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firestar5683
2025-10-09 09:53:41 -05:00
parent f67af0f222
commit 52f6ec0001
14 changed files with 191 additions and 118 deletions
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cereal/gen/cpp/car.capnp.c++
+58 -43
View File
@@ -5262,17 +5262,17 @@ const ::capnp::_::RawSchema s_9622723fcbd14c2e = {
0, 5, i_9622723fcbd14c2e, nullptr, nullptr, { &s_9622723fcbd14c2e, nullptr, nullptr, 0, 0, nullptr }, false
};
#endif // !CAPNP_LITE
static const ::capnp::_::AlignedData<147> b_80366e0e804ecc1d = {
static const ::capnp::_::AlignedData<162> b_80366e0e804ecc1d = {
{ 0, 0, 0, 0, 5, 0, 6, 0,
29, 204, 78, 128, 14, 110, 54, 128,
20, 0, 0, 0, 1, 0, 4, 0,
20, 0, 0, 0, 1, 0, 5, 0,
218, 169, 170, 144, 36, 55, 105, 140,
0, 0, 7, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
21, 0, 0, 0, 66, 1, 0, 0,
37, 0, 0, 0, 7, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
33, 0, 0, 0, 199, 1, 0, 0,
33, 0, 0, 0, 255, 1, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
99, 97, 114, 46, 99, 97, 112, 110,
@@ -5281,63 +5281,70 @@ static const ::capnp::_::AlignedData<147> b_80366e0e804ecc1d = {
114, 97, 108, 84, 111, 114, 113, 117,
101, 84, 117, 110, 105, 110, 103, 0,
0, 0, 0, 0, 1, 0, 1, 0,
32, 0, 0, 0, 3, 0, 4, 0,
36, 0, 0, 0, 3, 0, 4, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 1, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
209, 0, 0, 0, 138, 0, 0, 0,
237, 0, 0, 0, 138, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
212, 0, 0, 0, 3, 0, 1, 0,
224, 0, 0, 0, 2, 0, 1, 0,
240, 0, 0, 0, 3, 0, 1, 0,
252, 0, 0, 0, 2, 0, 1, 0,
1, 0, 0, 0, 1, 0, 0, 0,
0, 0, 1, 0, 1, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
221, 0, 0, 0, 26, 0, 0, 0,
249, 0, 0, 0, 26, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
216, 0, 0, 0, 3, 0, 1, 0,
228, 0, 0, 0, 2, 0, 1, 0,
244, 0, 0, 0, 3, 0, 1, 0,
0, 1, 0, 0, 2, 0, 1, 0,
2, 0, 0, 0, 2, 0, 0, 0,
0, 0, 1, 0, 2, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
225, 0, 0, 0, 26, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
220, 0, 0, 0, 3, 0, 1, 0,
232, 0, 0, 0, 2, 0, 1, 0,
3, 0, 0, 0, 3, 0, 0, 0,
0, 0, 1, 0, 3, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
229, 0, 0, 0, 74, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
228, 0, 0, 0, 3, 0, 1, 0,
240, 0, 0, 0, 2, 0, 1, 0,
4, 0, 0, 0, 4, 0, 0, 0,
0, 0, 1, 0, 4, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
237, 0, 0, 0, 26, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
232, 0, 0, 0, 3, 0, 1, 0,
244, 0, 0, 0, 2, 0, 1, 0,
5, 0, 0, 0, 5, 0, 0, 0,
0, 0, 1, 0, 5, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
241, 0, 0, 0, 202, 0, 0, 0,
253, 0, 0, 0, 26, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
248, 0, 0, 0, 3, 0, 1, 0,
4, 1, 0, 0, 2, 0, 1, 0,
6, 0, 0, 0, 6, 0, 0, 0,
0, 0, 1, 0, 6, 0, 0, 0,
4, 0, 0, 0, 3, 0, 0, 0,
0, 0, 1, 0, 3, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
1, 1, 0, 0, 122, 0, 0, 0,
1, 1, 0, 0, 74, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 1, 0, 0, 3, 0, 1, 0,
12, 1, 0, 0, 2, 0, 1, 0,
7, 0, 0, 0, 7, 0, 0, 0,
5, 0, 0, 0, 4, 0, 0, 0,
0, 0, 1, 0, 4, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
9, 1, 0, 0, 26, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
4, 1, 0, 0, 3, 0, 1, 0,
16, 1, 0, 0, 2, 0, 1, 0,
6, 0, 0, 0, 5, 0, 0, 0,
0, 0, 1, 0, 5, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
13, 1, 0, 0, 202, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
20, 1, 0, 0, 3, 0, 1, 0,
32, 1, 0, 0, 2, 0, 1, 0,
7, 0, 0, 0, 6, 0, 0, 0,
0, 0, 1, 0, 6, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
