mawei
/
openpilot1
mirror of https://github.com/huifan0114/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
openpilot1/cereal/log.capnp

2422 lines
58 KiB
Cap'n Proto
Raw Permalink Blame History

using Cxx = import "./include/c++.capnp";
$Cxx.namespace("cereal");
using Car = import "car.capnp";
using Legacy = import "legacy.capnp";
using Custom = import "custom.capnp";
@0xf3b1f17e25a4285b;
const logVersion :Int32 = 1;
struct Map(Key, Value) {
entries @0 :List(Entry);
struct Entry {
key @0 :Key;
value @1 :Value;
}
}
enum LongitudinalPersonality {
aggressive @0;
standard @1;
relaxed @2;
}
struct InitData {
kernelArgs @0 :List(Text);
kernelVersion @15 :Text;
osVersion @18 :Text;
dongleId @2 :Text;
bootlogId @22 :Text;
deviceType @3 :DeviceType;
version @4 :Text;
gitCommit @10 :Text;
gitCommitDate @21 :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);
commands @19 :Map(Text, Data);
wallTimeNanos @20 :UInt64;
enum DeviceType {
unknown @0;
neo @1;
chffrAndroid @2;
chffrIos @3;
tici @4;
pc @5;
tizi @6;
mici @7;
}
struct PandaInfo {
hasPanda @0 :Bool;
dongleId @1 :Text;
stVersion @2 :Text;
espVersion @3 :Text;
}
# ***** deprecated stuff *****
gctxDEPRECATED @1 :Text;
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;
frameIdSensor @25 :UInt32;
requestId @28 :UInt32;
encodeId @1 :UInt32;
frameType @7 :FrameType;
# Timestamps
timestampEof @2 :UInt64;
timestampSof @8 :UInt64;
processingTime @23 :Float32;
# Exposure
integLines @4 :Int32;
highConversionGain @20 :Bool;
gain @15 :Float32; # This includes highConversionGain if enabled
measuredGreyFraction @21 :Float32;
targetGreyFraction @22 :Float32;
exposureValPercent @27 :Float32;
transform @10 :List(Float32);
image @6 :Data;
temperaturesC @24 :List(Float32);
enum FrameType {
unknown @0;
neo @1;
chffrAndroid @2;
front @3;
}
sensor @26 :ImageSensor;
enum ImageSensor {
unknown @0;
ar0231 @1;
ox03c10 @2;
os04c10 @3;
}
frameLengthDEPRECATED @3 :Int32;
globalGainDEPRECATED @5 :Int32;
androidCaptureResultDEPRECATED @9 :AndroidCaptureResult;
lensPosDEPRECATED @11 :Int32;
lensSagDEPRECATED @12 :Float32;
lensErrDEPRECATED @13 :Float32;
lensTruePosDEPRECATED @14 :Float32;
focusValDEPRECATED @16 :List(Int16);
focusConfDEPRECATED @17 :List(UInt8);
sharpnessScoreDEPRECATED @18 :List(UInt16);
recoverStateDEPRECATED @19 :Int32;
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;
encoding @3 :Encoding;
enum Encoding {
unknown @0;
jpeg @1;
keyframe @2;
}
}
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; # includes LSM6DS3 and LSM6DS3TR, TR = tape reel
bmp280 @6; # barometer
mmc3416x @7; # magnetometer
bmx055 @8;
rpr0521 @9;
lsm6ds3trc @10;
mmc5603nj @11;
}
}
# android struct GpsLocation
struct GpsLocationData {
# Contains module-specific flags.
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 horizontal accuracy in meters.
horizontalAccuracy @6 :Float32;
unixTimestampMillis @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;
hasFix @13 :Bool;
enum SensorSource {
android @0;
iOS @1;
car @2;
velodyne @3; # Velodyne IMU
fusion @4;
external @5;
ublox @6;
trimble @7;
qcomdiag @8;
unicore @9;
}
}
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;
}
enum TurnDirection {
none @0;
turnLeft @1;
turnRight @2;
}
struct CanData {
address @0 :UInt32;
busTime @1 :UInt16;
dat @2 :Data;
src @3 :UInt8;
}
struct DeviceState @0xa4d8b5af2aa492eb {
deviceType @45 :InitData.DeviceType;
networkType @22 :NetworkType;
networkInfo @31 :NetworkInfo;
networkStrength @24 :NetworkStrength;
networkStats @43 :NetworkStats;
networkMetered @41 :Bool;
lastAthenaPingTime @32 :UInt64;
started @11 :Bool;
startedMonoTime @13 :UInt64;
# system utilization
freeSpacePercent @7 :Float32;
memoryUsagePercent @19 :Int8;
gpuUsagePercent @33 :Int8;
cpuUsagePercent @34 :List(Int8); # per-core cpu usage
# power
offroadPowerUsageUwh @23 :UInt32;
carBatteryCapacityUwh @25 :UInt32;
powerDrawW @40 :Float32;
somPowerDrawW @42 :Float32;
# device thermals
cpuTempC @26 :List(Float32);
gpuTempC @27 :List(Float32);
memoryTempC @28 :Float32;
nvmeTempC @35 :List(Float32);
modemTempC @36 :List(Float32);
pmicTempC @39 :List(Float32);
maxTempC @44 :Float32; # max of other temps, used to control fan
thermalZones @38 :List(ThermalZone);
thermalStatus @14 :ThermalStatus;
fanSpeedPercentDesired @10 :UInt16;
screenBrightnessPercent @37 :Int8;
struct ThermalZone {
name @0 :Text;
temp @1 :Float32;
}
enum ThermalStatus {
green @0;
yellow @1;
red @2;
danger @3;
}
enum NetworkType {
none @0;
wifi @1;
cell2G @2;
cell3G @3;
cell4G @4;
cell5G @5;
ethernet @6;
}
enum NetworkStrength {
unknown @0;
poor @1;
moderate @2;
good @3;
