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574 lines
12 KiB
574 lines
12 KiB
using Cxx = import "./include/c++.capnp";
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$Cxx.namespace("cereal");
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@0x80ef1ec4889c2a63;
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# legacy.capnp: a home for deprecated structs
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struct LogRotate @0x9811e1f38f62f2d1 {
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segmentNum @0 :Int32;
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path @1 :Text;
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}
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struct LiveUI @0xc08240f996aefced {
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rearViewCam @0 :Bool;
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alertText1 @1 :Text;
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alertText2 @2 :Text;
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awarenessStatus @3 :Float32;
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}
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struct UiLayoutState @0x88dcce08ad29dda0 {
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activeApp @0 :App;
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sidebarCollapsed @1 :Bool;
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mapEnabled @2 :Bool;
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mockEngaged @3 :Bool;
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enum App @0x9917470acf94d285 {
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home @0;
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music @1;
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nav @2;
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settings @3;
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none @4;
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}
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}
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struct OrbslamCorrection @0x8afd33dc9b35e1aa {
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correctionMonoTime @0 :UInt64;
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prePositionECEF @1 :List(Float64);
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postPositionECEF @2 :List(Float64);
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prePoseQuatECEF @3 :List(Float32);
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postPoseQuatECEF @4 :List(Float32);
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numInliers @5 :UInt32;
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}
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struct EthernetPacket @0xa99a9d5b33cf5859 {
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pkt @0 :Data;
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ts @1 :Float32;
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}
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struct CellInfo @0xcff7566681c277ce {
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timestamp @0 :UInt64;
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repr @1 :Text; # android toString() for now
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}
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struct WifiScan @0xd4df5a192382ba0b {
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bssid @0 :Text;
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ssid @1 :Text;
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capabilities @2 :Text;
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frequency @3 :Int32;
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level @4 :Int32;
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timestamp @5 :Int64;
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centerFreq0 @6 :Int32;
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centerFreq1 @7 :Int32;
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channelWidth @8 :ChannelWidth;
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operatorFriendlyName @9 :Text;
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venueName @10 :Text;
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is80211mcResponder @11 :Bool;
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passpoint @12 :Bool;
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distanceCm @13 :Int32;
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distanceSdCm @14 :Int32;
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enum ChannelWidth @0xcb6a279f015f6b51 {
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w20Mhz @0;
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w40Mhz @1;
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w80Mhz @2;
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w160Mhz @3;
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w80Plus80Mhz @4;
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}
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}
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struct LiveEventData @0x94b7baa90c5c321e {
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name @0 :Text;
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value @1 :Int32;
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}
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struct ModelData @0xb8aad62cffef28a9 {
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frameId @0 :UInt32;
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frameAge @12 :UInt32;
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frameDropPerc @13 :Float32;
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timestampEof @9 :UInt64;
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modelExecutionTime @14 :Float32;
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gpuExecutionTime @16 :Float32;
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rawPred @15 :Data;
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path @1 :PathData;
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leftLane @2 :PathData;
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rightLane @3 :PathData;
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lead @4 :LeadData;
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freePath @6 :List(Float32);
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settings @5 :ModelSettings;
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leadFuture @7 :LeadData;
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speed @8 :List(Float32);
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meta @10 :MetaData;
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longitudinal @11 :LongitudinalData;
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struct PathData @0x8817eeea389e9f08 {
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points @0 :List(Float32);
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prob @1 :Float32;
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std @2 :Float32;
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stds @3 :List(Float32);
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poly @4 :List(Float32);
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validLen @5 :Float32;
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}
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struct LeadData @0xd1c9bef96d26fa91 {
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dist @0 :Float32;
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prob @1 :Float32;
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std @2 :Float32;
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relVel @3 :Float32;
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relVelStd @4 :Float32;
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relY @5 :Float32;
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relYStd @6 :Float32;
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relA @7 :Float32;
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relAStd @8 :Float32;
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}
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struct ModelSettings @0xa26e3710efd3e914 {
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bigBoxX @0 :UInt16;
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bigBoxY @1 :UInt16;
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bigBoxWidth @2 :UInt16;
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bigBoxHeight @3 :UInt16;
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boxProjection @4 :List(Float32);
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yuvCorrection @5 :List(Float32);
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inputTransform @6 :List(Float32);
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}
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struct MetaData @0x9744f25fb60f2bf8 {
