Squashed 'cereal/' changes from 01942b8..ab32956

ab32956 Merge pull request #27 from commaai/ublox-hw-status
2e7f4b9 Added ublox hw status
23abef4 add networkType to thermal
3f01dcf fix bad naming
4999e62 unconfusing and accessible to all
8f9aa8f add fingerprintSource to carParams
5794030 better put
06f8d15 standalone monitorstate (#23)
6eb1e36 qlog at model rate
c38fb57 LateralParams
0c45f20 add uncertainty event name

git-subtree-dir: cereal
git-subtree-split: ab32956

Author: Vehicle Researcher

car.capnp

@@ -90,6 +90,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     ldw @65;
     carUnrecognized @66;
     radarCommIssue @67;
+    driverMonitorLowAcc @68;
   }
 }
 
@@ -345,6 +346,7 @@ struct CarParams {
   tireStiffnessRear @24 :Float32;    # [N/rad] rear tire coeff of stiff
 
   longitudinalTuning @25 :LongitudinalPIDTuning;
+  lateralParams @48 :LateralParams;
   lateralTuning :union {
     pid @26 :LateralPIDTuning;
     indi @27 :LateralINDITuning;
@@ -371,6 +373,12 @@ struct CarParams {
   carFw @44 :List(CarFw);
   radarTimeStep @45: Float32 = 0.05;  # time delta between radar updates, 20Hz is very standard
   communityFeature @46: Bool;  # true if a community maintained feature is detected
+  fingerprintSource @49: FingerprintSource;
+
+  struct LateralParams {
+    torqueBP @0 :List(Int32);
+    torqueV @1 :List(Int32);
+  }
 
   struct LateralPIDTuning {
     kpBP @0 :List(Float32);
@@ -465,4 +473,9 @@ struct CarParams {
     dsu @6;
     apgs @7;
   }
+
+  enum FingerprintSource {
+    can @0;
+    fw @1;
+  }
 }

log.capnp

@@ -279,6 +279,7 @@ struct ThermalData {
   batteryCurrent @15 :Int32;
   batteryVoltage @16 :Int32;
   usbOnline @12 :Bool;
+  networkType @22 :NetworkType;
 
   fanSpeed @10 :UInt16;
   started @11 :Bool;
@@ -297,6 +298,15 @@ struct ThermalData {
     red @2;     # no engage, will disengage
     danger @3;  # immediate process shutdown
   }
+
+  enum NetworkType {
+    none @0;
+    wifi @1;
+    cell2G @2;
+    cell3G @3;
+    cell4G @4;
+    cell5G @5;
+  }
 }
 
 struct HealthData {
@@ -1422,6 +1432,7 @@ struct UbloxGnss {
     measurementReport @0 :MeasurementReport;
     ephemeris @1 :Ephemeris;
     ionoData @2 :IonoData;
+    hwStatus @3 :HwStatus;
   }
 
   struct MeasurementReport {
@@ -1545,8 +1556,29 @@ struct UbloxGnss {
     healthValid @5 :Bool;
     ionoCoeffsValid @6 :Bool;
   }
-}
 
+  struct HwStatus {
+    noisePerMS @0 :UInt16;
+    agcCnt @1 :UInt16;
+    aStatus @2 :AntennaSupervisorState;
+    aPower @3 :AntennaPowerStatus;
+    jamInd @4 :UInt8;
+
+    enum AntennaSupervisorState {
+      init @0;
+      dontknow @1;
+      ok @2;
+      short @3;
+      open @4;
+    }
+
+    enum AntennaPowerStatus {
+      off @0;
+      on @1;
+      dontknow @2;
+    }
+  }
+}
 
 struct Clocks {
   bootTimeNanos @0 :UInt64;
@@ -1754,7 +1786,7 @@ struct OrbKeyFrame {
   descriptors @3 :Data;
 }
 
-struct DriverMonitoring {
+struct DriverState {
   frameId @0 :UInt32;
   descriptorDEPRECATED @1 :List(Float32);
   stdDEPRECATED @2 :Float32;
@@ -1770,6 +1802,25 @@ struct DriverMonitoring {
   facePositionStd @12 :List(Float32);
 }
 
+struct DMonitoringState {
+  # TODO: deprecate old fields in controlsState
+  events @0 :List(Car.CarEvent);
+  faceDetected @1 :Bool;
+  isDistracted @2 :Bool;
+  awarenessStatus @3 :Float32;
+  isRHD @4 :Bool;
+  rhdChecked @5 :Bool;
+  posePitchOffset @6 :Float32;
+  posePitchValidCount @7 :UInt32;
+  poseYawOffset @8 :Float32;
+  poseYawValidCount @9 :UInt32;
+  stepChange @10 :Float32;
+  awarenessActive @11 :Float32;
+  awarenessPassive @12 :Float32;
+  isLowStd @13 :Bool;
+  hiStdCount @14 :UInt32;
+}
+
 struct Boot {
   wallTimeNanos @0 :UInt64;
   lastKmsg @1 :Data;
@@ -1889,7 +1940,7 @@ struct Event {
     orbKeyFrame @56 :OrbKeyFrame;
     uiLayoutState @57 :UiLayoutState;
     orbFeaturesSummary @58 :OrbFeaturesSummary;
-    driverMonitoring @59 :DriverMonitoring;
+    driverState @59 :DriverState;
     boot @60 :Boot;
     liveParameters @61 :LiveParametersData;
     liveMapData @62 :LiveMapData;
@@ -1900,5 +1951,6 @@ struct Event {
     carEvents @68: List(Car.CarEvent);
     carParams @69: Car.CarParams;
     frontFrame @70: FrameData;
+    dMonitoringState @71: DMonitoringState;
   }
 }

service_list.yaml

@@ -65,16 +65,17 @@ orbKeyFrame: [8059, true, 0.]
 uiLayoutState: [8060, true, 0.]
 frontEncodeIdx: [8061, true, 5.]
 orbFeaturesSummary: [8062, true, 0.]
-driverMonitoring: [8063, true, 5., 1]
+driverState: [8063, true, 5., 1]
 liveParameters: [8064, true, 10.]
 liveMapData: [8065, true, 0.]
-cameraOdometry: [8066, true, 20.]
+cameraOdometry: [8066, true, 20., 5]
 pathPlan: [8067, true, 20.]
 kalmanOdometry: [8068, true, 0.]
 thumbnail: [8069, true, 0.2, 1]
 carEvents: [8070, true, 1., 1]
 carParams: [8071, true, 0.02, 1]
 frontFrame: [8072, true, 10.]
+dMonitoringState: [8073, true, 5., 1]
 
 testModel: [8040, false, 0.]
 testLiveLocation: [8045, false, 0.]