great @4;
}
struct NetworkInfo {
technology @0 :Text;
operator @1 :Text;
band @2 :Text;
channel @3 :UInt16;
extra @4 :Text;
state @5 :Text;
}
struct NetworkStats {
wwanTx @0 :Int64;
wwanRx @1 :Int64;
}
# 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;
cpuUsagePercentDEPRECATED @20 :Int8;
batteryStatusDEPRECATED @9 :Text;
batteryVoltageDEPRECATED @16 :Int32;
batteryTempCDEPRECATED @29 :Float32;
batteryPercentDEPRECATED @8 :Int16;
batteryCurrentDEPRECATED @15 :Int32;
chargingErrorDEPRECATED @17 :Bool;
chargingDisabledDEPRECATED @18 :Bool;
usbOnlineDEPRECATED @12 :Bool;
ambientTempCDEPRECATED @30 :Float32;
}
struct PandaState @0xa7649e2575e4591e {
ignitionLine @2 :Bool;
rxBufferOverflow @7 :UInt32;
txBufferOverflow @8 :UInt32;
pandaType @10 :PandaType;
ignitionCan @13 :Bool;
faultStatus @15 :FaultStatus;
powerSaveEnabled @16 :Bool;
uptime @17 :UInt32;
faults @18 :List(FaultType);
heartbeatLost @22 :Bool;
interruptLoad @25 :Float32;
fanPower @28 :UInt8;
fanStallCount @34 :UInt8;
spiChecksumErrorCount @33 :UInt16;
harnessStatus @21 :HarnessStatus;
sbu1Voltage @35 :Float32;
sbu2Voltage @36 :Float32;
# can health
canState0 @29 :PandaCanState;
canState1 @30 :PandaCanState;
canState2 @31 :PandaCanState;
# safety stuff
controlsAllowed @3 :Bool;
safetyRxInvalid @19 :UInt32;
safetyTxBlocked @24 :UInt32;
safetyModel @14 :Car.CarParams.SafetyModel;
safetyParam @27 :UInt16;
alternativeExperience @23 :Int16;
safetyRxChecksInvalid @32 :Bool;
voltage @0 :UInt32;
current @1 :UInt32;
enum FaultStatus {
none @0;
faultTemp @1;
faultPerm @2;
}
enum FaultType {
relayMalfunction @0;
unusedInterruptHandled @1;
interruptRateCan1 @2;
interruptRateCan2 @3;
interruptRateCan3 @4;
interruptRateTach @5;
interruptRateGmlanDEPRECATED @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;
interruptRateTick @21;
interruptRateExti @22;
interruptRateSpi @23;
interruptRateUart7 @24;
sirenMalfunction @25;
heartbeatLoopWatchdog @26;
# 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;
redPanda @7;
redPandaV2 @8;
tres @9;
cuatro @10;
}
enum HarnessStatus {
notConnected @0;
normal @1;
flipped @2;
}
struct PandaCanState {
busOff @0 :Bool;
busOffCnt @1 :UInt32;
errorWarning @2 :Bool;
errorPassive @3 :Bool;
lastError @4 :LecErrorCode;
lastStoredError @5 :LecErrorCode;
lastDataError @6 :LecErrorCode;
lastDataStoredError @7 :LecErrorCode;
receiveErrorCnt @8 :UInt8;
transmitErrorCnt @9 :UInt8;
totalErrorCnt @10 :UInt32;
totalTxLostCnt @11 :UInt32;
totalRxLostCnt @12 :UInt32;
totalTxCnt @13 :UInt32;
totalRxCnt @14 :UInt32;
totalFwdCnt @15 :UInt32;
canSpeed @16 :UInt16;
canDataSpeed @17 :UInt16;
canfdEnabled @18 :Bool;
brsEnabled @19 :Bool;
canfdNonIso @20 :Bool;
irq0CallRate @21 :UInt32;
irq1CallRate @22 :UInt32;
irq2CallRate @23 :UInt32;
canCoreResetCnt @24 :UInt32;
enum LecErrorCode {
noError @0;
stuffError @1;
formError @2;
ackError @3;
bit1Error @4;
bit0Error @5;
crcError @6;
noChange @7;
}
}
gasInterceptorDetectedDEPRECATED @4 :Bool;
startedSignalDetectedDEPRECATED @5 :Bool;
hasGpsDEPRECATED @6 :Bool;
gmlanSendErrsDEPRECATED @9 :UInt32;
fanSpeedRpmDEPRECATED @11 :UInt16;
usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED;
safetyParamDEPRECATED @20 :Int16;
safetyParam2DEPRECATED @26 :UInt32;
}
struct PeripheralState {
pandaType @0 :PandaState.PandaType;
voltage @1 :UInt32;
current @2 :UInt32;
fanSpeedRpm @3 :UInt16;
usbPowerModeDEPRECATED @4 :UsbPowerModeDEPRECATED;
enum UsbPowerModeDEPRECATED @0xa8883583b32c9877 {
none @0;
client @1;
cdp @2;
dcp @3;
}
}
struct RadarState @0x9a185389d6fdd05f {
mdMonoTime @6 :UInt64;
carStateMonoTime @11 :UInt64;
radarErrors @12 :List(Car.RadarData.Error);
leadOne @3 :LeadData;
leadTwo @4 :LeadData;
leadLeft @13 :LeadData;
leadRight @14 :LeadData;
leadLeftFar @15 :LeadData;
leadRightFar @16 :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;
radarTrackId @15 :Int32 = -1;
aLeadDEPRECATED @5 :Float32;
}
# deprecated
ftMonoTimeDEPRECATED @7 :UInt64;
warpMatrixDEPRECATED @0 :List(Float32);
angleOffsetDEPRECATED @1 :Float32;
calStatusDEPRECATED @2 :Int8;
calCycleDEPRECATED @8 :Int32;
calPercDEPRECATED @9 :Int8;
canMonoTimesDEPRECATED @10 :List(UInt64);
}
struct LiveCalibrationData {
calStatus @11 :Status;
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);
wideFromDeviceEuler @10 :List(Float32);
height @12 :List(Float32);
warpMatrixDEPRECATED @0 :List(Float32);
calStatusDEPRECATED @1 :Int8;
warpMatrix2DEPRECATED @5 :List(Float32);
warpMatrixBigDEPRECATED @6 :List(Float32);
enum Status {
uncalibrated @0;
calibrated @1;
invalid @2;
recalibrating @3;
}
}
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;
