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StarPilot/tools/ci/schema-policy.json
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firestar5683 0830771789 Preserve historical steering learning schema
2026-10-11 01:03:39 -06:00

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{
"schema_version": 2,
"upstream_commit": "3f06ed3bc7a4cc9c320be1f7d03dcd8a885a8e6f",
"opendbc_commit": "35f7e0813462607ef1d703e52313e7571e31405d",
"unchanged_schemas": {
"openpilot/cereal/deprecated.capnp": "b3aa5c13de40001ed7376cef858500fb003f7698f96131cd0db18d878fa1af0d",
"openpilot/cereal/include/c++.capnp": "fb306076cd38c27af1aed20fac6395e9a46fbe5b5df6a248b5f1b6845a079c44",
"opendbc_repo/opendbc/car/car.capnp": "098a19d69e8d233ac653503b53761a94824f31812757a11a7ded1589fe1e0788",
"opendbc_repo/opendbc/car/include/c++.capnp": "fb306076cd38c27af1aed20fac6395e9a46fbe5b5df6a248b5f1b6845a079c44",
"opendbc_repo/opendbc/car/rlog.capnp": "76331a09f36764d08228ba1ed6c03419cc8cdfcc797db98c4d56fab52a6ac050"
},
"log_sha256": "bf39b822e577afdd6caacabde77261ac5c0929767c2f0e4ff7d5e5429e3d4c14",
"custom_header": "using Cxx = import \"/include/c++.capnp\";\n$Cxx.namespace(\"cereal\");\nusing Car = import \"/car.capnp\";\n\n@0xb526ba661d550a59;\n\n# custom.capnp: a home for empty structs reserved for custom forks\n# These structs are guaranteed to remain reserved and empty in mainline\n# cereal, so use these if you want custom events in your fork.\n\n# DO rename the structs\n# DON'T change the identifier (e.g. @0x81c2f05a394cf4af)\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n",
"historical_empty_slots": [
5
],
"historical_restored": {
"10": {
"type_id": "0xcb9fd56c7057593a",
"ordinal": 136,
"field": "desiredCurvature @0 :Float32;"
},
"11": {
"type_id": "0xc2243c65e0340384",
"ordinal": 137,
"field": "active @0 :Bool;"
}
},
"reserved": [
{
"struct": "CustomReserved0",
"type_id": "0x81c2f05a394cf4af",
"field": "customReserved0",
"ordinal": 107
},
{
"struct": "CustomReserved1",
"type_id": "0xaedffd8f31e7b55d",
"field": "customReserved1",
"ordinal": 108
},
{
"struct": "CustomReserved2",
"type_id": "0xf35cc4560bbf6ec2",
"field": "customReserved2",
"ordinal": 109
},
{
"struct": "CustomReserved3",
"type_id": "0xda96579883444c35",
"field": "customReserved3",
"ordinal": 110
},
{
"struct": "CustomReserved4",
"type_id": "0x80ae746ee2596b11",
"field": "customReserved4",
"ordinal": 111
},
{
"struct": "CustomReserved5",
"type_id": "0xa5cd762cd951a455",
"field": "customReserved5",
"ordinal": 112
},
{
"struct": "CustomReserved6",
"type_id": "0xf98d843bfd7004a3",
"field": "customReserved6",
"ordinal": 113
},
{
"struct": "CustomReserved7",
"type_id": "0xb86e6369214c01c8",
"field": "customReserved7",
"ordinal": 114
},
{
"struct": "CustomReserved8",
"type_id": "0xf416ec09499d9d19",
"field": "customReserved8",
"ordinal": 115
},
{
"struct": "CustomReserved9",
"type_id": "0xa1680744031fdb2d",
"field": "customReserved9",
"ordinal": 116
},
{
"struct": "CustomReserved10",
"type_id": "0xcb9fd56c7057593a",
"field": "customReserved10",
"ordinal": 136
},
{
"struct": "CustomReserved11",
"type_id": "0xc2243c65e0340384",
"field": "customReserved11",
"ordinal": 137
},
{
"struct": "CustomReserved12",
"type_id": "0x9ccdc8676701b412",
"field": "customReserved12",
"ordinal": 138
},
{
"struct": "CustomReserved13",
"type_id": "0xcd96dafb67a082d0",
"field": "customReserved13",