29, 1, 0, 0, 122, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
28, 1, 0, 0, 3, 0, 1, 0,
40, 1, 0, 0, 2, 0, 1, 0,
8, 0, 0, 0, 7, 0, 0, 0,
0, 0, 1, 0, 7, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
9, 1, 0, 0, 122, 0, 0, 0,
37, 1, 0, 0, 122, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
8, 1, 0, 0, 3, 0, 1, 0,
20, 1, 0, 0, 2, 0, 1, 0,
36, 1, 0, 0, 3, 0, 1, 0,
48, 1, 0, 0, 2, 0, 1, 0,
3, 0, 0, 0, 8, 0, 0, 0,
0, 0, 1, 0, 8, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
45, 1, 0, 0, 26, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
40, 1, 0, 0, 3, 0, 1, 0,
52, 1, 0, 0, 2, 0, 1, 0,
117, 115, 101, 83, 116, 101, 101, 114,
105, 110, 103, 65, 110, 103, 108, 101,
0, 0, 0, 0, 0, 0, 0, 0,
@@ -5403,6 +5410,14 @@ static const ::capnp::_::AlignedData<147> b_80366e0e804ecc1d = {
0, 0, 0, 0, 0, 0, 0, 0,
108, 97, 116, 65, 99, 99, 101, 108,
79, 102, 102, 115, 101, 116, 0, 0,
10, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
10, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
107, 100, 0, 0, 0, 0, 0, 0,
10, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
@@ -5413,11 +5428,11 @@ static const ::capnp::_::AlignedData<147> b_80366e0e804ecc1d = {
};
::capnp::word const* const bp_80366e0e804ecc1d = b_80366e0e804ecc1d.words;
#if !CAPNP_LITE
static const uint16_t m_80366e0e804ecc1d[] = {3, 4, 2, 1, 6, 7, 5, 0};
static const uint16_t i_80366e0e804ecc1d[] = {0, 1, 2, 3, 4, 5, 6, 7};
static const uint16_t m_80366e0e804ecc1d[] = {3, 8, 4, 2, 1, 6, 7, 5, 0};
static const uint16_t i_80366e0e804ecc1d[] = {0, 1, 2, 3, 4, 5, 6, 7, 8};
const ::capnp::_::RawSchema s_80366e0e804ecc1d = {
0x80366e0e804ecc1d, b_80366e0e804ecc1d.words, 147, nullptr, m_80366e0e804ecc1d,
0, 8, i_80366e0e804ecc1d, nullptr, nullptr, { &s_80366e0e804ecc1d, nullptr, nullptr, 0, 0, nullptr }, false
0x80366e0e804ecc1d, b_80366e0e804ecc1d.words, 162, nullptr, m_80366e0e804ecc1d,
0, 9, i_80366e0e804ecc1d, nullptr, nullptr, { &s_80366e0e804ecc1d, nullptr, nullptr, 0, 0, nullptr }, false
};
#endif // !CAPNP_LITE
static const ::capnp::_::AlignedData<151> b_c342cefc303e9b8e = {
cereal/gen/cpp/car.capnp.h
+20 -1
View File
@@ -626,7 +626,7 @@ struct CarParams::LateralTorqueTuning {
class Pipeline;
struct _capnpPrivate {
CAPNP_DECLARE_STRUCT_HEADER(80366e0e804ecc1d, 4, 0)
CAPNP_DECLARE_STRUCT_HEADER(80366e0e804ecc1d, 5, 0)
#if !CAPNP_LITE
static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
#endif // !CAPNP_LITE
@@ -3148,6 +3148,8 @@ public:
inline float getLatAccelOffset() const;
inline float getKd() const;
private:
::capnp::_::StructReader _reader;
template <typename, ::capnp::Kind>
@@ -3200,6 +3202,9 @@ public:
inline float getLatAccelOffset();
inline void setLatAccelOffset(float value);
inline float getKd();
inline void setKd(float value);
private:
::capnp::_::StructBuilder _builder;
template <typename, ::capnp::Kind>
@@ -7847,6 +7852,20 @@ inline void CarParams::LateralTorqueTuning::Builder::setLatAccelOffset(float val
::capnp::bounded<7>() * ::capnp::ELEMENTS, value);
}
inline float CarParams::LateralTorqueTuning::Reader::getKd() const {
return _reader.getDataField<float>(
::capnp::bounded<8>() * ::capnp::ELEMENTS);
}
inline float CarParams::LateralTorqueTuning::Builder::getKd() {
return _builder.getDataField<float>(
::capnp::bounded<8>() * ::capnp::ELEMENTS);
}
inline void CarParams::LateralTorqueTuning::Builder::setKd(float value) {
_builder.setDataField<float>(
::capnp::bounded<8>() * ::capnp::ELEMENTS, value);
}
inline bool CarParams::LongitudinalPIDTuning::Reader::hasKpBP() const {
return !_reader.getPointerField(
::capnp::bounded<0>() * ::capnp::POINTERS).isNull();