Squashed 'cereal/' changes from bb94ed98a..ea14abe4b

ea14abe4b add gm passive safety model
78d3e3123 allow to specify a passive safety model in CarParams
8a4f891b6 Add lane change events
44ee5a949 Add lane change states to pathPlan
39e31397a Add dashcamOnly flag
32685f4b2 angleModelBias is deprecated
be719979c move desire to pathplan
82cd0ed1b add desire to controlsState
5b40840a6 add lqr output to LQRState
5a5b9ac28 addtimes

git-subtree-dir: cereal
git-subtree-split: ea14abe4bd57563b8a15419ec0bc1c1de711063f

car.capnp

@@ -79,6 +79,9 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     tooDistracted @54;
     posenetInvalid @55;
     soundsUnavailable @56;
+    preLaneChangeLeft @57;
+    preLaneChangeRight @58;
+    laneChange @59;
   }
 }
 
@@ -300,6 +303,7 @@ struct CarParams {
   minEnableSpeed @7 :Float32;
   minSteerSpeed @8 :Float32;
   safetyModel @9 :SafetyModel;
+  safetyModelPassive @42 :SafetyModel = noOutput;
   safetyParam @10 :Int16;
 
   steerMaxBP @11 :List(Float32);
@@ -343,6 +347,7 @@ struct CarParams {
   openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
   carVin @38 :Text; # VIN number queried during fingerprinting
   isPandaBlack @39: Bool;
+  dashcamOnly @41: Bool;
 
   struct LateralPIDTuning {
     kpBP @0 :List(Float32);
@@ -398,6 +403,7 @@ struct CarParams {
     chrysler @9;
     tesla @10;
     subaru @11;
+    gmPassive @12;
   }
 
   enum SteerControlType {

log.capnp

@@ -442,7 +442,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   alertSoundDEPRECATED @45 :Text;
   alertSound @56 :Car.CarControl.HUDControl.AudibleAlert;
   awarenessStatus @26 :Float32;
-  angleModelBias @27 :Float32;
+  angleModelBiasDEPRECATED @27 :Float32;
   gpsPlannerActive @40 :Bool;
   engageable @41 :Bool;  # can OP be engaged?
   driverMonitoringOn @43 :Bool;
@@ -516,8 +516,10 @@ struct ControlsState @0x97ff69c53601abf1 {
     steerAngle @1 :Float32;
     i @2 :Float32;
     output @3 :Float32;
+    lqrOutput @4 :Float32;
    }
 
+
 }
 
 struct LiveEventData {
@@ -527,6 +529,7 @@ struct LiveEventData {
 
 struct ModelData {
   frameId @0 :UInt32;
+  timestampEof @9 :UInt64;
 
   path @1 :PathData;
   leftLane @2 :PathData;
@@ -697,6 +700,32 @@ struct PathPlan {
   sensorValid @14 :Bool;
   commIssue @15 :Bool;
   posenetValid @16 :Bool;
+  desire @17 :Desire;
+  laneChangeState @18 :LaneChangeState;
+  laneChangeDirection @19 :LaneChangeDirection;
+
+  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;
+  }
 }
 
 struct LiveLocationData {
@@ -1726,6 +1755,8 @@ struct LiveMapData {
 }
 
 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