"ordinal": 139
},
{
"struct": "CustomReserved14",
"type_id": "0xb057204d7deadf3f",
"field": "customReserved14",
"ordinal": 140
},
{
"struct": "CustomReserved15",
"type_id": "0xbd443b539493bc68",
"field": "customReserved15",
"ordinal": 141
},
{
"struct": "CustomReserved16",
"type_id": "0xfc6241ed8877b611",
"field": "customReserved16",
"ordinal": 142
},
{
"struct": "CustomReserved17",
"type_id": "0xa30662f84033036c",
"field": "customReserved17",
"ordinal": 143
},
{
"struct": "CustomReserved18",
"type_id": "0xc86a3d38d13eb3ef",
"field": "customReserved18",
"ordinal": 144
},
{
"struct": "CustomReserved19",
"type_id": "0xa4f1eb3323f5f582",
"field": "customReserved19",
"ordinal": 145
}
],
"raw_reserved": {
"124": "customReservedRawData0",
"125": "customReservedRawData1",
"126": "customReservedRawData2"
},
"historical_prefixes": {
"0": {
"type_id": "0x81c2f05a394cf4af",
"name": "StarPilotCarControl",
"body": "\n hudControl @0 :HUDControl;\n steeringLimitInfo @1 :SteeringLimitInfo;\n\n struct HUDControl {\n audibleAlert @0 :AudibleAlert;\n\n enum AudibleAlert {\n none @0;\n\n engage @1;\n disengage @2;\n refuse @3;\n\n warningSoft @4;\n warningImmediate @5;\n\n prompt @6;\n promptRepeat @7;\n promptDistracted @8;\n\n # Random Events\n angry @9;\n continued @10;\n dejaVu @11;\n doc @12;\n fart @13;\n firefox @14;\n goat @15;\n hal9000 @16;\n mail @17;\n nessie @18;\n noice @19;\n startup @20;\n thisIsFine @21;\n uwu @22;\n }\n }\n\n struct SteeringLimitInfo {\n valid @0 :Bool;\n modelLimitErrorDeg @1 :Float32;\n resumeLimitErrorDeg @2 :Float32;\n cooperativeLimitErrorDeg @3 :Float32;\n cooperativeOffsetDeg @4 :Float32;\n monoTime @5 :UInt64;\n combinedLimitErrorDeg @6 :Float32;\n }\n",
"source_commit": "c2109496a72e85ca702ecef7aff53ff45adcfb8c",
"source_path": "cereal/custom.capnp"
},
"3": {
"type_id": "0xda96579883444c35",
"name": "StarPilotLongitudinalPlan",
"body": "\n version @0 :UInt16;\n sourcePlanMonoTime @1 :UInt64;\n modelMonoTime @2 :UInt64;\n driveStartMonoTime @3 :UInt64;\n forceStopHolding @4 :Bool;\n"
},
"2": {
"type_id": "0xf35cc4560bbf6ec2",
"name": "StarPilotCarState",
"body": "\n accelPressed @0 :Bool;\n alwaysOnLateralEnabled @1 :Bool;\n brakeLights @2 :Bool;\n dashboardSpeedLimit @3 :Float32;\n decelPressed @4 :Bool;\n distancePressed @5 :Bool;\n distanceLongPressed @6 :Bool;\n distanceVeryLongPressed @7 :Bool;\n ecoGear @8 :Bool;\n forceCoast @9 :Bool;\n isParked @10 :Bool;\n pauseLateral @11 :Bool;\n pauseLongitudinal @12 :Bool;\n sportGear @13 :Bool;\n trafficModeEnabled @14 :Bool;\n gasStack @15 :Bool; # Compatibility with older StarPilot payloads\n modePressed @16 :Bool;\n customPressed @17 :Bool;\n alwaysOnLateralAllowed @18 :Bool;\n dashboardStopSign @19 :UInt8; # 0 = no signal / platform doesn't publish\n cancelPressed @20 :Bool;\n cancelLongPressed @21 :Bool;\n cancelVeryLongPressed @22 :Bool;\n pedalMaxRegen @23 :Bool; # pedal at max regen, driver should use brake for more decel\n pedalLongActive @24 :Bool; # Pre-AP pedal longitudinal mode is active (enableLongControl)\n teslaCCEngaged @25 :Bool; # rising edge of stock Tesla CC engaging (no-pedal mode)\n teslaCCDisengaged @26 :Bool; # falling edge of stock Tesla CC\n teslaCCNotArmed @27 :Bool; # lateral engaged but DI_cruiseState != STANDBY/ENABLED\n accelHardCruise @28 :Bool; # current/releasing accel cruise button came from GM hard-press signal\n decelHardCruise @29 :Bool; # current/releasing decel cruise button came from GM hard-press signal\n pulseAndGlide @30 :Bool; # developer-only wheel-button pulse-and-glide mode is enabled",
