mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-01 21:53:42 +08:00
FrogPilot 0.9.7
This commit is contained in:
FrogAi
+51
-3
@@ -84,6 +84,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
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startup @75;
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startupNoCar @76;
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startupNoControl @77;
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startupNoSecOcKey @121;
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startupMaster @78;
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startupNoFw @104;
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fcw @79;
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@@ -118,7 +119,35 @@ struct CarEvent @0x9b1657f34caf3ad3 {
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actuatorsApiUnavailable @120;
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# FrogPilot Events
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pedalInterceptorNoBrake @134;
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accel30 @122;
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accel35 @123;
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accel40 @124;
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blockUser @125;
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customStartupAlert @126;
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dejaVuCurve @127;
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firefoxSteerSaturated @128;
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forcingStop @129;
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goatSteerSaturated @130;
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greenLight @131;
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hal9000 @132;
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holidayActive @133;
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laneChangeBlockedLoud @134;
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leadDeparting @135;
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noLaneAvailable @136;
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openpilotCrashed @137;
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openpilotCrashedRandomEvent @138;
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pedalInterceptorNoBrake @139;
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speedLimitChanged @140;
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thisIsFineSteerSaturated @141;
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toBeContinued @142;
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torqueNNLoad @143;
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trafficModeActive @144;
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trafficModeInactive @145;
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turningLeft @146;
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turningRight @147;
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vCruise69 @148;
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yourFrogTriedToKillMe @149;
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youveGotMail @150;
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radarCanErrorDEPRECATED @15;
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communityFeatureDisallowedDEPRECATED @62;
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@@ -415,6 +444,22 @@ struct CarControl {
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prompt @6;
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promptRepeat @7;
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promptDistracted @8;
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# FrogPilot sounds
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angry @9;
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continued @10;
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dejaVu @11;
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doc @12;
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fart @13;
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firefox @14;
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goat @15;
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hal9000 @16;
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mail @17;
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nessie @18;
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noice @19;
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startup @20;
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thisIsFine @21;
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uwu @22;
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}
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}
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@@ -507,6 +552,9 @@ struct CarParams {
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wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
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secOcRequired @74 :Bool; # Car requires SecOC message authentication to operate
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secOcKeyAvailable @75 :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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@@ -544,8 +592,8 @@ struct CarParams {
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kiBP @2 :List(Float32);
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kiV @3 :List(Float32);
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kf @6 :Float32;
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deadzoneBPDEPRECATED @4 :List(Float32);
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deadzoneVDEPRECATED @5 :List(Float32);
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deadzoneBP @4 :List(Float32);
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deadzoneV @5 :List(Float32);
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}
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struct LateralINDITuning {
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+63
-5
@@ -1,6 +1,8 @@
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using Cxx = import "./include/c++.capnp";
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$Cxx.namespace("cereal");
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using Car = import "car.capnp";
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@0xb526ba661d550a59;
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# custom.capnp: a home for empty structs reserved for custom forks
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@@ -8,19 +10,75 @@ $Cxx.namespace("cereal");
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# cereal, so use these if you want custom events in your fork.
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# you can rename the struct, but don't change the identifier
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struct CustomReserved0 @0x81c2f05a394cf4af {
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struct FrogPilotCarControl @0x81c2f05a394cf4af {
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accelPressed @0 :Bool;
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alwaysOnLateralActive @1 :Bool;
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decelPressed @2 :Bool;
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fcwEventTriggered @3 :Bool;
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noEntryEventTriggered @4 :Bool;
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steerSaturatedEventTriggered @5 :Bool;
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}
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struct CustomReserved1 @0xaedffd8f31e7b55d {
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struct FrogPilotCarState @0xaedffd8f31e7b55d {
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struct ButtonEvent {
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enum Type {
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lkas @0;
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}
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}
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alwaysOnLateralDisabled @0 :Bool;
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brakeLights @1 :Bool;
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dashboardSpeedLimit @2 :Float32;
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distanceLongPressed @3 :Bool;
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ecoGear @4 :Bool;
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hasMenu @5 :Bool;
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sportGear @6 :Bool;
