOdometryDEPRECATED @65 :Legacy.KalmanOdometry;
    gpsLocationDEPRECATED @21 :GpsLocationData;
    uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState;
  }
}