FrogPilot 0.9.7

cereal/custom.capnp

@@ -1,6 +1,8 @@
 using Cxx = import "./include/c++.capnp";
 $Cxx.namespace("cereal");
 
+using Car = import "car.capnp";
+
 @0xb526ba661d550a59;
 
 # custom.capnp: a home for empty structs reserved for custom forks
@@ -8,19 +10,75 @@ $Cxx.namespace("cereal");
 # cereal, so use these if you want custom events in your fork.
 
 # you can rename the struct, but don't change the identifier
-struct CustomReserved0 @0x81c2f05a394cf4af {
+struct FrogPilotCarControl @0x81c2f05a394cf4af {
+  accelPressed @0 :Bool;
+  alwaysOnLateralActive @1 :Bool;
+  decelPressed @2 :Bool;
+  fcwEventTriggered @3 :Bool;
+  noEntryEventTriggered @4 :Bool;
+  steerSaturatedEventTriggered @5 :Bool;
 }
 
-struct CustomReserved1 @0xaedffd8f31e7b55d {
+struct FrogPilotCarState @0xaedffd8f31e7b55d {
+  struct ButtonEvent {
+    enum Type {
+      lkas @0;
+    }
+  }
+
+  alwaysOnLateralDisabled @0 :Bool;
+  brakeLights @1 :Bool;
+  dashboardSpeedLimit @2 :Float32;
+  distanceLongPressed @3 :Bool;
+  ecoGear @4 :Bool;
+  hasMenu @5 :Bool;
+  sportGear @6 :Bool;
+  trafficModeActive @7 :Bool;
 }
 
-struct CustomReserved2 @0xf35cc4560bbf6ec2 {
+struct FrogPilotDeviceState @0xf35cc4560bbf6ec2 {
+  freeSpace @0 :Int16;
+  usedSpace @1 :Int16;
 }
 
-struct CustomReserved3 @0xda96579883444c35 {
+struct FrogPilotNavigation @0xda96579883444c35 {
+  approachingIntersection @0 :Bool;
+  approachingTurn @1 :Bool;
+  navigationSpeedLimit @2 :Float32;
 }
 
-struct CustomReserved4 @0x80ae746ee2596b11 {
+struct FrogPilotPlan @0x80ae746ee2596b11 {
+  accelerationJerk @0 :Float32;
+  accelerationJerkStock @1 :Float32;
+  dangerJerk @2 :Float32;
+  desiredFollowDistance @3 :Int64;
+  experimentalMode @4 :Bool;
+  forcingStop @5 :Bool;
+  forcingStopLength @6 :Float32;
+  frogpilotEvents @7 :List(Car.CarEvent);
+  lateralCheck @8 :Bool;
+  laneWidthLeft @9 :Float32;
+  laneWidthRight @10 :Float32;
+  maxAcceleration @11 :Float32;
+  minAcceleration @12 :Float32;
+  mtscSpeed @13 :Float32;
+  redLight @14 :Bool;
+  slcMapSpeedLimit @15 :Float32;
+  slcOverridden @16 :Bool;
+  slcOverriddenSpeed @17 :Float32;
+  slcSpeedLimit @18 :Float32;
+  slcSpeedLimitOffset @19 :Float32;
+  slcSpeedLimitSource @20 :Text;
+  speedJerk @21 :Float32;
+  speedJerkStock @22 :Float32;
+  speedLimitChanged @23 :Bool;
+  tFollow @24 :Float32;
+  togglesUpdated @25 :Bool;
+  unconfirmedSlcSpeedLimit @26 :Float32;
+  upcomingSLCSpeedLimit @27 :Float32;
+  vCruise @28 :Float32;
+  vtscControllingCurve @29 :Bool;
+  vtscSpeed @30 :Float32;
 }
 
 struct CustomReserved5 @0xa5cd762cd951a455 {