longitudinalPlanMonoTime @28 :UInt64;
lateralPlanMonoTime @50 :UInt64;
state @31 :OpenpilotState;
enabled @19 :Bool;
active @36 :Bool;
experimentalMode @64 :Bool;
personality @66 :LongitudinalPersonality;
longControlState @30 :Car.CarControl.Actuators.LongControlState;
vPid @2 :Float32;
vTargetLead @3 :Float32;
vCruise @22 :Float32; # actual set speed
vCruiseCluster @63 :Float32; # set speed to display in the UI
upAccelCmd @4 :Float32;
uiAccelCmd @5 :Float32;
ufAccelCmd @33 :Float32;
aTarget @35 :Float32;
curvature @37 :Float32; # path curvature from vehicle model
desiredCurvature @61 :Float32; # lag adjusted curvatures used by lateral controllers
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;
lateralControlState :union {
indiState @52 :LateralINDIState;
pidState @53 :LateralPIDState;
angleState @58 :LateralAngleState;
debugState @59 :LateralDebugState;
torqueState @60 :LateralTorqueState;
curvatureStateDEPRECATED @65 :LateralCurvatureState;
lqrStateDEPRECATED @55 :LateralLQRState;
}
enum OpenpilotState @0xdbe58b96d2d1ac61 {
disabled @0;
preEnabled @1;
enabled @2;
softDisabling @3;
overriding @4; # superset of overriding with steering or accelerator
}
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
frogpilot @3; # FrogPilot startup alert
}
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;
steeringAngleDesiredDeg @11 :Float32;
steeringRateDesiredDeg @12 :Float32;
}
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;
steeringAngleDesiredDeg @9 :Float32;
}
struct LateralTorqueState {
active @0 :Bool;
error @1 :Float32;
errorRate @8 :Float32;
p @2 :Float32;
i @3 :Float32;
d @4 :Float32;
f @5 :Float32;
output @6 :Float32;
saturated @7 :Bool;
actualLateralAccel @9 :Float32;
desiredLateralAccel @10 :Float32;
nnLog @11 :List(Float32);
}
struct LateralLQRState {
active @0 :Bool;
steeringAngleDeg @1 :Float32;
i @2 :Float32;
output @3 :Float32;
lqrOutput @4 :Float32;
saturated @5 :Bool;
steeringAngleDesiredDeg @6 :Float32;
}
struct LateralAngleState {
active @0 :Bool;
steeringAngleDeg @1 :Float32;
output @2 :Float32;
saturated @3 :Bool;
steeringAngleDesiredDeg @4 :Float32;
}
struct LateralCurvatureState {
active @0 :Bool;
actualCurvature @1 :Float32;
desiredCurvature @2 :Float32;
error @3 :Float32;
p @4 :Float32;
i @5 :Float32;
f @6 :Float32;
output @7 :Float32;
saturated @8 :Bool;
}
struct LateralDebugState {
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;
steeringAngleDesiredDegDEPRECATED @29 :Float32;
canMonoTimesDEPRECATED @21 :List(UInt64);
desiredCurvatureRateDEPRECATED @62 :Float32;
canErrorCounterDEPRECATED @57 :UInt32;
}
struct DrivingModelData {
frameId @0 :UInt32;
frameIdExtra @1 :UInt32;
frameDropPerc @6 :Float32;
modelExecutionTime @7 :Float32;
action @2 :ModelDataV2.Action;
laneLineMeta @3 :LaneLineMeta;
meta @4 :MetaData;
path @5 :PolyPath;
struct PolyPath {
xCoefficients @0 :List(Float32);
yCoefficients @1 :List(Float32);
zCoefficients @2 :List(Float32);
}
struct LaneLineMeta {
leftY @0 :Float32;
rightY @1 :Float32;
leftProb @2 :Float32;
rightProb @3 :Float32;
}
struct MetaData {
laneChangeState @0 :LaneChangeState;
laneChangeDirection @1 :LaneChangeDirection;
}
}
# All SI units and in device frame
struct XYZTData @0xc3cbae1fd505ae80 {
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 ModelDataV2 {
frameId @0 :UInt32;
frameIdExtra @20 :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;
acceleration @19 :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);
leadsV3 @18 :List(LeadDataV3);
meta @12 :MetaData;
confidence @23: ConfidenceClass;
# Model perceived motion
temporalPose @21 :Pose;
navEnabled @22 :Bool;
locationMonoTime @24 :UInt64;
# e2e lateral planner
lateralPlannerSolutionDEPRECATED @25: LateralPlannerSolution;
action @26: Action;
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 LeadDataV3 {
prob @0 :Float32; # probability that car is your lead at time t
probTime @1 :Float32;
t @2 :List(Float32);
# x and y are relative position in device frame
# v absolute norm speed
# a is derivative of v
x @3 :List(Float32);
xStd @4 :List(Float32);
y @5 :List(Float32);
yStd @6 :List(Float32);
v @7 :List(Float32);
vStd @8 :List(Float32);
a @9 :List(Float32);
aStd @10 :List(Float32);
}
struct MetaData {
engagedProb @0 :Float32;
desirePrediction @1 :List(Float32);
desireState @5 :List(Float32);
disengagePredictions @6 :DisengagePredictions;
hardBrakePredicted @7 :Bool;
laneChangeState @8 :LaneChangeState;
laneChangeDirection @9 :LaneChangeDirection;
turnDirection @10 :TurnDirection;
# deprecated
brakeDisengageProbDEPRECATED @2 :Float32;
gasDisengageProbDEPRECATED @3 :Float32;
