Shane Smiskol
7 months ago
parent
4a50526064
commit
89f6fd9855
14 changed files with 41 additions and 845 deletions
@ -1,722 +0,0 @@ |
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using Cxx = import "./include/c++.capnp"; |
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$Cxx.namespace("cereal"); |
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|
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@0x8e2af1e708af8b8d; |
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|
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# ******* events causing controls state machine transition ******* |
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|
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# IMPORTANT: This struct is to not be modified so old logs can be parsed |
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struct OnroadEventDEPRECATED @0x9b1657f34caf3ad3 { |
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name @0 :EventName; |
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|
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# event types |
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enable @1 :Bool; |
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noEntry @2 :Bool; |
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warning @3 :Bool; # alerts presented only when enabled or soft disabling |
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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; # alerts presented regardless of openpilot state |
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overrideLateral @10 :Bool; |
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overrideLongitudinal @9 :Bool; |
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|
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enum EventName @0xbaa8c5d505f727de { |
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canError @0; |
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steerUnavailable @1; |
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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; # exits active state |
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preEnableStandstill @73; # added during pre-enable state with brake |
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gasPressedOverride @108; # added when user is pressing gas with no disengage on gas |
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steerOverride @114; |
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cruiseDisabled @14; |
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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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calibrationRecalibrating @117; |
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controlsMismatch @22; |
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pcmEnable @23; |
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pcmDisable @24; |
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radarFault @26; |
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brakeHold @28; |
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parkBrake @29; |
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manualRestart @30; |
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joystickDebug @34; |
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longitudinalManeuver @124; |
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steerTempUnavailableSilent @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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preDriverUnresponsive @43; |
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promptDriverUnresponsive @44; |
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driverUnresponsive @45; |
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belowSteerSpeed @46; |
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lowBattery @48; |
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accFaulted @51; |
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sensorDataInvalid @52; |
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commIssue @53; |
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commIssueAvgFreq @109; |
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tooDistracted @54; |
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posenetInvalid @55; |
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soundsUnavailable @56; |
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preLaneChangeLeft @57; |
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preLaneChangeRight @58; |
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laneChange @59; |
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lowMemory @63; |
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stockAeb @64; |
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ldw @65; |
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carUnrecognized @66; |
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invalidLkasSetting @69; |
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speedTooHigh @70; |
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laneChangeBlocked @71; |
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relayMalfunction @72; |
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stockFcw @74; |
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startup @75; |
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startupNoCar @76; |
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startupNoControl @77; |
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startupNoSecOcKey @125; |
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startupMaster @78; |
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fcw @79; |
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steerSaturated @80; |
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belowEngageSpeed @84; |
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noGps @85; |
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wrongCruiseMode @87; |
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modeldLagging @89; |
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deviceFalling @90; |
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fanMalfunction @91; |
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cameraMalfunction @92; |
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cameraFrameRate @110; |
