From 60d3364233122c48ca5c71ff4d854254f1b09562 Mon Sep 17 00:00:00 2001
From: Vehicle Researcher <user@comma.ai>
Date: Thu, 6 Feb 2020 13:51:36 -0800
Subject: [PATCH] Squashed 'cereal/' changes from 01942b89..ab32956a

ab32956a Merge pull request #27 from commaai/ublox-hw-status
2e7f4b90 Added ublox hw status
23abef4f add networkType to thermal
3f01dcf0 fix bad naming
4999e620 unconfusing and accessible to all
8f9aa8fc add fingerprintSource to carParams
57940309 better put
06f8d15c standalone monitorstate (#23)
6eb1e368 qlog at model rate
c38fb572 LateralParams
0c45f20d add uncertainty event name

git-subtree-dir: cereal
git-subtree-split: ab32956aaf927ee6318bcf639e3a25eea72027a9
---
 car.capnp         | 13 +++++++++++
 log.capnp         | 58 ++++++++++++++++++++++++++++++++++++++++++++---
 service_list.yaml |  5 ++--
 3 files changed, 71 insertions(+), 5 deletions(-)

diff --git a/car.capnp b/car.capnp
index 48618a278..745389232 100644
--- a/car.capnp
+++ b/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;
+  }
 }
diff --git a/log.capnp b/log.capnp
index bdd7ed1bb..e01c8977e 100644
--- a/log.capnp
+++ b/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;
   }
 }
diff --git a/service_list.yaml b/service_list.yaml
index e551dac59..7dd1a62e9 100644
--- a/service_list.yaml
+++ b/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.]