From 80d2cf71fc0aefd3ce6d30aaa55c481cffb1f69b Mon Sep 17 00:00:00 2001
From: Vehicle Researcher <user@comma.ai>
Date: Mon, 22 Jul 2019 19:15:25 +0000
Subject: [PATCH] Squashed 'cereal/' changes from 9f2076eef..4ea03bacb

4ea03bacb add speed
2198ad240 add alert for invalid posenet
9c18b3b21 rename to posenetValid
42669a812 add posenet debug fields to LiveParameters
852846f17 add whether point is detected by radar
1684698e5 add model prob
fb87dba0b added HW type to support various panda versions
820bf7b4c added tooDistracted event
1105dc1e8 different name
45c424989 add second model lead
f8c557fa3 Log can errors from panda
04f105a22 back
ff9332035 add lead stuff

git-subtree-dir: cereal
git-subtree-split: 4ea03bacbfad1f086caa458de7788771b0c7c515

old-commit-hash: 813d5b99824593e76f2c906df086c19ca29a94f3
---
 car.capnp |  2 ++
 log.capnp | 25 ++++++++++++++++++++++++-
 2 files changed, 26 insertions(+), 1 deletion(-)

diff --git a/car.capnp b/car.capnp
index f30b20f977..fd781f9b14 100644
--- a/car.capnp
+++ b/car.capnp
@@ -76,6 +76,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     controlsFailed @51;
     sensorDataInvalid @52;
     commIssue @53;
+    tooDistracted @54;
+    posenetInvalid @55;
   }
 }
 
diff --git a/log.capnp b/log.capnp
index adf76c488d..3dbbc516d3 100644
--- a/log.capnp
+++ b/log.capnp
@@ -300,8 +300,20 @@ struct HealthData {
   started @2 :Bool;
   controlsAllowed @3 :Bool;
   gasInterceptorDetected @4 :Bool;
-  startedSignalDetected @5 :Bool;
+  startedSignalDetectedDeprecated @5 :Bool;
   isGreyPanda @6 :Bool;
+  canSendErrs @7 :UInt32;
+  canFwdErrs @8 :UInt32;
+  gmlanSendErrs @9 :UInt32;
+  hwType @10: HwType;
+
+  enum HwType {
+    unknown @0;
+    whitePanda @1;
+    greyPanda @2;
+    blackPanda @3;
+    pedal @4;
+  }
 }
 
 struct LiveUI {
@@ -343,6 +355,8 @@ struct RadarState @0x9a185389d6fdd05f {
     fcw @10 :Bool;
     status @11 :Bool;
     aLeadTau @12 :Float32;
+    modelProb @13 :Float32;
+    radar @14 :Bool;
   }
 }
 
@@ -508,6 +522,8 @@ struct ModelData {
   freePath @6 :List(Float32);
 
   settings @5 :ModelSettings;
+  leadFuture @7 :LeadData;
+  speed @8 :List(Float32);
 
   struct PathData {
     points @0 :List(Float32);
@@ -523,6 +539,10 @@ struct ModelData {
     std @2 :Float32;
     relVel @3 :Float32;
     relVelStd @4 :Float32;
+    relY @5 :Float32;
+    relYStd @6 :Float32;
+    relA @7 :Float32;
+    relAStd @8 :Float32;
   }
 
   struct ModelSettings {
@@ -662,6 +682,7 @@ struct PathPlan {
   angleOffset @11 :Float32;
   sensorValid @14 :Bool;
   commIssue @15 :Bool;
+  posenetValid @16 :Bool;
 }
 
 struct LiveLocationData {
@@ -1659,6 +1680,8 @@ struct LiveParametersData {
   steerRatio @5 :Float32;
   sensorValid @6 :Bool;
   yawRate @7 :Float32;
+  posenetSpeed @8 :Float32;
+  posenetValid @9 :Bool;
 }
 
 struct LiveMapData {