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processNotRunning @95; |
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dashcamMode @96; |
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selfdriveInitializing @98; |
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usbError @99; |
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cruiseMismatch @106; |
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canBusMissing @111; |
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selfdrivedLagging @112; |
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resumeBlocked @113; |
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steerTimeLimit @115; |
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vehicleSensorsInvalid @116; |
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locationdTemporaryError @103; |
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locationdPermanentError @118; |
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paramsdTemporaryError @50; |
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paramsdPermanentError @119; |
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actuatorsApiUnavailable @120; |
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espActive @121; |
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personalityChanged @122; |
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aeb @123; |
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radarCanErrorDEPRECATED @15; |
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communityFeatureDisallowedDEPRECATED @62; |
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radarCommIssueDEPRECATED @67; |
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driverMonitorLowAccDEPRECATED @68; |
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gasUnavailableDEPRECATED @3; |
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dataNeededDEPRECATED @16; |
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modelCommIssueDEPRECATED @27; |
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ipasOverrideDEPRECATED @33; |
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geofenceDEPRECATED @40; |
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driverMonitorOnDEPRECATED @41; |
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driverMonitorOffDEPRECATED @42; |
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calibrationProgressDEPRECATED @47; |
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invalidGiraffeHondaDEPRECATED @49; |
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invalidGiraffeToyotaDEPRECATED @60; |
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internetConnectivityNeededDEPRECATED @61; |
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whitePandaUnsupportedDEPRECATED @81; |
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commIssueWarningDEPRECATED @83; |
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focusRecoverActiveDEPRECATED @86; |
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neosUpdateRequiredDEPRECATED @88; |
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modelLagWarningDEPRECATED @93; |
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startupOneplusDEPRECATED @82; |
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startupFuzzyFingerprintDEPRECATED @97; |
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noTargetDEPRECATED @25; |
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brakeUnavailableDEPRECATED @2; |
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plannerErrorDEPRECATED @32; |
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gpsMalfunctionDEPRECATED @94; |
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roadCameraErrorDEPRECATED @100; |
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driverCameraErrorDEPRECATED @101; |
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wideRoadCameraErrorDEPRECATED @102; |
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highCpuUsageDEPRECATED @105; |
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startupNoFwDEPRECATED @104; |
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lowSpeedLockoutDEPRECATED @31; |
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lkasDisabledDEPRECATED @107; |
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} |
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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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# CAN health |
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canValid @26 :Bool; # invalid counter/checksums |
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canTimeout @40 :Bool; # CAN bus dropped out |
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canErrorCounter @48 :UInt32; |
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|
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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 aCAN cceleration |
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vEgoRaw @17 :Float32; # unfiltered speed from wheel speed sensors |
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vEgoCluster @44 :Float32; # best estimate of speed shown on car's instrument cluster, used for UI |
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vCruise @53 :Float32; # actual set speed |
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vCruiseCluster @54 :Float32; # set speed to display in the UI |
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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 pedal only |
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gasPressed @4 :Bool; # this is user pedal only |
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engineRpm @46 :Float32; |
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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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regenBraking @45 :Bool; # this is user pedal only |
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parkingBrake @39 :Bool; |
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brakeHoldActive @38 :Bool; |
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# steering wheel |
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steeringAngleDeg @7 :Float32; |
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steeringAngleOffsetDeg @37 :Float32; # Offset betweens sensors in case there multiple |
