git-subtree-dir: cereal git-subtree-split: 9f2076eefd6f71c9b640d26d29ed33a6bbcbf4capull/718/head
Vehicle Researcher
6 years ago
commit
24e096d9f0
10 changed files with 2408 additions and 0 deletions
@ -0,0 +1,6 @@ |
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gen |
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node_modules |
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package-lock.json |
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*.pyc |
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__pycache__ |
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@ -0,0 +1,62 @@ |
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PWD := $(shell pwd)
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SRCS := log.capnp car.capnp
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GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
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JS := gen/js/car.capnp.js gen/js/log.capnp.js
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UNAME_M ?= $(shell uname -m)
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GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/include/c++.capnp.h gen/c/include/java.capnp.h
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ifeq ($(UNAME_M),x86_64) |
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ifneq (, $(shell which capnpc-java)) |
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GENS += gen/java/Car.java gen/java/Log.java
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else |
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$(warning capnpc-java not found, skipping java build) |
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endif |
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endif |
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ifeq ($(UNAME_M),aarch64) |
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CAPNPC=PATH=$(PWD)/../phonelibs/capnp-cpp/aarch64/bin/:$$PATH capnpc
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else |
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CAPNPC=capnpc
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endif |
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.PHONY: all |
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all: $(GENS) |
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js: $(JS) |
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.PHONY: clean |
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clean: |
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rm -rf gen
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rm -rf node_modules
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rm -rf package-lock.json
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gen/c/%.capnp.c: %.capnp |
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@echo "[ CAPNPC C ] $@"
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mkdir -p gen/c/
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$(CAPNPC) '$<' -o c:gen/c/
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gen/js/%.capnp.js: %.capnp |
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@echo "[ CAPNPC JavaScript ] $@"
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mkdir -p gen/js/
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sh ./generate_javascript.sh
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gen/cpp/%.capnp.c++: %.capnp |
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@echo "[ CAPNPC C++ ] $@"
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mkdir -p gen/cpp/
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$(CAPNPC) '$<' -o c++:gen/cpp/
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gen/java/Car.java gen/java/Log.java: $(SRCS) |
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@echo "[ CAPNPC java ] $@"
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mkdir -p gen/java/
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$(CAPNPC) $^ -o java:gen/java
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# c-capnproto needs some empty headers
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gen/c/include/c++.capnp.h gen/c/include/java.capnp.h: |
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mkdir -p gen/c/include
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touch '$@'
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@ -0,0 +1,8 @@ |
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import os |
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import capnp |
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CEREAL_PATH = os.path.dirname(os.path.abspath(__file__)) |
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capnp.remove_import_hook() |
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log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp")) |
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car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp")) |
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@ -0,0 +1,387 @@ |
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using Cxx = import "./include/c++.capnp"; |
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$Cxx.namespace("cereal"); |
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using Java = import "./include/java.capnp"; |
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$Java.package("ai.comma.openpilot.cereal"); |
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$Java.outerClassname("Car"); |
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@0x8e2af1e708af8b8d; |
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# ******* events causing controls state machine transition ******* |
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struct CarEvent @0x9b1657f34caf3ad3 { |
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name @0 :EventName; |
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enable @1 :Bool; |
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noEntry @2 :Bool; |
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warning @3 :Bool; |
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userDisable @4 :Bool; |
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softDisable @5 :Bool; |
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immediateDisable @6 :Bool; |
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preEnable @7 :Bool; |
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permanent @8 :Bool; |
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enum EventName @0xbaa8c5d505f727de { |
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# TODO: copy from error list |
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canError @0; |
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steerUnavailable @1; |
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brakeUnavailable @2; |
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gasUnavailable @3; |
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wrongGear @4; |
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doorOpen @5; |
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seatbeltNotLatched @6; |
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espDisabled @7; |
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wrongCarMode @8; |
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steerTempUnavailable @9; |
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reverseGear @10; |
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buttonCancel @11; |
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buttonEnable @12; |
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pedalPressed @13; |
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cruiseDisabled @14; |
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radarCanError @15; |
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dataNeeded @16; |
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speedTooLow @17; |
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outOfSpace @18; |