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engagedProb @0 :Float32;
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desirePrediction @1 :List(Float32);
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brakeDisengageProb @2 :Float32;
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gasDisengageProb @3 :Float32;
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steerOverrideProb @4 :Float32;
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desireState @5 :List(Float32);
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}
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struct LongitudinalData @0xf98f999c6a071122 {
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distances @2 :List(Float32);
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speeds @0 :List(Float32);
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accelerations @1 :List(Float32);
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}
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}
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struct ECEFPoint @0xc25bbbd524983447 {
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x @0 :Float64;
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y @1 :Float64;
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z @2 :Float64;
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}
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struct ECEFPointDEPRECATED @0xe10e21168db0c7f7 {
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x @0 :Float32;
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y @1 :Float32;
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z @2 :Float32;
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}
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struct GPSPlannerPoints @0xab54c59699f8f9f3 {
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curPosDEPRECATED @0 :ECEFPointDEPRECATED;
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pointsDEPRECATED @1 :List(ECEFPointDEPRECATED);
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curPos @6 :ECEFPoint;
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points @7 :List(ECEFPoint);
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valid @2 :Bool;
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trackName @3 :Text;
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speedLimit @4 :Float32;
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accelTarget @5 :Float32;
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}
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struct GPSPlannerPlan @0xf5ad1d90cdc1dd6b {
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valid @0 :Bool;
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poly @1 :List(Float32);
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trackName @2 :Text;
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speed @3 :Float32;
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acceleration @4 :Float32;
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pointsDEPRECATED @5 :List(ECEFPointDEPRECATED);
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points @6 :List(ECEFPoint);
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xLookahead @7 :Float32;
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}
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struct UiNavigationEvent @0x90c8426c3eaddd3b {
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type @0: Type;
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status @1: Status;
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distanceTo @2: Float32;
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endRoadPointDEPRECATED @3: ECEFPointDEPRECATED;
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endRoadPoint @4: ECEFPoint;
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enum Type @0xe8db07dcf8fcea05 {
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none @0;
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laneChangeLeft @1;
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laneChangeRight @2;
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mergeLeft @3;
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mergeRight @4;
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turnLeft @5;
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turnRight @6;
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}
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enum Status @0xb9aa88c75ef99a1f {
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none @0;
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passive @1;
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approaching @2;
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active @3;
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}
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}
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struct LiveLocationData @0xb99b2bc7a57e8128 {
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status @0 :UInt8;
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# 3D fix
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lat @1 :Float64;
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lon @2 :Float64;
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alt @3 :Float32; # m
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# speed
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speed @4 :Float32; # m/s
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# NED velocity components
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vNED @5 :List(Float32);
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# roll, pitch, heading (x,y,z)
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roll @6 :Float32; # WRT to center of earth?
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pitch @7 :Float32; # WRT to center of earth?
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heading @8 :Float32; # WRT to north?
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# what are these?
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wanderAngle @9 :Float32;
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trackAngle @10 :Float32;
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# car frame -- https://upload.wikimedia.org/wikipedia/commons/f/f5/RPY_angles_of_cars.png
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# gyro, in car frame, deg/s
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gyro @11 :List(Float32);
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# accel, in car frame, m/s^2
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accel @12 :List(Float32);
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accuracy @13 :Accuracy;
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source @14 :SensorSource;
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# if we are fixing a location in the past
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fixMonoTime @15 :UInt64;
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gpsWeek @16 :Int32;
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timeOfWeek @17 :Float64;
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positionECEF @18 :List(Float64);
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poseQuatECEF @19 :List(Float32);
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pitchCalibration @20 :Float32;
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yawCalibration @21 :Float32;
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imuFrame @22 :List(Float32);
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struct Accuracy @0x943dc4625473b03f {
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pNEDError @0 :List(Float32);
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vNEDError @1 :List(Float32);
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rollError @2 :Float32;
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pitchError @3 :Float32;
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headingError @4 :Float32;
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ellipsoidSemiMajorError @5 :Float32;
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ellipsoidSemiMinorError @6 :Float32;
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ellipsoidOrientationError @7 :Float32;
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}
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enum SensorSource @0xc871d3cc252af657 {
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applanix @0;
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kalman @1;
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orbslam @2;
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timing @3;
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dummy @4;
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}
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}