steerOverrideProbDEPRECATED @4 :Float32;
}
enum ConfidenceClass {
red @0;
yellow @1;
green @2;
}
struct DisengagePredictions {
t @0 :List(Float32);
brakeDisengageProbs @1 :List(Float32);
gasDisengageProbs @2 :List(Float32);
steerOverrideProbs @3 :List(Float32);
brake3MetersPerSecondSquaredProbs @4 :List(Float32);
brake4MetersPerSecondSquaredProbs @5 :List(Float32);
brake5MetersPerSecondSquaredProbs @6 :List(Float32);
gasPressProbs @7 :List(Float32);
brakePressProbs @8 :List(Float32);
}
struct Pose {
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 LateralPlannerSolution {
x @0 :List(Float32);
y @1 :List(Float32);
yaw @2 :List(Float32);
yawRate @3 :List(Float32);
xStd @4 :List(Float32);
yStd @5 :List(Float32);
yawStd @6 :List(Float32);
yawRateStd @7 :List(Float32);
}
struct Action {
desiredCurvature @0 :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;
# encoder metadata
flags @8 :UInt32;
len @9 :UInt32;
enum Type {
bigBoxLossless @0;
fullHEVC @1;
qcameraH264 @6;
livestreamH264 @7;
# deprecated
bigBoxHEVCDEPRECATED @2;
chffrAndroidH264DEPRECATED @3;
fullLosslessClipDEPRECATED @4;
frontDEPRECATED @5;
}
}
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 {
modelMonoTime @9 :UInt64;
hasLead @7 :Bool;
fcw @8 :Bool;
longitudinalPlanSource @15 :LongitudinalPlanSource;
processingDelay @29 :Float32;
# desired speed/accel/jerk over next 2.5s
accels @32 :List(Float32);
speeds @33 :List(Float32);
jerks @34 :List(Float32);
aTarget @18 :Float32;
shouldStop @37: Bool;
allowThrottle @38: Bool;
allowBrake @39: Bool;
solverExecutionTime @35 :Float32;
enum LongitudinalPlanSource {
cruise @0;
lead0 @1;
lead1 @2;
lead2 @3;
e2e @4;
}
# deprecated
vCruiseDEPRECATED @16 :Float32;
aCruiseDEPRECATED @17 :Float32;
vTargetDEPRECATED @3 :Float32;
vTargetFutureDEPRECATED @14 :Float32;
vStartDEPRECATED @26 :Float32;
aStartDEPRECATED @27 :Float32;
vMaxDEPRECATED @20 :Float32;
radarStateMonoTimeDEPRECATED @10 :UInt64;
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;
personalityDEPRECATED @36 :LongitudinalPersonality;
struct GpsTrajectory {
x @0 :List(Float32);
y @1 :List(Float32);
}
}
struct UiPlan {
frameId @2 :UInt32;
position @0 :XYZTData;
accel @1 :List(Float32);
}
struct LateralPlan @0xe1e9318e2ae8b51e {
modelMonoTime @31 :UInt64;
laneWidthDEPRECATED @0 :Float32;
lProbDEPRECATED @5 :Float32;
rProbDEPRECATED @7 :Float32;
dPathPoints @20 :List(Float32);
dProbDEPRECATED @21 :Float32;
mpcSolutionValid @9 :Bool;
desire @17 :Desire;
laneChangeState @18 :LaneChangeState;
laneChangeDirection @19 :LaneChangeDirection;
useLaneLines @29 :Bool;
# desired curvatures over next 2.5s in rad/m
psis @26 :List(Float32);
curvatures @27 :List(Float32);
curvatureRates @28 :List(Float32);
solverExecutionTime @30 :Float32;
solverCost @32 :Float32;
solverState @33 :SolverState;
struct SolverState {
x @0 :List(List(Float32));
u @1 :List(Float32);
}
# deprecated
curvatureDEPRECATED @22 :Float32;
curvatureRateDEPRECATED @23 :Float32;
rawCurvatureDEPRECATED @24 :Float32;
rawCurvatureRateDEPRECATED @25 :Float32;
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
calibratedOrientationNED @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;
timeSinceReset @23 :Float64;
excessiveResets @24 :Bool;
timeToFirstFix @25 :Float32;
filterState @26 : Measurement;
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 GnssMeasurements {
measTime @0 :UInt64;
gpsWeek @1 :Int16;
gpsTimeOfWeek @2 :Float64;
correctedMeasurements @3 :List(CorrectedMeasurement);
ephemerisStatuses @9 :List(EphemerisStatus);
kalmanPositionECEF @4 :LiveLocationKalman.Measurement;
kalmanVelocityECEF @5 :LiveLocationKalman.Measurement;
positionECEF @6 :LiveLocationKalman.Measurement;
velocityECEF @7 :LiveLocationKalman.Measurement;
timeToFirstFix @8 :Float32;
# Todo sync this with timing pulse of ublox
struct EphemerisStatus {
constellationId @0 :ConstellationId;
svId @1 :UInt8;
type @2 :EphemerisType;
source @3 :EphemerisSource;
gpsWeek @4 : UInt16;
tow @5 :Float64;
}
struct CorrectedMeasurement {
constellationId @0 :ConstellationId;
svId @1 :UInt8;
# Is 0 when not Glonass constellation.
glonassFrequency @2 :Int8;
pseudorange @3 :Float64;
pseudorangeStd @4 :Float64;
pseudorangeRate @5 :Float64;
pseudorangeRateStd @6 :Float64;
# Satellite position and velocity [x,y,z]
satPos @7 :List(Float64);
satVel @8 :List(Float64);
ephemerisSourceDEPRECATED @9 :EphemerisSourceDEPRECATED;
}
struct EphemerisSourceDEPRECATED {
type @0 :EphemerisType;
# first epoch in file:
gpsWeek @1 :Int16; # -1 if Nav
gpsTimeOfWeek @2 :Int32; # -1 if Nav. Integer for seconds is good enough for logs.