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overheat @19; |
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calibrationIncomplete @20; |
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calibrationInvalid @21; |
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controlsMismatch @22; |
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pcmEnable @23; |
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pcmDisable @24; |
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noTarget @25; |
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radarFault @26; |
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modelCommIssueDEPRECATED @27; |
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brakeHold @28; |
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parkBrake @29; |
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manualRestart @30; |
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lowSpeedLockout @31; |
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plannerError @32; |
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ipasOverride @33; |
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debugAlert @34; |
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steerTempUnavailableMute @35; |
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resumeRequired @36; |
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preDriverDistracted @37; |
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promptDriverDistracted @38; |
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driverDistracted @39; |
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geofence @40; |
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driverMonitorOn @41; |
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driverMonitorOff @42; |
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preDriverUnresponsive @43; |
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promptDriverUnresponsive @44; |
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driverUnresponsive @45; |
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belowSteerSpeed @46; |
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calibrationProgress @47; |
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lowBattery @48; |
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invalidGiraffeHonda @49; |
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vehicleModelInvalid @50; |
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controlsFailed @51; |
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sensorDataInvalid @52; |
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commIssue @53; |
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} |
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} |
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# ******* main car state @ 100hz ******* |
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# all speeds in m/s |
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struct CarState { |
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errorsDEPRECATED @0 :List(CarEvent.EventName); |
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events @13 :List(CarEvent); |
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# car speed |
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vEgo @1 :Float32; # best estimate of speed |
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aEgo @16 :Float32; # best estimate of acceleration |
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vEgoRaw @17 :Float32; # unfiltered speed from CAN sensors |
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yawRate @22 :Float32; # best estimate of yaw rate |
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standstill @18 :Bool; |
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wheelSpeeds @2 :WheelSpeeds; |
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# gas pedal, 0.0-1.0 |
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gas @3 :Float32; # this is user + computer |
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gasPressed @4 :Bool; # this is user pedal only |
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# brake pedal, 0.0-1.0 |
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brake @5 :Float32; # this is user pedal only |
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brakePressed @6 :Bool; # this is user pedal only |
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brakeLights @19 :Bool; |
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# steering wheel |
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steeringAngle @7 :Float32; # deg |
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steeringRate @15 :Float32; # deg/s |
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steeringTorque @8 :Float32; # TODO: standardize units |
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steeringPressed @9 :Bool; # if the user is using the steering wheel |
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# cruise state |
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cruiseState @10 :CruiseState; |
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# gear |
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gearShifter @14 :GearShifter; |
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# button presses |
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buttonEvents @11 :List(ButtonEvent); |
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leftBlinker @20 :Bool; |
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rightBlinker @21 :Bool; |
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genericToggle @23 :Bool; |
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# lock info |
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doorOpen @24 :Bool; |
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seatbeltUnlatched @25 :Bool; |
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canValid @26 :Bool; |
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# which packets this state came from |
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canMonoTimes @12: List(UInt64); |
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struct WheelSpeeds { |
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# optional wheel speeds |
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fl @0 :Float32; |
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fr @1 :Float32; |
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rl @2 :Float32; |
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rr @3 :Float32; |
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} |
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struct CruiseState { |
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enabled @0 :Bool; |
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speed @1 :Float32; |
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available @2 :Bool; |
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speedOffset @3 :Float32; |
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standstill @4 :Bool; |
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} |
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enum GearShifter { |
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unknown @0; |
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park @1; |
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drive @2; |
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neutral @3; |
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reverse @4; |
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sport @5; |
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low @6; |
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brake @7; |
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} |
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# send on change |
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struct ButtonEvent { |
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pressed @0 :Bool; |