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steeringRateDeg @15 :Float32; |
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steeringTorque @8 :Float32; # TODO: standardize units |
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steeringTorqueEps @27 :Float32; # TODO: standardize units |
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steeringPressed @9 :Bool; # if the user is using the steering wheel |
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steerFaultTemporary @35 :Bool; # temporary EPS fault |
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steerFaultPermanent @36 :Bool; # permanent EPS fault |
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invalidLkasSetting @55 :Bool; # stock LKAS is incorrectly configured (i.e. on or off) |
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stockAeb @30 :Bool; |
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stockFcw @31 :Bool; |
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espDisabled @32 :Bool; |
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accFaulted @42 :Bool; |
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carFaultedNonCritical @47 :Bool; # some ECU is faulted, but car remains controllable |
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espActive @51 :Bool; |
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vehicleSensorsInvalid @52 :Bool; # invalid steering angle readings, etc. |
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lowSpeedAlert @56 :Bool; # lost steering control due to a dynamic min steering speed |
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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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# clutch (manual transmission only) |
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clutchPressed @28 :Bool; |
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# blindspot sensors |
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leftBlindspot @33 :Bool; # Is there something blocking the left lane change |
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rightBlindspot @34 :Bool; # Is there something blocking the right lane change |
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fuelGauge @41 :Float32; # battery or fuel tank level from 0.0 to 1.0 |
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charging @43 :Bool; |
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# process meta |
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cumLagMs @50 :Float32; |
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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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speedCluster @6 :Float32; # Set speed as shown on instrument cluster |
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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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nonAdaptive @5 :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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eco @8; |
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manumatic @9; |
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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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mainCruise @8; |
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setCruise @9; |
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resumeCruise @10; |
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gapAdjustCruise @11; |
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} |
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} |
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# deprecated |
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errorsDEPRECATED @0 :List(OnroadEventDEPRECATED.EventName); |
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brakeLightsDEPRECATED @19 :Bool; |
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steeringRateLimitedDEPRECATED @29 :Bool; |
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canMonoTimesDEPRECATED @12: List(UInt64); |
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canRcvTimeoutDEPRECATED @49 :Bool; |
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eventsDEPRECATED @13 :List(OnroadEventDEPRECATED); |
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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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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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# deprecated |
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canMonoTimesDEPRECATED @2 :List(UInt64); |
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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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latActive @11: Bool; |
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longActive @12: Bool; |
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# Final actuator commands |
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actuators @6 :Actuators; |
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# Blinker controls |
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leftBlinker @15: Bool; |
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rightBlinker @16: Bool; |
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orientationNED @13 :List(Float32); |
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angularVelocity @14 :List(Float32); |
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cruiseControl @4 :CruiseControl; |
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hudControl @5 :HUDControl; |
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struct Actuators { |
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# lateral commands, mutually exclusive |
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steer @2: Float32; # [0.0, 1.0] |
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steeringAngleDeg @3: Float32; |
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curvature @7: Float32; |
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# longitudinal commands |
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accel @4: Float32; # m/s^2 |
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longControlState @5: LongControlState; |