}
enum ConstellationId {
# Satellite Constellation using the Ublox gnssid as index
gps @0;
sbas @1;
galileo @2;
beidou @3;
imes @4;
qznss @5;
glonass @6;
}
enum EphemerisType {
nav @0;
# Different ultra-rapid files:
nasaUltraRapid @1;
glonassIacUltraRapid @2;
qcom @3;
}
enum EphemerisSource {
gnssChip @0;
internet @1;
cache @2;
unknown @3;
}
}
struct UbloxGnss {
union {
measurementReport @0 :MeasurementReport;
ephemeris @1 :Ephemeris;
ionoData @2 :IonoData;
hwStatus @3 :HwStatus;
hwStatus2 @4 :HwStatus2;
glonassEphemeris @5 :GlonassEphemeris;
satReport @6 :SatReport;
}
struct SatReport {
#received time of week in gps time in seconds and gps week
iTow @0 :UInt32;
svs @1 :List(SatInfo);
struct SatInfo {
svId @0 :UInt8;
gnssId @1 :UInt8;
flagsBitfield @2 :UInt32;
}
}
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 cycle 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;
gpsWeekDEPRECATED @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);
towCount @40 :UInt32;
toeWeek @41 :UInt16;
tocWeek @42 :UInt16;
}
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;
flags @5 :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 GlonassEphemeris {
svId @0 :UInt16;
year @1 :UInt16;
dayInYear @2 :UInt16;
hour @3 :UInt16;
minute @4 :UInt16;
second @5 :Float32;
x @6 :Float64;
xVel @7 :Float64;
xAccel @8 :Float64;
y @9 :Float64;
yVel @10 :Float64;
yAccel @11 :Float64;
z @12 :Float64;
zVel @13 :Float64;
zAccel @14 :Float64;
svType @15 :UInt8;
svURA @16 :Float32;
age @17 :UInt8;
svHealth @18 :UInt8;
tkDEPRECATED @19 :UInt16;
tb @20 :UInt16;
tauN @21 :Float64;
deltaTauN @22 :Float64;
gammaN @23 :Float64;
p1 @24 :UInt8;
p2 @25 :UInt8;
p3 @26 :UInt8;
p4 @27 :UInt8;
freqNumDEPRECATED @28 :UInt32;
n4 @29 :UInt8;
nt @30 :UInt16;
freqNum @31 :Int16;
tkSeconds @32 :UInt32;
}
}
struct QcomGnss @0xde94674b07ae51c1 {
logTs @0 :UInt64;
union {
measurementReport @1 :MeasurementReport;
clockReport @2 :ClockReport;
drMeasurementReport @3 :DrMeasurementReport;
drSvPoly @4 :DrSvPolyReport;
rawLog @5 :Data;
}
enum MeasurementSource @0xd71a12b6faada7ee {
gps @0;
glonass @1;
beidou @2;
unknown3 @3;
unknown4 @4;
unknown5 @5;
sbas @6;
}
enum SVObservationState @0xe81e829a0d6c83e9 {
idle @0;
search @1;
searchVerify @2;
bitEdge @3;
trackVerify @4;
track @5;
restart @6;
dpo @7;
glo10msBe @8;
glo10msAt @9;
}
struct MeasurementStatus @0xe501010e1bcae83b {
subMillisecondIsValid @0 :Bool;
subBitTimeIsKnown @1 :Bool;
satelliteTimeIsKnown @2 :Bool;
bitEdgeConfirmedFromSignal @3 :Bool;
measuredVelocity @4 :Bool;
fineOrCoarseVelocity @5 :Bool;
lockPointValid @6 :Bool;
lockPointPositive @7 :Bool;
lastUpdateFromDifference @8 :Bool;
lastUpdateFromVelocityDifference @9 :Bool;
strongIndicationOfCrossCorelation @10 :Bool;
tentativeMeasurement @11 :Bool;
measurementNotUsable @12 :Bool;
sirCheckIsNeeded @13 :Bool;
probationMode @14 :Bool;
glonassMeanderBitEdgeValid @15 :Bool;
glonassTimeMarkValid @16 :Bool;
gpsRoundRobinRxDiversity @17 :Bool;
gpsRxDiversity @18 :Bool;
gpsLowBandwidthRxDiversityCombined @19 :Bool;
gpsHighBandwidthNu4 @20 :Bool;
gpsHighBandwidthNu8 @21 :Bool;
gpsHighBandwidthUniform @22 :Bool;
multipathIndicator @23 :Bool;
imdJammingIndicator @24 :Bool;
lteB13TxJammingIndicator @25 :Bool;
freshMeasurementIndicator @26 :Bool;
multipathEstimateIsValid @27 :Bool;
directionIsValid @28 :Bool;
}
struct MeasurementReport @0xf580d7d86b7b8692 {
source @0 :MeasurementSource;
fCount @1 :UInt32;
gpsWeek @2 :UInt16;
glonassCycleNumber @3 :UInt8;
glonassNumberOfDays @4 :UInt16;
milliseconds @5 :UInt32;
timeBias @6 :Float32;
clockTimeUncertainty @7 :Float32;
clockFrequencyBias @8 :Float32;
clockFrequencyUncertainty @9 :Float32;
sv @10 :List(SV);
struct SV @0xf10c595ae7bb2c27 {
svId @0 :UInt8;
observationState @2 :SVObservationState;
observations @3 :UInt8;
goodObservations @4 :UInt8;
gpsParityErrorCount @5 :UInt16;
glonassFrequencyIndex @1 :Int8;
glonassHemmingErrorCount @6 :UInt8;
filterStages @7 :UInt8;
carrierNoise @8 :UInt16;
latency @9 :Int16;
predetectInterval @10 :UInt8;
postdetections @11 :UInt16;
unfilteredMeasurementIntegral @12 :UInt32;
unfilteredMeasurementFraction @13 :Float32;
unfilteredTimeUncertainty @14 :Float32;
unfilteredSpeed @15 :Float32;
unfilteredSpeedUncertainty @16 :Float32;
measurementStatus @17 :MeasurementStatus;
multipathEstimate @18 :UInt32;