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trafficModeActive @7 :Bool;
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}
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struct CustomReserved2 @0xf35cc4560bbf6ec2 {
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struct FrogPilotDeviceState @0xf35cc4560bbf6ec2 {
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freeSpace @0 :Int16;
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usedSpace @1 :Int16;
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}
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struct CustomReserved3 @0xda96579883444c35 {
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struct FrogPilotNavigation @0xda96579883444c35 {
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approachingIntersection @0 :Bool;
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approachingTurn @1 :Bool;
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navigationSpeedLimit @2 :Float32;
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}
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struct CustomReserved4 @0x80ae746ee2596b11 {
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struct FrogPilotPlan @0x80ae746ee2596b11 {
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accelerationJerk @0 :Float32;
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accelerationJerkStock @1 :Float32;
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dangerJerk @2 :Float32;
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desiredFollowDistance @3 :Int64;
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experimentalMode @4 :Bool;
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forcingStop @5 :Bool;
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forcingStopLength @6 :Float32;
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frogpilotEvents @7 :List(Car.CarEvent);
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lateralCheck @8 :Bool;
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laneWidthLeft @9 :Float32;
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laneWidthRight @10 :Float32;
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maxAcceleration @11 :Float32;
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minAcceleration @12 :Float32;
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mtscSpeed @13 :Float32;
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redLight @14 :Bool;
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slcMapSpeedLimit @15 :Float32;
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slcOverridden @16 :Bool;
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slcOverriddenSpeed @17 :Float32;
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slcSpeedLimit @18 :Float32;
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slcSpeedLimitOffset @19 :Float32;
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slcSpeedLimitSource @20 :Text;
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speedJerk @21 :Float32;
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speedJerkStock @22 :Float32;
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speedLimitChanged @23 :Bool;
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tFollow @24 :Float32;
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togglesUpdated @25 :Bool;
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unconfirmedSlcSpeedLimit @26 :Float32;
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upcomingSLCSpeedLimit @27 :Float32;
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vCruise @28 :Float32;
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vtscControllingCurve @29 :Bool;
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vtscSpeed @30 :Float32;
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}
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struct CustomReserved5 @0xa5cd762cd951a455 {
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+58
-9
@@ -335,6 +335,12 @@ enum LaneChangeDirection {
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right @2;
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}
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enum TurnDirection {
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none @0;
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turnLeft @1;
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turnRight @2;
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}
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struct CanData {
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address @0 :UInt32;
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busTime @1 :UInt16;
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@@ -612,6 +618,10 @@ struct RadarState @0x9a185389d6fdd05f {
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leadOne @3 :LeadData;
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leadTwo @4 :LeadData;
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leadLeft @13 :LeadData;
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leadRight @14 :LeadData;
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leadLeftFar @15 :LeadData;
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leadRightFar @16 :LeadData;
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cumLagMs @5 :Float32;
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struct LeadData {
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@@ -698,6 +708,7 @@ struct ControlsState @0x97ff69c53601abf1 {
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personality @66 :LongitudinalPersonality;
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longControlState @30 :Car.CarControl.Actuators.LongControlState;
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vPid @2 :Float32;
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vTargetLead @3 :Float32;
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vCruise @22 :Float32; # actual set speed
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vCruiseCluster @63 :Float32; # set speed to display in the UI
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@@ -744,6 +755,7 @@ struct ControlsState @0x97ff69c53601abf1 {
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normal @0; # low priority alert for user's convenience
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userPrompt @1; # mid priority alert that might require user intervention
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critical @2; # high priority alert that needs immediate user intervention
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frogpilot @3; # FrogPilot startup alert
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}
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enum AlertSize {
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@@ -794,6 +806,7 @@ struct ControlsState @0x97ff69c53601abf1 {
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saturated @7 :Bool;
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actualLateralAccel @9 :Float32;
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desiredLateralAccel @10 :Float32;
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nnLog @11 :List(Float32);
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}
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struct LateralLQRState {
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@@ -865,7 +878,39 @@ struct ControlsState @0x97ff69c53601abf1 {
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canMonoTimesDEPRECATED @21 :List(UInt64);
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desiredCurvatureRateDEPRECATED @62 :Float32;
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canErrorCounterDEPRECATED @57 :UInt32;
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vPidDEPRECATED @2 :Float32;
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}
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struct DrivingModelData {
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frameId @0 :UInt32;
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frameIdExtra @1 :UInt32;
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frameDropPerc @6 :Float32;
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modelExecutionTime @7 :Float32;
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action @2 :ModelDataV2.Action;
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laneLineMeta @3 :LaneLineMeta;
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meta @4 :MetaData;
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path @5 :PolyPath;
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struct PolyPath {
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xCoefficients @0 :List(Float32);