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# these are only for logging the actual values sent to the car over CAN |
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gas @0: Float32; # [0.0, 1.0] |
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brake @1: Float32; # [0.0, 1.0] |
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steerOutputCan @8: Float32; # value sent over can to the car |
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speed @6: Float32; # m/s |
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enum LongControlState @0xe40f3a917d908282{ |
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off @0; |
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pid @1; |
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stopping @2; |
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starting @3; |
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} |
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} |
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struct CruiseControl { |
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cancel @0: Bool; |
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resume @1: Bool; |
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override @4: Bool; |
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speedOverrideDEPRECATED @2: Float32; |
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accelOverrideDEPRECATED @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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leadDistanceBars @10: Int8; # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead |
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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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ldw @7; |
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} |
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enum AudibleAlert { |
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none @0; |
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engage @1; |
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disengage @2; |
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refuse @3; |
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warningSoft @4; |
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warningImmediate @5; |
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prompt @6; |
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promptRepeat @7; |
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promptDistracted @8; |
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} |
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} |
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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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activeDEPRECATED @7 :Bool; |
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rollDEPRECATED @8 :Float32; |
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pitchDEPRECATED @9 :Float32; |
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actuatorsOutputDEPRECATED @10 :Actuators; |
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} |
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struct CarOutput { |
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# Any car specific rate limits or quirks applied by |
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# the CarController are reflected in actuatorsOutput |
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# and matches what is sent to the car |
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actuatorsOutput @0 :CarControl.Actuators; |
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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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fuzzyFingerprint @55 :Bool; |
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notCar @66 :Bool; # flag for non-car robotics platforms |
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pcmCruise @3 :Bool; # is openpilot's state tied to the PCM's cruise state? |
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enableDsu @5 :Bool; # driving support unit |
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enableBsm @56 :Bool; # blind spot monitoring |
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flags @64 :UInt32; # flags for car specific quirks |
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experimentalLongitudinalAvailable @71 :Bool; |
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minEnableSpeed @7 :Float32; |
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minSteerSpeed @8 :Float32; |
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safetyConfigs @62 :List(SafetyConfig); |
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alternativeExperience @65 :Int16; # panda flag for features like no disengage on gas |
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# Car docs fields |
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maxLateralAccel @68 :Float32; |
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autoResumeSng @69 :Bool; # describes whether car can resume from a stop automatically |
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# things about the car in the manual |
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mass @17 :Float32; # [kg] curb weight: all fluids no cargo |
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wheelbase @18 :Float32; # [m] distance from rear axle to front axle |
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centerToFront @19 :Float32; # [m] distance from center of mass to front axle |
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steerRatio @20 :Float32; # [] ratio of steering wheel angle to front wheel angle |
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steerRatioRear @21 :Float32; # [] ratio of steering wheel angle to rear wheel angle (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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tireStiffnessFactor @72 :Float32; # scaling factor used in calculating tireStiffness[Front,Rear] |
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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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lateralParams @48 :LateralParams; |
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lateralTuning :union { |