azimuth @19 :Float32;
elevation @20 :Float32;
carrierPhaseCyclesIntegral @21 :Int32;
carrierPhaseCyclesFraction @22 :UInt16;
fineSpeed @23 :Float32;
fineSpeedUncertainty @24 :Float32;
cycleSlipCount @25 :UInt8;
}
}
struct ClockReport @0xca965e4add8f4f0b {
hasFCount @0 :Bool;
fCount @1 :UInt32;
hasGpsWeek @2 :Bool;
gpsWeek @3 :UInt16;
hasGpsMilliseconds @4 :Bool;
gpsMilliseconds @5 :UInt32;
gpsTimeBias @6 :Float32;
gpsClockTimeUncertainty @7 :Float32;
gpsClockSource @8 :UInt8;
hasGlonassYear @9 :Bool;
glonassYear @10 :UInt8;
hasGlonassDay @11 :Bool;
glonassDay @12 :UInt16;
hasGlonassMilliseconds @13 :Bool;
glonassMilliseconds @14 :UInt32;
glonassTimeBias @15 :Float32;
glonassClockTimeUncertainty @16 :Float32;
glonassClockSource @17 :UInt8;
bdsWeek @18 :UInt16;
bdsMilliseconds @19 :UInt32;
bdsTimeBias @20 :Float32;
bdsClockTimeUncertainty @21 :Float32;
bdsClockSource @22 :UInt8;
galWeek @23 :UInt16;
galMilliseconds @24 :UInt32;
galTimeBias @25 :Float32;
galClockTimeUncertainty @26 :Float32;
galClockSource @27 :UInt8;
clockFrequencyBias @28 :Float32;
clockFrequencyUncertainty @29 :Float32;
frequencySource @30 :UInt8;
gpsLeapSeconds @31 :UInt8;
gpsLeapSecondsUncertainty @32 :UInt8;
gpsLeapSecondsSource @33 :UInt8;
gpsToGlonassTimeBiasMilliseconds @34 :Float32;
gpsToGlonassTimeBiasMillisecondsUncertainty @35 :Float32;
gpsToBdsTimeBiasMilliseconds @36 :Float32;
gpsToBdsTimeBiasMillisecondsUncertainty @37 :Float32;
bdsToGloTimeBiasMilliseconds @38 :Float32;
bdsToGloTimeBiasMillisecondsUncertainty @39 :Float32;
gpsToGalTimeBiasMilliseconds @40 :Float32;
gpsToGalTimeBiasMillisecondsUncertainty @41 :Float32;
galToGloTimeBiasMilliseconds @42 :Float32;
galToGloTimeBiasMillisecondsUncertainty @43 :Float32;
galToBdsTimeBiasMilliseconds @44 :Float32;
galToBdsTimeBiasMillisecondsUncertainty @45 :Float32;
hasRtcTime @46 :Bool;
systemRtcTime @47 :UInt32;
fCountOffset @48 :UInt32;
lpmRtcCount @49 :UInt32;
clockResets @50 :UInt32;
}
struct DrMeasurementReport @0x8053c39445c6c75c {
reason @0 :UInt8;
seqNum @1 :UInt8;
seqMax @2 :UInt8;
rfLoss @3 :UInt16;
systemRtcValid @4 :Bool;
fCount @5 :UInt32;
clockResets @6 :UInt32;
systemRtcTime @7 :UInt64;
gpsLeapSeconds @8 :UInt8;
gpsLeapSecondsUncertainty @9 :UInt8;
gpsToGlonassTimeBiasMilliseconds @10 :Float32;
gpsToGlonassTimeBiasMillisecondsUncertainty @11 :Float32;
gpsWeek @12 :UInt16;
gpsMilliseconds @13 :UInt32;
gpsTimeBiasMs @14 :UInt32;
gpsClockTimeUncertaintyMs @15 :UInt32;
gpsClockSource @16 :UInt8;
glonassClockSource @17 :UInt8;
glonassYear @18 :UInt8;
glonassDay @19 :UInt16;
glonassMilliseconds @20 :UInt32;
glonassTimeBias @21 :Float32;
glonassClockTimeUncertainty @22 :Float32;
clockFrequencyBias @23 :Float32;
clockFrequencyUncertainty @24 :Float32;
frequencySource @25 :UInt8;
source @26 :MeasurementSource;
sv @27 :List(SV);
struct SV @0xf08b81df8cbf459c {
svId @0 :UInt8;
glonassFrequencyIndex @1 :Int8;
observationState @2 :SVObservationState;
observations @3 :UInt8;
goodObservations @4 :UInt8;
filterStages @5 :UInt8;
predetectInterval @6 :UInt8;
cycleSlipCount @7 :UInt8;
postdetections @8 :UInt16;
measurementStatus @9 :MeasurementStatus;
carrierNoise @10 :UInt16;
rfLoss @11 :UInt16;
latency @12 :Int16;
filteredMeasurementFraction @13 :Float32;
filteredMeasurementIntegral @14 :UInt32;
filteredTimeUncertainty @15 :Float32;
filteredSpeed @16 :Float32;
filteredSpeedUncertainty @17 :Float32;
unfilteredMeasurementFraction @18 :Float32;
unfilteredMeasurementIntegral @19 :UInt32;
unfilteredTimeUncertainty @20 :Float32;
unfilteredSpeed @21 :Float32;
unfilteredSpeedUncertainty @22 :Float32;
multipathEstimate @23 :UInt32;
azimuth @24 :Float32;
elevation @25 :Float32;
dopplerAcceleration @26 :Float32;
fineSpeed @27 :Float32;
fineSpeedUncertainty @28 :Float32;
carrierPhase @29 :Float64;
fCount @30 :UInt32;
parityErrorCount @31 :UInt16;
goodParity @32 :Bool;
}
}
struct DrSvPolyReport @0xb1fb80811a673270 {
svId @0 :UInt16;
frequencyIndex @1 :Int8;
hasPosition @2 :Bool;
hasIono @3 :Bool;
hasTropo @4 :Bool;
hasElevation @5 :Bool;
polyFromXtra @6 :Bool;
hasSbasIono @7 :Bool;
iode @8 :UInt16;
t0 @9 :Float64;
xyz0 @10 :List(Float64);
xyzN @11 :List(Float64);
other @12 :List(Float32);
positionUncertainty @13 :Float32;
ionoDelay @14 :Float32;
ionoDot @15 :Float32;
sbasIonoDelay @16 :Float32;