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struct OrbOdometry @0xd7700859ed1f5b76 {
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# timing first
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startMonoTime @0 :UInt64;
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endMonoTime @1 :UInt64;
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# fundamental matrix and error
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f @2: List(Float64);
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err @3: Float64;
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# number of inlier points
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inliers @4: Int32;
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# for debug only
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# indexed by endMonoTime features
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# value is startMonoTime feature match
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# -1 if no match
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matches @5: List(Int16);
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}
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struct OrbFeatures @0xcd60164a8a0159ef {
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timestampEof @0 :UInt64;
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# transposed arrays of normalized image coordinates
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# len(xs) == len(ys) == len(descriptors) * 32
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xs @1 :List(Float32);
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ys @2 :List(Float32);
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descriptors @3 :Data;
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octaves @4 :List(Int8);
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# match index to last OrbFeatures
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# -1 if no match
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timestampLastEof @5 :UInt64;
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matches @6: List(Int16);
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}
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struct OrbFeaturesSummary @0xd500d30c5803fa4f {
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timestampEof @0 :UInt64;
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timestampLastEof @1 :UInt64;
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featureCount @2 :UInt16;
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matchCount @3 :UInt16;
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computeNs @4 :UInt64;
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}
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struct OrbKeyFrame @0xc8233c0345e27e24 {
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# this is a globally unique id for the KeyFrame
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id @0: UInt64;
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# this is the location of the KeyFrame
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pos @1: ECEFPoint;
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# these are the features in the world
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# len(dpos) == len(descriptors) * 32
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dpos @2 :List(ECEFPoint);
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descriptors @3 :Data;
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}
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struct KalmanOdometry @0x92e21bb7ea38793a {
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trans @0 :List(Float32); # m/s in device frame
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rot @1 :List(Float32); # rad/s in device frame
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transStd @2 :List(Float32); # std m/s in device frame
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rotStd @3 :List(Float32); # std rad/s in device frame
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}
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struct OrbObservation @0x9b326d4e436afec7 {
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observationMonoTime @0 :UInt64;
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normalizedCoordinates @1 :List(Float32);
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locationECEF @2 :List(Float64);
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matchDistance @3: UInt32;
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}
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struct CalibrationFeatures @0x8fdfadb254ea867a {
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frameId @0 :UInt32;
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p0 @1 :List(Float32);
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p1 @2 :List(Float32);
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status @3 :List(Int8);
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}
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struct NavStatus @0xbd8822120928120c {
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isNavigating @0 :Bool;
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currentAddress @1 :Address;
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struct Address @0xce7cd672cacc7814 {
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title @0 :Text;
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lat @1 :Float64;
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lng @2 :Float64;
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house @3 :Text;
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address @4 :Text;
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street @5 :Text;
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city @6 :Text;
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state @7 :Text;
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country @8 :Text;
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}
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}
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struct NavUpdate @0xdb98be6565516acb {
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isNavigating @0 :Bool;
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curSegment @1 :Int32;
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segments @2 :List(Segment);
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struct LatLng @0x9eaef9187cadbb9b {
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lat @0 :Float64;
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lng @1 :Float64;
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}
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struct Segment @0xa5b39b4fc4d7da3f {
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from @0 :LatLng;
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to @1 :LatLng;
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updateTime @2 :Int32;
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distance @3 :Int32;
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crossTime @4 :Int32;
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exitNo @5 :Int32;
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instruction @6 :Instruction;
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parts @7 :List(LatLng);
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enum Instruction @0xc5417a637451246f {
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turnLeft @0;
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turnRight @1;
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keepLeft @2;
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keepRight @3;
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straight @4;
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roundaboutExitNumber @5;
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roundaboutExit @6;
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roundaboutTurnLeft @7;
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unkn8 @8;
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roundaboutStraight @9;
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unkn10 @10;
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roundaboutTurnRight @11;
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unkn12 @12;
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roundaboutUturn @13;
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unkn14 @14;
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arrive @15;
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exitLeft @16;
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exitRight @17;
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unkn18 @18;
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uturn @19;
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# ...