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pid @26 :LateralPIDTuning; |
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indiDEPRECATED @27 :LateralINDITuning; |
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lqrDEPRECATED @40 :LateralLQRTuning; |
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torque @67 :LateralTorqueTuning; |
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} |
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steerLimitAlert @28 :Bool; |
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steerLimitTimer @47 :Float32; # time before steerLimitAlert is issued |
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vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state |
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vEgoStarting @59 :Float32; # Speed at which the car goes into starting state |
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stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping |
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steerControlType @34 :SteerControlType; |
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radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out |
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stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary |
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stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop |
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startAccel @32 :Float32; # Required acceleration to get car moving |
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startingState @70 :Bool; # Does this car make use of special starting state |
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steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds |
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longitudinalActuatorDelay @58 :Float32; # Gas/Brake 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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dashcamOnly @41: Bool; |
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passive @73: Bool; # is openpilot in control? |
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transmissionType @43 :TransmissionType; |
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carFw @44 :List(CarFw); |
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radarTimeStep @45: Float32 = 0.05; # time delta between radar updates, 20Hz is very standard |
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radarDelay @74 :Float32; |
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fingerprintSource @49: FingerprintSource; |
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networkLocation @50 :NetworkLocation; # Where Panda/C2 is integrated into the car's CAN network |
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wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds |
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secOcRequired @75 :Bool; # Car requires SecOC message authentication to operate |
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secOcKeyAvailable @76 :Bool; # Stored SecOC key loaded from params |
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struct SafetyConfig { |
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safetyModel @0 :SafetyModel; |
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safetyParam @3 :UInt16; |
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safetyParamDEPRECATED @1 :Int16; |
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safetyParam2DEPRECATED @2 :UInt32; |
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} |
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struct LateralParams { |
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torqueBP @0 :List(Int32); |
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torqueV @1 :List(Int32); |
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} |
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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); |
||||
kf @4 :Float32; |
||||
} |
||||
|
||||
struct LateralTorqueTuning { |
||||
useSteeringAngle @0 :Bool; |
||||
kp @1 :Float32; |
||||
ki @2 :Float32; |
||||
friction @3 :Float32; |
||||
kf @4 :Float32; |
||||
steeringAngleDeadzoneDeg @5 :Float32; |
||||
latAccelFactor @6 :Float32; |
||||
latAccelOffset @7 :Float32; |
||||
} |
||||
|
||||
struct LongitudinalPIDTuning { |
||||
kpBP @0 :List(Float32); |
||||
kpV @1 :List(Float32); |
||||
kiBP @2 :List(Float32); |
||||
kiV @3 :List(Float32); |
||||
kf @6 :Float32; |
||||
deadzoneBPDEPRECATED @4 :List(Float32); |
||||
deadzoneVDEPRECATED @5 :List(Float32); |
||||
} |
||||
|
||||
struct LateralINDITuning { |
||||
outerLoopGainBP @4 :List(Float32); |
||||
outerLoopGainV @5 :List(Float32); |
||||
innerLoopGainBP @6 :List(Float32); |
||||
innerLoopGainV @7 :List(Float32); |
||||
timeConstantBP @8 :List(Float32); |
||||
timeConstantV @9 :List(Float32); |
||||
actuatorEffectivenessBP @10 :List(Float32); |
||||
actuatorEffectivenessV @11 :List(Float32); |
||||
|
||||
outerLoopGainDEPRECATED @0 :Float32; |
||||
innerLoopGainDEPRECATED @1 :Float32; |
||||
timeConstantDEPRECATED @2 :Float32; |
||||
actuatorEffectivenessDEPRECATED @3 :Float32; |
||||
} |
||||
|
||||
struct LateralLQRTuning { |
||||
scale @0 :Float32; |
||||
ki @1 :Float32; |
||||
dcGain @2 :Float32; |
||||
|
||||
# State space system |
||||
a @3 :List(Float32); |
||||
b @4 :List(Float32); |
||||
c @5 :List(Float32); |
||||
|
||||
k @6 :List(Float32); # LQR gain |
||||
l @7 :List(Float32); # Kalman gain |
||||
} |
||||
|
||||
enum SafetyModel { |
||||
silent @0; |
||||
hondaNidec @1; |
||||
toyota @2; |
||||
elm327 @3; |
||||
gm @4; |
||||
hondaBoschGiraffe @5; |
||||
ford @6; |
||||
cadillac @7; |
||||
hyundai @8; |
||||
chrysler @9; |
||||
tesla @10; |
||||
subaru @11; |
||||
gmPassive @12; |
||||
mazda @13; |
||||
nissan @14; |
||||
volkswagen @15; |
||||
toyotaIpas @16; |
||||
allOutput @17; |
||||
gmAscm @18; |
||||
noOutput @19; # like silent but without silent CAN TXs |
||||
hondaBosch @20; |
||||
volkswagenPq @21; |
||||
subaruPreglobal @22; # pre-Global platform |
||||
hyundaiLegacy @23; |
||||
hyundaiCommunity @24; |
||||
volkswagenMlb @25; |
||||
hongqi @26; |
||||
body @27; |
||||
hyundaiCanfd @28; |
||||
volkswagenMqbEvo @29; |
||||
chryslerCusw @30; |
||||
psa @31; |
||||
fcaGiorgio @32; |
||||
} |
||||
|
||||