sbasIonoDot @17 :Float32;
tropoDelay @18 :Float32;
elevation @19 :Float32;
elevationDot @20 :Float32;
elevationUncertainty @21 :Float32;
velocityCoeff @22 :List(Float64);
gpsWeek @23 :UInt16;
gpsTow @24 :Float64;
}
}
struct Clocks {
wallTimeNanos @3 :UInt64; # unix epoch time
bootTimeNanosDEPRECATED @0 :UInt64;
monotonicNanosDEPRECATED @1 :UInt64;
monotonicRawNanosDEPRECATD @2 :UInt64;
modemUptimeMillisDEPRECATED @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 DriverStateV2 {
frameId @0 :UInt32;
modelExecutionTime @1 :Float32;
dspExecutionTime @2 :Float32;
rawPredictions @3 :Data;
poorVisionProb @4 :Float32;
wheelOnRightProb @5 :Float32;
leftDriverData @6 :DriverData;
rightDriverData @7 :DriverData;
struct DriverData {
faceOrientation @0 :List(Float32);
faceOrientationStd @1 :List(Float32);
facePosition @2 :List(Float32);
facePositionStd @3 :List(Float32);
faceProb @4 :Float32;
leftEyeProb @5 :Float32;
rightEyeProb @6 :Float32;
leftBlinkProb @7 :Float32;
rightBlinkProb @8 :Float32;
sunglassesProb @9 :Float32;
occludedProb @10 :Float32;
readyProb @11 :List(Float32);
notReadyProb @12 :List(Float32);
}
}
struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
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;
eyesOnRoad @21 :Float32;
phoneUse @22 :Float32;
occludedProb @23 :Float32;
readyProb @24 :List(Float32);
notReadyProb @25 :List(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;
distractedType @17 :UInt32;
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;
isRHD @4 :Bool;
isPreviewDEPRECATED @15 :Bool;
rhdCheckedDEPRECATED @5 :Bool;
}
struct Boot {
wallTimeNanos @0 :UInt64;
pstore @4 :Map(Text, Data);
commands @5 :Map(Text, Data);
launchLog @3 :Text;
lastKmsgDEPRECATED @1 :Data;
lastPmsgDEPRECATED @2 :Data;
}
struct LiveParametersData {
valid @0 :Bool;
gyroBias @1 :Float32;
angleOffsetDeg @2 :Float32;
angleOffsetAverageDeg @3 :Float32;
stiffnessFactor @4 :Float32;
steerRatio @5 :Float32;
sensorValid @6 :Bool;
posenetSpeed @8 :Float32;
posenetValid @9 :Bool;
angleOffsetFastStd @10 :Float32;
angleOffsetAverageStd @11 :Float32;
stiffnessFactorStd @12 :Float32;
steerRatioStd @13 :Float32;
roll @14 :Float32;
filterState @15 :LiveLocationKalman.Measurement;
yawRateDEPRECATED @7 :Float32;
}
struct LiveTorqueParametersData {
liveValid @0 :Bool;
latAccelFactorRaw @1 :Float32;
latAccelOffsetRaw @2 :Float32;
frictionCoefficientRaw @3 :Float32;
latAccelFactorFiltered @4 :Float32;
latAccelOffsetFiltered @5 :Float32;
frictionCoefficientFiltered @6 :Float32;
totalBucketPoints @7 :Float32;
decay @8 :Float32;
maxResets @9 :Float32;
points @10 :List(List(Float32));
version @11 :Int32;
useParams @12 :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
wideFromDeviceEuler @6 :List(Float32);
wideFromDeviceEulerStd @7 :List(Float32);
roadTransformTrans @8 :List(Float32);
roadTransformTransStd @9 :List(Float32);
}
struct Sentinel {
enum SentinelType {
endOfSegment @0;
endOfRoute @1;
startOfSegment @2;
startOfRoute @3;
}
type @0 :SentinelType;
signal @1 :Int32;
}
struct UIDebug {
drawTimeMillis @0 :Float32;
}
struct ManagerState {
processes @0 :List(ProcessState);
struct ProcessState {
name @0 :Text;
pid @1 :Int32;
running @2 :Bool;
shouldBeRunning @4 :Bool;
exitCode @3 :Int32;
}
}
struct UploaderState {
immediateQueueSize @0 :UInt32;
immediateQueueCount @1 :UInt32;
rawQueueSize @2 :UInt32;
rawQueueCount @3 :UInt32;
# stats for last successfully uploaded file
lastTime @4 :Float32; # s
lastSpeed @5 :Float32; # MB/s
lastFilename @6 :Text;
}
struct NavInstruction {
maneuverPrimaryText @0 :Text;
maneuverSecondaryText @1 :Text;
maneuverDistance @2 :Float32; # m
maneuverType @3 :Text; # TODO: Make Enum
maneuverModifier @4 :Text; # TODO: Make Enum
distanceRemaining @5 :Float32; # m
timeRemaining @6 :Float32; # s
timeRemainingTypical @7 :Float32; # s
lanes @8 :List(Lane);
showFull @9 :Bool;
speedLimit @10 :Float32; # m/s
speedLimitSign @11 :SpeedLimitSign;
allManeuvers @12 :List(Maneuver);
struct Lane {
directions @0 :List(Direction);
active @1 :Bool;
activeDirection @2 :Direction;
}
enum Direction {
none @0;
left @1;
right @2;
straight @3;
slightLeft @4;
slightRight @5;
}
enum SpeedLimitSign {
mutcd @0; # US Style
vienna @1; # EU Style
}
struct Maneuver {
distance @0 :Float32;
type @1 :Text;
modifier @2 :Text;
}
}
struct NavRoute {