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type @1 :Type; |
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enum Type { |
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unknown @0; |
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leftBlinker @1; |
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rightBlinker @2; |
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accelCruise @3; |
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decelCruise @4; |
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cancel @5; |
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altButton1 @6; |
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altButton2 @7; |
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altButton3 @8; |
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} |
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} |
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} |
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# ******* radar state @ 20hz ******* |
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struct RadarData @0x888ad6581cf0aacb { |
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errors @0 :List(Error); |
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points @1 :List(RadarPoint); |
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# which packets this state came from |
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canMonoTimes @2 :List(UInt64); |
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enum Error { |
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canError @0; |
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fault @1; |
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wrongConfig @2; |
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} |
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# similar to LiveTracks |
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# is one timestamp valid for all? I think so |
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struct RadarPoint { |
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trackId @0 :UInt64; # no trackId reuse |
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# these 3 are the minimum required |
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dRel @1 :Float32; # m from the front bumper of the car |
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yRel @2 :Float32; # m |
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vRel @3 :Float32; # m/s |
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# these are optional and valid if they are not NaN |
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aRel @4 :Float32; # m/s^2 |
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yvRel @5 :Float32; # m/s |
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# some radars flag measurements VS estimates |
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measured @6 :Bool; |
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} |
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} |
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# ******* car controls @ 100hz ******* |
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struct CarControl { |
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# must be true for any actuator commands to work |
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enabled @0 :Bool; |
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active @7 :Bool; |
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gasDEPRECATED @1 :Float32; |
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brakeDEPRECATED @2 :Float32; |
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steeringTorqueDEPRECATED @3 :Float32; |
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actuators @6 :Actuators; |
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cruiseControl @4 :CruiseControl; |
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hudControl @5 :HUDControl; |
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struct Actuators { |
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# range from 0.0 - 1.0 |
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gas @0: Float32; |
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brake @1: Float32; |
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# range from -1.0 - 1.0 |
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steer @2: Float32; |
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steerAngle @3: Float32; |
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} |
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struct CruiseControl { |
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cancel @0: Bool; |
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override @1: Bool; |
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speedOverride @2: Float32; |
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accelOverride @3: Float32; |
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} |
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struct HUDControl { |
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speedVisible @0: Bool; |
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setSpeed @1: Float32; |
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lanesVisible @2: Bool; |
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leadVisible @3: Bool; |
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visualAlert @4: VisualAlert; |
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audibleAlert @5: AudibleAlert; |
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rightLaneVisible @6: Bool; |
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leftLaneVisible @7: Bool; |
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rightLaneDepart @8: Bool; |
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leftLaneDepart @9: Bool; |
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enum VisualAlert { |
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# these are the choices from the Honda |
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# map as good as you can for your car |
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none @0; |
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fcw @1; |
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steerRequired @2; |
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brakePressed @3; |
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wrongGear @4; |
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seatbeltUnbuckled @5; |
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speedTooHigh @6; |
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} |
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enum AudibleAlert { |
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# these are the choices from the Honda |
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# map as good as you can for your car |
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none @0; |
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chimeEngage @1; |
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chimeDisengage @2; |
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chimeError @3; |
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chimeWarning1 @4; |
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chimeWarning2 @5; |
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chimeWarningRepeat @6; |
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chimePrompt @7; |
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} |
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} |
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} |
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# ****** car param ****** |
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struct CarParams { |
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carName @0 :Text; |
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carFingerprint @1 :Text; |
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enableGasInterceptor @2 :Bool; |