"source_commit": "6de77049b3c3dc77c7275e9ff724a96f9e72a19d",
"source_path": "cereal/custom.capnp"
},
"6": {
"type_id": "0xf98d843bfd7004a3",
"name": "CustomReserved6",
"body": "\naccelerationJerk @0 :Float32; cscControllingSpeed @1 :Bool; cscSpeed @2 :Float32;\ncscTraining @3 :Bool; dangerFactor @4 :Float32; dangerJerk @5 :Float32;\ndesiredFollowDistance @6 :Int64; experimentalMode @7 :Bool; forcingStop @8 :Bool;\nforcingStopLength @9 :Float32; starpilotEvents @10 :AnyPointer; starpilotToggles @11 :Text;\nincreasedStoppedDistance @12 :Float32; lateralCheck @13 :Bool; laneWidthLeft @14 :Float32;\nlaneWidthRight @15 :Float32; maxAcceleration @16 :Float32; minAcceleration @17 :Float32;\nredLight @18 :Bool; roadCurvature @19 :Float32;\nslcMapSpeedLimit @20 :Float32;\nslcMapboxSpeedLimit @21 :Float32; slcNextSpeedLimit @22 :Float32; slcOverriddenSpeed @23 :Float32;\nslcSpeedLimit @24 :Float32; slcSpeedLimitOffset @25 :Float32; slcSpeedLimitSource @26 :Text;\n",
"source_commit": "77b44257a0a2a6e574d8e375ab61004be21b7a6e",
"source_path": "openpilot/cereal/custom.capnp"
},
"1": {
"type_id": "0xaedffd8f31e7b55d",
"name": "StarPilotCarParams",
"body": "\n alternativeExperience @0 :Int16;\n canUsePedal @1 :Bool;\n canUseSDSU @2 :Bool;\n flags @3 :UInt32;\n isHDA2 @4 :Bool;\n openpilotLongitudinalControlDisabled @5 :Bool;\n safetyConfigs @6 :List(SafetyConfig);\n pcmCruiseSpeed @7 :Bool = true;\n redneckCruiseAvailable @8 :Bool;\n\n struct SafetyConfig {\n safetyParam @0 :UInt16;\n }\n\n learning @9 :AutoSteeringLearning;\n\n struct AutoSteeringLearning {\n version @0 :UInt16;\n status @1 :Status;\n reason @2 :Text;\n identity @3 :Identity;\n session @4 :Text;\n sequence @5 :UInt64;\n observedMonoTime @6 :UInt64; # MONOTONIC, separate from Event BOOTTIME.\n validUntilMonoTime @7 :UInt64;\n sourceWindowStartMonoTime @8 :UInt64;\n sourceWindowEndMonoTime @9 :UInt64;\n family @10 :Family;\n latAccelFactor @11 :Float64;\n acceptancePolicyId @12 :Text;\n trainWindows @13 :UInt32;\n heldoutWindows @14 :UInt32;\n trainBaselineLoss @15 :Float64;\n trainCandidateLoss @16 :Float64;\n heldoutBaselineLoss @17 :Float64;\n heldoutCandidateLoss @18 :Float64;\n\n enum Status { unavailable @0; collecting @1; candidate @2; rejected @3; qualifiedFit @4; }\n enum Family { none @0; linearFactor @1; }\n struct Identity {\n vehicle @0 :Text;\n brand @1 :Text;\n controller @2 :Text;\n policy @3 :Text;\n profile @4 :Text;\n conversionVersion @5 :Text;\n firmwareSha256 @6 :Text;\n basis @7 :List(Float64);\n baselineSha256 @8 :Text;\n preferenceSha256 @9 :Text;\n resetGeneration @10 :Text;\n controllerRevision @11 :Text;\n }\n }\n",
"historical_source_commit": "61fd19556f985ef462bda9c103396108ea69ad14",
"historical_source_path": "cereal/custom.capnp",
"historical_body_sha256": "d95c3b15a6e51608a8157bc3adc965d3914d4ae94364f9ea605c757cc7924ec8",
"learning_source_commit": "c204f0b165db7769bd795768e4e25019748ee12c",
"learning_source_path": "openpilot/cereal/custom.capnp"
}
},
"reviewed_enum_additions": {
"opendbc_repo/opendbc/car/car.capnp": {
"enum": "SafetyModel",
"field": "teslaPreap @39;"
}
}
}
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