enum SteerControlType { |
||||
torque @0; |
||||
angle @1; |
||||
|
||||
curvatureDEPRECATED @2; |
||||
} |
||||
|
||||
enum TransmissionType { |
||||
unknown @0; |
||||
automatic @1; # Traditional auto, including DSG |
||||
manual @2; # True "stick shift" only |
||||
direct @3; # Electric vehicle or other direct drive |
||||
cvt @4; |
||||
} |
||||
|
||||
struct CarFw { |
||||
ecu @0 :Ecu; |
||||
fwVersion @1 :Data; |
||||
address @2 :UInt32; |
||||
subAddress @3 :UInt8; |
||||
responseAddress @4 :UInt32; |
||||
request @5 :List(Data); |
||||
brand @6 :Text; |
||||
bus @7 :UInt8; |
||||
logging @8 :Bool; |
||||
obdMultiplexing @9 :Bool; |
||||
} |
||||
|
||||
enum Ecu { |
||||
eps @0; |
||||
abs @1; |
||||
fwdRadar @2; |
||||
fwdCamera @3; |
||||
engine @4; |
||||
unknown @5; |
||||
transmission @8; # Transmission Control Module |
||||
hybrid @18; # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer |
||||
srs @9; # airbag |
||||
gateway @10; # can gateway |
||||
hud @11; # heads up display |
||||
combinationMeter @12; # instrument cluster |
||||
electricBrakeBooster @15; |
||||
shiftByWire @16; |
||||
adas @19; |
||||
cornerRadar @21; |
||||
hvac @20; |
||||
parkingAdas @7; # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc. |
||||
epb @22; # electronic parking brake |
||||
telematics @23; |
||||
body @24; # body control module |
||||
|
||||
# Toyota only |
||||
dsu @6; |
||||
|
||||
# Honda only |
||||
vsa @13; # Vehicle Stability Assist |
||||
programmedFuelInjection @14; |
||||
|
||||
debug @17; |
||||
} |
||||
|
||||
enum FingerprintSource { |
||||
can @0; |
||||
fw @1; |
||||
fixed @2; |
||||
} |
||||
|
||||
enum NetworkLocation { |
||||
fwdCamera @0; # Standard/default integration at LKAS camera |
||||
gateway @1; # Integration at vehicle's CAN gateway |
||||
} |
||||
|
||||
enableGasInterceptorDEPRECATED @2 :Bool; |
||||
enableCameraDEPRECATED @4 :Bool; |
||||
enableApgsDEPRECATED @6 :Bool; |
||||
steerRateCostDEPRECATED @33 :Float32; |
||||
isPandaBlackDEPRECATED @39 :Bool; |
||||
hasStockCameraDEPRECATED @57 :Bool; |
||||
safetyParamDEPRECATED @10 :Int16; |
||||
safetyModelDEPRECATED @9 :SafetyModel; |
||||
safetyModelPassiveDEPRECATED @42 :SafetyModel = silent; |
||||
minSpeedCanDEPRECATED @51 :Float32; |
||||
communityFeatureDEPRECATED @46: Bool; |
||||
startingAccelRateDEPRECATED @53 :Float32; |
||||
steerMaxBPDEPRECATED @11 :List(Float32); |
||||
steerMaxVDEPRECATED @12 :List(Float32); |
||||
gasMaxBPDEPRECATED @13 :List(Float32); |
||||
gasMaxVDEPRECATED @14 :List(Float32); |
||||
brakeMaxBPDEPRECATED @15 :List(Float32); |
||||
brakeMaxVDEPRECATED @16 :List(Float32); |
||||
directAccelControlDEPRECATED @30 :Bool; |
||||
maxSteeringAngleDegDEPRECATED @54 :Float32; |
||||
longitudinalActuatorDelayLowerBoundDEPRECATED @61 :Float32; |
||||
} |
||||
@ -0,0 +1 @@ |
||||
../opendbc_repo/opendbc/car/car.capnp |
||||
@ -1 +1 @@ |
||||
Subproject commit a363ce1ff452e63f2e49938508d97aece4ba6a3e |
||||
Subproject commit ff2ac79e07c2d9021c2fd4fc886ca61c81cd2694 |
||||
@ -1,74 +0,0 @@ |
||||
import capnp |
||||
from typing import Any |
||||
|
||||
from cereal import car |
||||
from opendbc.car import structs |
||||
|
||||
_FIELDS = '__dataclass_fields__' # copy of dataclasses._FIELDS |
||||
|
||||
|
||||
def is_dataclass(obj): |
||||
"""Similar to dataclasses.is_dataclass without instance type check checking""" |
||||
return hasattr(obj, _FIELDS) |
||||
|
||||
|
||||
def _asdictref_inner(obj) -> dict[str, Any] | Any: |
||||
if is_dataclass(obj): |
||||
ret = {} |
||||
for field in getattr(obj, _FIELDS): # similar to dataclasses.fields() |
||||
ret[field] = _asdictref_inner(getattr(obj, field)) |
||||
return ret |
||||
elif isinstance(obj, (tuple, list)): |
||||
return type(obj)(_asdictref_inner(v) for v in obj) |
||||
else: |
||||
return obj |
||||
|
||||
|
||||
def asdictref(obj) -> dict[str, Any]: |
||||
""" |
||||
Similar to dataclasses.asdict without recursive type checking and copy.deepcopy |
||||
Note that the resulting dict will contain references to the original struct as a result |
||||
""" |
||||
if not is_dataclass(obj): |
||||
raise TypeError("asdictref() should be called on dataclass instances") |
||||
|
||||
return _asdictref_inner(obj) |
||||
|
||||
|
||||
def convert_to_capnp(struct: structs.CarParams | structs.CarState | structs.CarControl.Actuators | structs.RadarData) -> capnp.lib.capnp._DynamicStructBuilder: |
||||
struct_dict = asdictref(struct) |
||||
|
||||
if isinstance(struct, structs.CarParams): |
||||
del struct_dict['lateralTuning'] |
||||
struct_capnp = car.CarParams.new_message(**struct_dict) |
||||
|
||||
# this is the only union, special handling |
||||
which = struct.lateralTuning.which() |
||||
struct_capnp.lateralTuning.init(which) |
||||
lateralTuning_dict = asdictref(getattr(struct.lateralTuning, which)) |
||||
setattr(struct_capnp.lateralTuning, which, lateralTuning_dict) |
||||
elif isinstance(struct, structs.CarState): |
||||
struct_capnp = car.CarState.new_message(**struct_dict) |
||||
elif isinstance(struct, structs.CarControl.Actuators): |
||||
struct_capnp = car.CarControl.Actuators.new_message(**struct_dict) |
||||
elif isinstance(struct, structs.RadarData): |
||||
struct_capnp = car.RadarData.new_message(**struct_dict) |
||||
else: |
||||
raise ValueError(f"Unsupported struct type: {type(struct)}") |
||||
|
||||
return struct_capnp |
||||
|
||||
|
||||
def convert_carControl(struct: capnp.lib.capnp._DynamicStructReader) -> structs.CarControl: |
||||
# TODO: recursively handle any car struct as needed |
||||
def remove_deprecated(s: dict) -> dict: |
||||
return {k: v for k, v in s.items() if not k.endswith('DEPRECATED')} |
||||
|
||||
struct_dict = struct.to_dict() |
||||
struct_dataclass = structs.CarControl(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)})) |
||||
|
||||
struct_dataclass.actuators = structs.CarControl.Actuators(**remove_deprecated(struct_dict.get('actuators', {}))) |
||||
struct_dataclass.cruiseControl = structs.CarControl.CruiseControl(**remove_deprecated(struct_dict.get('cruiseControl', {}))) |
||||
struct_dataclass.hudControl = structs.CarControl.HUDControl(**remove_deprecated(struct_dict.get('hudControl', {}))) |
||||
|
||||
return struct_dataclass |
||||
@ -1 +1 @@ |
||||
05570b52a90fb8bf092f7a2563d6019577e1aa5d |
||||
cbe81fea9b820b8dd38667866aac72a8a0dae966 |
||||
Loading…
Reference in new issue