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enableCruise @3 :Bool; |
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enableCamera @4 :Bool; |
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enableDsu @5 :Bool; # driving support unit |
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enableApgs @6 :Bool; # advanced parking guidance system |
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minEnableSpeed @7 :Float32; |
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minSteerSpeed @8 :Float32; |
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safetyModel @9 :SafetyModel; |
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safetyParam @10 :Int16; |
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steerMaxBP @11 :List(Float32); |
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steerMaxV @12 :List(Float32); |
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gasMaxBP @13 :List(Float32); |
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gasMaxV @14 :List(Float32); |
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brakeMaxBP @15 :List(Float32); |
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brakeMaxV @16 :List(Float32); |
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# things about the car in the manual |
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mass @17 :Float32; # [kg] running weight |
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wheelbase @18 :Float32; # [m] distance from rear to front axle |
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centerToFront @19 :Float32; # [m] GC distance to front axle |
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steerRatio @20 :Float32; # [] ratio between front wheels and steering wheel angles |
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steerRatioRear @21 :Float32; # [] rear steering ratio wrt front steering (usually 0) |
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# things we can derive |
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rotationalInertia @22 :Float32; # [kg*m2] body rotational inertia |
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tireStiffnessFront @23 :Float32; # [N/rad] front tire coeff of stiff |
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tireStiffnessRear @24 :Float32; # [N/rad] rear tire coeff of stiff |
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longitudinalTuning @25 :LongitudinalPIDTuning; |
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lateralTuning :union { |
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pid @26 :LateralPIDTuning; |
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indi @27 :LateralINDITuning; |
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} |
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steerLimitAlert @28 :Bool; |
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vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state |
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directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake |
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stoppingControl @31 :Bool; # Does the car allows full control even at lows speeds when stopping |
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startAccel @32 :Float32; # Required acceleraton to overcome creep braking |
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steerRateCost @33 :Float32; # Lateral MPC cost on steering rate |
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steerControlType @34 :SteerControlType; |
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radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN |
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steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds |
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openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control? |
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carVin @38 :Text; # VIN number queried during fingerprinting |
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struct LateralPIDTuning { |
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kpBP @0 :List(Float32); |
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kpV @1 :List(Float32); |
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kiBP @2 :List(Float32); |
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kiV @3 :List(Float32); |
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kf @4 :Float32; |
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} |
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struct LongitudinalPIDTuning { |
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kpBP @0 :List(Float32); |
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kpV @1 :List(Float32); |
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kiBP @2 :List(Float32); |
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kiV @3 :List(Float32); |
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deadzoneBP @4 :List(Float32); |
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deadzoneV @5 :List(Float32); |
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} |
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struct LateralINDITuning { |
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outerLoopGain @0 :Float32; |
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innerLoopGain @1 :Float32; |
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timeConstant @2 :Float32; |
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actuatorEffectiveness @3 :Float32; |
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} |
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|
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|
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enum SafetyModel { |
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# does NOT match board setting |
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noOutput @0; |
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honda @1; |
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toyota @2; |
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elm327 @3; |
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gm @4; |
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hondaBosch @5; |
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ford @6; |
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cadillac @7; |
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hyundai @8; |
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chrysler @9; |
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tesla @10; |
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subaru @11; |
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} |
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|
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enum SteerControlType { |
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torque @0; |
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angle @1; |
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} |
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} |
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@ -0,0 +1,26 @@ |
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#!/bin/bash |
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|
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rm -r gen/ts |
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rm -r gen/js |
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|
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mkdir gen/ts |
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mkdir gen/js |
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echo "Installing needed npm modules" |
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npm i capnpc-ts capnp-ts |
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|
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capnpc -o node_modules/.bin/capnpc-ts:gen/ts log.capnp car.capnp |