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yCoefficients @1 :List(Float32);
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zCoefficients @2 :List(Float32);
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}
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struct LaneLineMeta {
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leftY @0 :Float32;
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rightY @1 :Float32;
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leftProb @2 :Float32;
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rightProb @3 :Float32;
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}
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struct MetaData {
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laneChangeState @0 :LaneChangeState;
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laneChangeDirection @1 :LaneChangeDirection;
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turnDirection @2 :TurnDirection;
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}
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}
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# All SI units and in device frame
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@@ -913,8 +958,8 @@ struct ModelDataV2 {
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# Model perceived motion
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temporalPose @21 :Pose;
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navEnabledDEPRECATED @22 :Bool;
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locationMonoTimeDEPRECATED @24 :UInt64;
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navEnabled @22 :Bool;
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locationMonoTime @24 :UInt64;
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# e2e lateral planner
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lateralPlannerSolutionDEPRECATED @25: LateralPlannerSolution;
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@@ -958,6 +1003,7 @@ struct ModelDataV2 {
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hardBrakePredicted @7 :Bool;
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laneChangeState @8 :LaneChangeState;
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laneChangeDirection @9 :LaneChangeDirection;
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turnDirection @10 :TurnDirection;
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# deprecated
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@@ -980,6 +1026,8 @@ struct ModelDataV2 {
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brake3MetersPerSecondSquaredProbs @4 :List(Float32);
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brake4MetersPerSecondSquaredProbs @5 :List(Float32);
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brake5MetersPerSecondSquaredProbs @6 :List(Float32);
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gasPressProbs @7 :List(Float32);
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brakePressProbs @8 :List(Float32);
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}
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struct Pose {
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@@ -2264,6 +2312,7 @@ struct Event {
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driverMonitoringState @71: DriverMonitoringState;
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liveLocationKalman @72 :LiveLocationKalman;
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modelV2 @75 :ModelDataV2;
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drivingModelData @128 :DrivingModelData;
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driverStateV2 @92 :DriverStateV2;
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# camera stuff, each camera state has a matching encode idx
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@@ -2318,11 +2367,11 @@ struct Event {
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customReservedRawData2 @126 :Data;
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# *********** Custom: reserved for forks ***********
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customReserved0 @107 :Custom.CustomReserved0;
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customReserved1 @108 :Custom.CustomReserved1;
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customReserved2 @109 :Custom.CustomReserved2;
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customReserved3 @110 :Custom.CustomReserved3;
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customReserved4 @111 :Custom.CustomReserved4;
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frogpilotCarControl @107 :Custom.FrogPilotCarControl;
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frogpilotCarState @108 :Custom.FrogPilotCarState;
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frogpilotDeviceState @109 :Custom.FrogPilotDeviceState;
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frogpilotNavigation @110 :Custom.FrogPilotNavigation;
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frogpilotPlan @111 :Custom.FrogPilotPlan;
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customReserved5 @112 :Custom.CustomReserved5;
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customReserved6 @113 :Custom.CustomReserved6;
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customReserved7 @114 :Custom.CustomReserved7;
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@@ -2368,6 +2417,6 @@ struct Event {
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driverStateDEPRECATED @59 :DriverStateDEPRECATED;
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sensorEventsDEPRECATED @11 :List(SensorEventData);
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lateralPlanDEPRECATED @64 :LateralPlan;
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navModelDEPRECATED @104 :NavModelData;
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navModel @104 :NavModelData;
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}
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}
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@@ -60,12 +60,15 @@ _services: dict[str, tuple] = {
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"driverMonitoringState": (True, 20., 10),
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"wideRoadEncodeIdx": (False, 20., 1),
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"wideRoadCameraState": (True, 20., 20),
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"drivingModelData": (True, 20., 10),
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"modelV2": (True, 20., 40),
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"managerState": (True, 2., 1),
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"uploaderState": (True, 0., 1),
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"navInstruction": (True, 1., 10),
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"navRoute": (True, 0.),
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"navThumbnail": (True, 0.),
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"navModel": (True, 2., 4.),
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"mapRenderState": (True, 2., 1.),
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"uiPlan": (True, 20., 40.),
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"qRoadEncodeIdx": (False, 20.),
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"userFlag": (True, 0., 1),
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@@ -87,6 +90,13 @@ _services: dict[str, tuple] = {
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"customReservedRawData0": (True, 0.),
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"customReservedRawData1": (True, 0.),
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"customReservedRawData2": (True, 0.),
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# FrogPilot
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"frogpilotCarControl": (True, 100., 10),
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"frogpilotCarState": (True, 100., 10),
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"frogpilotDeviceState": (True, 2., 1),
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"frogpilotNavigation": (True, 1., 10),
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"frogpilotPlan": (True, 20., 5),
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}
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SERVICE_LIST = {name: Service(*vals) for
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idx, (name, vals) in enumerate(_services.items())}
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