From 6fe062eca0c576cd0629cc00f4df0300abdcf5db Mon Sep 17 00:00:00 2001
From: Mitchell Goff <mitchellgoffpc@gmail.com>
Date: Wed, 19 May 2021 22:01:28 -0700
Subject: [PATCH] New model outputs (#155)

* Added MetaData fields for new model outputs

* Moved deprecated fields to bottom of struct

* Moved disengage predictions into their own struct
---
 log.capnp | 20 +++++++++++++++++---
 1 file changed, 17 insertions(+), 3 deletions(-)

diff --git a/log.capnp b/log.capnp
index 26dea1b..bade7d2 100644
--- a/log.capnp
+++ b/log.capnp
@@ -687,10 +687,24 @@ struct ModelDataV2 {
   struct MetaData {
     engagedProb @0 :Float32;
     desirePrediction @1 :List(Float32);
-    brakeDisengageProb @2 :Float32;
-    gasDisengageProb @3 :Float32;
-    steerOverrideProb @4 :Float32;
     desireState @5 :List(Float32);
+    disengagePredictions @6 :DisengagePredictions;
+    hardBrakePredicted @7 :Bool;
+
+    # deprecated
+    brakeDisengageProbDEPRECATED @2 :Float32;
+    gasDisengageProbDEPRECATED @3 :Float32;
+    steerOverrideProbDEPRECATED @4 :Float32;
+  }
+
+  struct DisengagePredictions {
+    t @0 :List(Float32);
+    brakeDisengageProbs @1 :List(Float32);
+    gasDisengageProbs @2 :List(Float32);
+    steerOverrideProbs @3 :List(Float32);
+    brake3MetersPerSecondSquaredProbs @4 :List(Float32);
+    brake4MetersPerSecondSquaredProbs @5 :List(Float32);
+    brake5MetersPerSecondSquaredProbs @6 :List(Float32);
   }
 }