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}
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}
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}
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struct TrafficEvent @0xacfa74a094e62626 {
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type @0 :Type;
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distance @1 :Float32;
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action @2 :Action;
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resuming @3 :Bool;
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enum Type @0xd85d75253435bf4b {
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stopSign @0;
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lightRed @1;
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lightYellow @2;
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lightGreen @3;
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stopLight @4;
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}
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enum Action @0xa6f6ce72165ccb49 {
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none @0;
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yield @1;
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stop @2;
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resumeReady @3;
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}
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}
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struct AndroidGnss @0xdfdf30d03fc485bd {
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union {
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measurements @0 :Measurements;
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navigationMessage @1 :NavigationMessage;
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}
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struct Measurements @0xa20710d4f428d6cd {
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clock @0 :Clock;
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measurements @1 :List(Measurement);
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struct Clock @0xa0e27b453a38f450 {
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timeNanos @0 :Int64;
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hardwareClockDiscontinuityCount @1 :Int32;
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hasTimeUncertaintyNanos @2 :Bool;
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timeUncertaintyNanos @3 :Float64;
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hasLeapSecond @4 :Bool;
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leapSecond @5 :Int32;
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hasFullBiasNanos @6 :Bool;
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fullBiasNanos @7 :Int64;
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hasBiasNanos @8 :Bool;
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biasNanos @9 :Float64;
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hasBiasUncertaintyNanos @10 :Bool;
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biasUncertaintyNanos @11 :Float64;
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hasDriftNanosPerSecond @12 :Bool;
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driftNanosPerSecond @13 :Float64;
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hasDriftUncertaintyNanosPerSecond @14 :Bool;
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driftUncertaintyNanosPerSecond @15 :Float64;
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}
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struct Measurement @0xd949bf717d77614d {
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svId @0 :Int32;
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constellation @1 :Constellation;
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timeOffsetNanos @2 :Float64;
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state @3 :Int32;
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receivedSvTimeNanos @4 :Int64;
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receivedSvTimeUncertaintyNanos @5 :Int64;
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cn0DbHz @6 :Float64;
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pseudorangeRateMetersPerSecond @7 :Float64;
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pseudorangeRateUncertaintyMetersPerSecond @8 :Float64;
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accumulatedDeltaRangeState @9 :Int32;
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accumulatedDeltaRangeMeters @10 :Float64;
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accumulatedDeltaRangeUncertaintyMeters @11 :Float64;
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hasCarrierFrequencyHz @12 :Bool;
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carrierFrequencyHz @13 :Float32;
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hasCarrierCycles @14 :Bool;
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carrierCycles @15 :Int64;
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hasCarrierPhase @16 :Bool;
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carrierPhase @17 :Float64;
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hasCarrierPhaseUncertainty @18 :Bool;
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carrierPhaseUncertainty @19 :Float64;
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hasSnrInDb @20 :Bool;
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snrInDb @21 :Float64;
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multipathIndicator @22 :MultipathIndicator;
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enum Constellation @0x9ef1f3ff0deb5ffb {
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unknown @0;
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gps @1;
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sbas @2;
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glonass @3;
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qzss @4;
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beidou @5;
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galileo @6;
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}
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enum State @0xcbb9490adce12d72 {
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unknown @0;
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codeLock @1;
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bitSync @2;
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subframeSync @3;
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towDecoded @4;
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msecAmbiguous @5;
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symbolSync @6;
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gloStringSync @7;
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gloTodDecoded @8;
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bdsD2BitSync @9;
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bdsD2SubframeSync @10;
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galE1bcCodeLock @11;
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galE1c2ndCodeLock @12;
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galE1bPageSync @13;
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sbasSync @14;
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}
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enum MultipathIndicator @0xc04e7b6231d4caa8 {
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unknown @0;
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detected @1;
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notDetected @2;
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}
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}
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}
|
|
|
|
struct NavigationMessage @0xe2517b083095fd4e {
|
|
type @0 :Int32;
|
|
svId @1 :Int32;
|
|
messageId @2 :Int32;
|
|
submessageId @3 :Int32;
|
|
data @4 :Data;
|
|
status @5 :Status;
|
|
|
|
enum Status @0xec1ff7996b35366f {
|
|
unknown @0;
|
|
parityPassed @1;
|
|
parityRebuilt @2;
|
|
}
|
|
}
|
|
}
|
|
|
|
struct LidarPts @0xe3d6685d4e9d8f7a {
|
|
r @0 :List(UInt16); # uint16 m*500.0
|
|
theta @1 :List(UInt16); # uint16 deg*100.0
|
|
reflect @2 :List(UInt8); # uint8 0-255
|
|
|
|
# For storing out of file.
|
|
idx @3 :UInt64;
|
|
|
|
# For storing in file
|
|
pkt @4 :Data;
|
|
}
|
|
|
|
|
|
|