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capnpc -o node_modules/.bin/capnpc-ts:gen/ts car.capnp |
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|
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cat log.capnp | egrep '\([a-zA-Z]*\.[^\s]+\.[^s]+\)' | sed 's/^.*([a-zA-Z]*\.\([a-zA-Z.]*\)).*/\1/' | while read line |
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do |
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TOKEN=`echo $line | sed 's/\./_/g'` |
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ROOT=`echo $line | sed 's/\..*$//g'` |
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cat gen/ts/log.capnp.ts | grep '^import.*'${TOKEN} |
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if [[ "$?" == "1" ]] |
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then |
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sed -i 's/^\(import {.*\)'${ROOT}'\(,*\) \(.*\)$/\1'${ROOT}', '${TOKEN}'\2 \3/' ./gen/ts/log.capnp.ts |
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fi |
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done |
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|
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tsc ./gen/ts/* --lib es2015 --outDir ./gen/js |
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@ -0,0 +1,26 @@ |
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# Copyright (c) 2013-2014 Sandstorm Development Group, Inc. and contributors |
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# Licensed under the MIT License: |
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# |
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# Permission is hereby granted, free of charge, to any person obtaining a copy |
||||
# of this software and associated documentation files (the "Software"), to deal |
||||
# in the Software without restriction, including without limitation the rights |
||||
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
||||
# copies of the Software, and to permit persons to whom the Software is |
||||
# furnished to do so, subject to the following conditions: |
||||
# |
||||
# The above copyright notice and this permission notice shall be included in |
||||
# all copies or substantial portions of the Software. |
||||
# |
||||
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
||||
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
||||
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
||||
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
||||
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
||||
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
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# THE SOFTWARE. |
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|
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@0xbdf87d7bb8304e81; |
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$namespace("capnp::annotations"); |
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|
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annotation namespace(file): Text; |
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annotation name(field, enumerant, struct, enum, interface, method, param, group, union): Text; |
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@ -0,0 +1,28 @@ |
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# Copyright (c) 2013-2015 Sandstorm Development Group, Inc. and contributors |
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# Licensed under the MIT License: |
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# |
||||
# Permission is hereby granted, free of charge, to any person obtaining a copy |
||||
# of this software and associated documentation files (the "Software"), to deal |
||||
# in the Software without restriction, including without limitation the rights |
||||
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
||||
# copies of the Software, and to permit persons to whom the Software is |
||||
# furnished to do so, subject to the following conditions: |
||||
# |
||||
# The above copyright notice and this permission notice shall be included in |
||||
# all copies or substantial portions of the Software. |
||||
# |
||||
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
||||
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
||||
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
||||
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
||||
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
||||
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
||||
# THE SOFTWARE. |
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|
||||
@0xc5f1af96651f70ea; |
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|
||||
annotation package @0x9ee4c8f803b3b596 (file) : Text; |
||||
# Name of the package, such as "org.example.foo", in which the generated code will reside. |
||||
|
||||
annotation outerClassname @0x9b066bb4881f7cd3 (file) : Text; |
||||
# Name of the outer class that will wrap the generated code. |
||||
@ -0,0 +1,39 @@ |
||||
set -e |
||||
echo "Installing capnp" |
||||
|
||||
cd /tmp |
||||
VERSION=0.6.1 |
||||
wget https://capnproto.org/capnproto-c++-${VERSION}.tar.gz |
||||
tar xvf capnproto-c++-${VERSION}.tar.gz |
||||
cd capnproto-c++-${VERSION} |
||||
CXXFLAGS="-fPIC" ./configure |
||||
|
||||
make -j4 |
||||
|
||||
# manually build binaries statically |
||||
g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnp src/capnp/compiler/module-loader.o src/capnp/compiler/capnp.o ./.libs/libcapnpc.a ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread |
||||
|
||||
g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-c++ src/capnp/compiler/capnpc-c++.o ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread |
||||
|
||||
g++ -std=gnu++11 -I./src -I./src -DKJ_HEADER_WARNINGS -DCAPNP_HEADER_WARNINGS -DCAPNP_INCLUDE_DIR=\"/usr/local/include\" -pthread -O2 -DNDEBUG -pthread -pthread -o .libs/capnpc-capnp src/capnp/compiler/capnpc-capnp.o ./.libs/libcapnp.a ./.libs/libkj.a -lpthread -pthread |
||||
|
||||
cp .libs/capnp /usr/local/bin/ |
||||
ln -s /usr/local/bin/capnp /usr/local/bin/capnpc |
||||
cp .libs/capnpc-c++ /usr/local/bin/ |
||||
cp .libs/capnpc-capnp /usr/local/bin/ |
||||
cp .libs/*.a /usr/local/lib |
||||
|
||||
cd /tmp |
||||
echo "Installing c-capnp" |
||||
git clone https://github.com/commaai/c-capnproto.git |
||||
cd c-capnproto |
||||
git submodule update --init --recursive |
||||
autoreconf -f -i -s |
||||
CXXFLAGS="-fPIC" ./configure |
||||
make -j4 |
||||
|
||||
# manually build binaries statically |
||||
gcc -fPIC -o .libs/capnpc-c compiler/capnpc-c.o compiler/schema.capnp.o compiler/str.o ./.libs/libcapnp_c.a |
||||
|
||||
cp .libs/capnpc-c /usr/local/bin/ |
||||
cp .libs/*.a /usr/local/lib |
||||
@ -0,0 +1,53 @@ |
||||
using Cxx = import "./include/c++.capnp"; |
||||
$Cxx.namespace("cereal"); |
||||
|
||||
using Java = import "./include/java.capnp"; |
||||
$Java.package("ai.comma.openpilot.cereal"); |
||||
$Java.outerClassname("Map"); |
||||
|
||||
@0xa086df597ef5d7a0; |
||||
|
||||
# Geometry |
||||
struct Point { |
||||
x @0: Float64; |
||||
y @1: Float64; |
||||
z @2: Float64; |
||||
} |
||||
|
||||
struct PolyLine { |
||||
points @0: List(Point); |
||||
} |
||||
|
||||
# Map features |
||||
struct Lane { |
||||
id @0 :Text; |
||||
|
||||
leftBoundary @1 :LaneBoundary; |
||||
rightBoundary @2 :LaneBoundary; |
||||
|
||||
leftAdjacentId @3 :Text; |
||||
rightAdjacentId @4 :Text; |
||||
|
||||
inboundIds @5 :List(Text); |
||||
outboundIds @6 :List(Text); |
||||
|
||||
struct LaneBoundary { |
||||
polyLine @0 :PolyLine; |
||||
startHeading @1 :Float32; # WRT north |
||||
} |
||||
} |
||||
|
||||
# Map tiles |
||||
struct TileSummary { |
||||
version @0 :Text; |
||||
updatedAt @1 :UInt64; # Millis since epoch |
||||
|
||||
level @2 :UInt8; |
||||
x @3 :UInt16; |
||||
y @4 :UInt16; |
||||
} |
||||
|
||||
struct MapTile { |
||||
summary @0 :TileSummary; |
||||
lanes @1 :List(Lane); |
||||
} |
||||
Loading…
Reference in new issue