From 992c4e5162a9957a15eb7511746fb4834b47d198 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 2 Oct 2024 21:42:35 -0700 Subject: [PATCH] new OnroadEvent struct --- cereal/car.capnp | 9 ++- cereal/log.capnp | 154 ++++++++++++++++++++++++++++++++++++++++++++++- 2 files changed, 155 insertions(+), 8 deletions(-) diff --git a/cereal/car.capnp b/cereal/car.capnp index 326f1eeef8..c8474f431b 100644 --- a/cereal/car.capnp +++ b/cereal/car.capnp @@ -5,9 +5,8 @@ $Cxx.namespace("cereal"); # ******* events causing controls state machine transition ******* -# FIXME: OnroadEvent shouldn't be in car.capnp, but can't immediately -# move due to being referenced by structs in this file -struct OnroadEvent @0x9b1657f34caf3ad3 { +# IMPORTANT: This struct is to not be modified so old logs can be parsed +struct OnroadEventDEPRECATED @0x9b1657f34caf3ad3 { name @0 :EventName; # event types @@ -289,12 +288,12 @@ struct CarState { } # deprecated - errorsDEPRECATED @0 :List(OnroadEvent.EventName); + errorsDEPRECATED @0 :List(OnroadEventDEPRECATED.EventName); brakeLightsDEPRECATED @19 :Bool; steeringRateLimitedDEPRECATED @29 :Bool; canMonoTimesDEPRECATED @12: List(UInt64); canRcvTimeoutDEPRECATED @49 :Bool; - eventsDEPRECATED @13 :List(OnroadEvent); + eventsDEPRECATED @13 :List(OnroadEventDEPRECATED); } # ******* radar state @ 20hz ******* diff --git a/cereal/log.capnp b/cereal/log.capnp index 3d5f7d9d7f..5a05f65402 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -17,6 +17,152 @@ struct Map(Key, Value) { } } +struct OnroadEvent @0xc4fa6047f024e718 { + name @0 :EventName; + + # event types + enable @1 :Bool; + noEntry @2 :Bool; + warning @3 :Bool; # alerts presented only when enabled or soft disabling + userDisable @4 :Bool; + softDisable @5 :Bool; + immediateDisable @6 :Bool; + preEnable @7 :Bool; + permanent @8 :Bool; # alerts presented regardless of openpilot state + overrideLateral @10 :Bool; + overrideLongitudinal @9 :Bool; + + enum EventName @0x91f1992a1f77fb03 { + canError @0; + steerUnavailable @1; + wrongGear @4; + doorOpen @5; + seatbeltNotLatched @6; + espDisabled @7; + wrongCarMode @8; + steerTempUnavailable @9; + reverseGear @10; + buttonCancel @11; + buttonEnable @12; + pedalPressed @13; # exits active state + preEnableStandstill @73; # added during pre-enable state with brake + gasPressedOverride @108; # added when user is pressing gas with no disengage on gas + steerOverride @114; + cruiseDisabled @14; + speedTooLow @17; + outOfSpace @18; + overheat @19; + calibrationIncomplete @20; + calibrationInvalid @21; + calibrationRecalibrating @117; + controlsMismatch @22; + pcmEnable @23; + pcmDisable @24; + radarFault @26; + brakeHold @28; + parkBrake @29; + manualRestart @30; + joystickDebug @34; + longitudinalManeuver @124; + steerTempUnavailableSilent @35; + resumeRequired @36; + preDriverDistracted @37; + promptDriverDistracted @38; + driverDistracted @39; + preDriverUnresponsive @43; + promptDriverUnresponsive @44; + driverUnresponsive @45; + belowSteerSpeed @46; + lowBattery @48; + accFaulted @51; + sensorDataInvalid @52; + commIssue @53; + commIssueAvgFreq @109; + tooDistracted @54; + posenetInvalid @55; + soundsUnavailable @56; + preLaneChangeLeft @57; + preLaneChangeRight @58; + laneChange @59; + lowMemory @63; + stockAeb @64; + ldw @65; + carUnrecognized @66; + invalidLkasSetting @69; + speedTooHigh @70; + laneChangeBlocked @71; + relayMalfunction @72; + stockFcw @74; + startup @75; + startupNoCar @76; + startupNoControl @77; + startupNoSecOcKey @125; + startupMaster @78; + fcw @79; + steerSaturated @80; + belowEngageSpeed @84; + noGps @85; + wrongCruiseMode @87; + modeldLagging @89; + deviceFalling @90; + fanMalfunction @91; + cameraMalfunction @92; + cameraFrameRate @110; + processNotRunning @95; + dashcamMode @96; + selfdriveInitializing @98; + usbError @99; + cruiseMismatch @106; + canBusMissing @111; + selfdrivedLagging @112; + resumeBlocked @113; + steerTimeLimit @115; + vehicleSensorsInvalid @116; + locationdTemporaryError @103; + locationdPermanentError @118; + paramsdTemporaryError @50; + paramsdPermanentError @119; + actuatorsApiUnavailable @120; + espActive @121; + personalityChanged @122; + aeb @123; + + radarCanErrorDEPRECATED @15; + communityFeatureDisallowedDEPRECATED @62; + radarCommIssueDEPRECATED @67; + driverMonitorLowAccDEPRECATED @68; + gasUnavailableDEPRECATED @3; + dataNeededDEPRECATED @16; + modelCommIssueDEPRECATED @27; + ipasOverrideDEPRECATED @33; + geofenceDEPRECATED @40; + driverMonitorOnDEPRECATED @41; + driverMonitorOffDEPRECATED @42; + calibrationProgressDEPRECATED @47; + invalidGiraffeHondaDEPRECATED @49; + invalidGiraffeToyotaDEPRECATED @60; + internetConnectivityNeededDEPRECATED @61; + whitePandaUnsupportedDEPRECATED @81; + commIssueWarningDEPRECATED @83; + focusRecoverActiveDEPRECATED @86; + neosUpdateRequiredDEPRECATED @88; + modelLagWarningDEPRECATED @93; + startupOneplusDEPRECATED @82; + startupFuzzyFingerprintDEPRECATED @97; + noTargetDEPRECATED @25; + brakeUnavailableDEPRECATED @2; + plannerErrorDEPRECATED @32; + gpsMalfunctionDEPRECATED @94; + roadCameraErrorDEPRECATED @100; + driverCameraErrorDEPRECATED @101; + wideRoadCameraErrorDEPRECATED @102; + highCpuUsageDEPRECATED @105; + startupNoFwDEPRECATED @104; + lowSpeedLockoutDEPRECATED @31; + lkasDisabledDEPRECATED @107; + } +} + enum LongitudinalPersonality { aggressive @0; standard @1; @@ -1157,7 +1303,7 @@ struct LongitudinalPlan @0xe00b5b3eba12876c { radarValidDEPRECATED @28 :Bool; radarCanErrorDEPRECATED @30 :Bool; commIssueDEPRECATED @31 :Bool; - eventsDEPRECATED @13 :List(Car.OnroadEvent); + eventsDEPRECATED @13 :List(Car.OnroadEventDEPRECATED); gpsTrajectoryDEPRECATED @12 :GpsTrajectory; gpsPlannerActiveDEPRECATED @19 :Bool; personalityDEPRECATED @36 :LongitudinalPersonality; @@ -2072,7 +2218,7 @@ struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 { } struct DriverMonitoringState @0xb83cda094a1da284 { - events @0 :List(Car.OnroadEvent); + events @18 :List(OnroadEvent); faceDetected @1 :Bool; isDistracted @2 :Bool; distractedType @17 :UInt32; @@ -2091,6 +2237,7 @@ struct DriverMonitoringState @0xb83cda094a1da284 { isPreviewDEPRECATED @15 :Bool; rhdCheckedDEPRECATED @5 :Bool; + eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED); } struct Boot { @@ -2369,7 +2516,7 @@ struct Event { liveTorqueParameters @94 :LiveTorqueParametersData; cameraOdometry @63 :CameraOdometry; thumbnail @66: Thumbnail; - onroadEvents @68: List(Car.OnroadEvent); + onroadEvents @134: List(OnroadEvent); carParams @69: Car.CarParams; driverMonitoringState @71: DriverMonitoringState; livePose @129 :LivePose; @@ -2484,5 +2631,6 @@ struct Event { uiPlanDEPRECATED @106 :UiPlan; liveLocationKalmanDEPRECATED @72 :LiveLocationKalman; liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED); + onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED); } }