coordinates @0 :List(Coordinate);
struct Coordinate {
latitude @0 :Float32;
longitude @1 :Float32;
}
}
struct MapRenderState {
locationMonoTime @0 :UInt64;
renderTime @1 :Float32;
frameId @2: UInt32;
}
struct NavModelData {
frameId @0 :UInt32;
locationMonoTime @6 :UInt64;
modelExecutionTime @1 :Float32;
dspExecutionTime @2 :Float32;
features @3 :List(Float32);
# predicted future position
position @4 :XYData;
desirePrediction @5 :List(Float32);
# All SI units and in device frame
struct XYData {
x @0 :List(Float32);
y @1 :List(Float32);
xStd @2 :List(Float32);
yStd @3 :List(Float32);
}
}
struct EncodeData {
idx @0 :EncodeIndex;
data @1 :Data;
header @2 :Data;
unixTimestampNanos @3 :UInt64;
width @4 :UInt32;
height @5 :UInt32;
}
struct UserFlag {
}
struct Microphone {
soundPressure @0 :Float32;
# uncalibrated, A-weighted
soundPressureWeighted @3 :Float32;
soundPressureWeightedDb @1 :Float32;
filteredSoundPressureWeightedDb @2 :Float32;
}
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;
gyroscope @99 :SensorEventData;
gyroscope2 @100 :SensorEventData;
accelerometer @98 :SensorEventData;
accelerometer2 @101 :SensorEventData;
magnetometer @95 :SensorEventData;
lightSensor @96 :SensorEventData;
temperatureSensor @97 :SensorEventData;
temperatureSensor2 @123 :SensorEventData;
pandaStates @81 :List(PandaState);
peripheralState @80 :PeripheralState;
radarState @13 :RadarState;
liveTracks @16 :List(LiveTracks);
sendcan @17 :List(CanData);
liveCalibration @19 :LiveCalibrationData;
carState @22 :Car.CarState;
carControl @23 :Car.CarControl;
carOutput @127 :Car.CarOutput;
longitudinalPlan @24 :LongitudinalPlan;
uiPlan @106 :UiPlan;
ubloxGnss @34 :UbloxGnss;
ubloxRaw @39 :Data;
qcomGnss @31 :QcomGnss;
gpsLocationExternal @48 :GpsLocationData;
gpsLocation @21 :GpsLocationData;
gnssMeasurements @91 :GnssMeasurements;
liveParameters @61 :LiveParametersData;
liveTorqueParameters @94 :LiveTorqueParametersData;
cameraOdometry @63 :CameraOdometry;
thumbnail @66: Thumbnail;
onroadEvents @68: List(Car.CarEvent);
carParams @69: Car.CarParams;
driverMonitoringState @71: DriverMonitoringState;
liveLocationKalman @72 :LiveLocationKalman;
modelV2 @75 :ModelDataV2;
drivingModelData @128 :DrivingModelData;
driverStateV2 @92 :DriverStateV2;
# 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;
qRoadEncodeIdx @90 :EncodeIndex;
livestreamRoadEncodeIdx @117 :EncodeIndex;
livestreamWideRoadEncodeIdx @118 :EncodeIndex;
livestreamDriverEncodeIdx @119 :EncodeIndex;
# microphone data
microphone @103 :Microphone;
# systems stuff
androidLog @20 :AndroidLogEntry;
managerState @78 :ManagerState;
uploaderState @79 :UploaderState;
procLog @33 :ProcLog;
clocks @35 :Clocks;
deviceState @6 :DeviceState;
logMessage @18 :Text;
errorLogMessage @85 :Text;
# navigation
navInstruction @82 :NavInstruction;
navRoute @83 :NavRoute;
navThumbnail @84: Thumbnail;
mapRenderState @105: MapRenderState;
# UI services
userFlag @93 :UserFlag;
uiDebug @102 :UIDebug;
# *********** debug ***********
testJoystick @52 :Joystick;
roadEncodeData @86 :EncodeData;
driverEncodeData @87 :EncodeData;
wideRoadEncodeData @88 :EncodeData;
qRoadEncodeData @89 :EncodeData;
livestreamRoadEncodeData @120 :EncodeData;
livestreamWideRoadEncodeData @121 :EncodeData;
livestreamDriverEncodeData @122 :EncodeData;
customReservedRawData0 @124 :Data;
customReservedRawData1 @125 :Data;
customReservedRawData2 @126 :Data;
# *********** Custom: reserved for forks ***********
frogpilotCarControl @107 :Custom.FrogPilotCarControl;
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;
customReserved8 @115 :Custom.CustomReserved8;
customReserved9 @116 :Custom.CustomReserved9;
# *********** legacy + deprecated ***********
model @9 :Legacy.ModelData; # TODO: rename modelV2 and mark this as deprecated
liveMpcDEPRECATED @36 :LiveMpcData;
liveLongitudinalMpcDEPRECATED @37 :LiveLongitudinalMpcData;
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;
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;
uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState;
pandaStateDEPRECATED @12 :PandaState;
driverStateDEPRECATED @59 :DriverStateDEPRECATED;
sensorEventsDEPRECATED @11 :List(SensorEventData);
lateralPlanDEPRECATED @64 :LateralPlan;
navModel @104 :NavModelData;
}
}
Reference in New Issue View Git Blame Copy Permalink