From c6acc0698a604e715e960250359b6bf97e4987e3 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Mon, 20 Jun 2022 16:24:43 -0700
Subject: [PATCH] driverStateV2 (#317)

Revert "Revert driverStateV2 (#316)"

This reverts commit ff49c8e126ea04889af13d690ceaf520ce7084d2.
---
 log.capnp   | 36 +++++++++++++++++++++++++++++++++---
 services.py |  2 +-
 2 files changed, 34 insertions(+), 4 deletions(-)

diff --git a/log.capnp b/log.capnp
index e6cf2f0..a246761 100644
--- a/log.capnp
+++ b/log.capnp
@@ -1632,7 +1632,36 @@ struct Joystick {
   buttons @1: List(Bool);
 }
 
-struct DriverState {
+struct DriverStateV2 {
+  frameId @0 :UInt32;
+  modelExecutionTime @1 :Float32;
+  dspExecutionTime @2 :Float32;
+  rawPredictions @3 :Data;
+
+  poorVisionProb @4 :Float32;
+  wheelOnRightProb @5 :Float32;
+
+  leftDriverData @6 :DriverData;
+  rightDriverData @7 :DriverData;
+
+  struct DriverData {
+    faceOrientation @0 :List(Float32);
+    faceOrientationStd @1 :List(Float32);
+    facePosition @2 :List(Float32);
+    facePositionStd @3 :List(Float32);
+    faceProb @4 :Float32;
+    leftEyeProb @5 :Float32;
+    rightEyeProb @6 :Float32;
+    leftBlinkProb @7 :Float32;
+    rightBlinkProb @8 :Float32;
+    sunglassesProb @9 :Float32;
+    occludedProb @10 :Float32;
+    readyProb @11 :List(Float32);
+    notReadyProb @12 :List(Float32);
+  }
+}
+
+struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
   frameId @0 :UInt32;
   modelExecutionTime @14 :Float32;
   dspExecutionTime @16 :Float32;
@@ -1680,8 +1709,8 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
   isLowStd @13 :Bool;
   hiStdCount @14 :UInt32;
   isActiveMode @16 :Bool;
+  isRHD @4 :Bool;
 
-  isRHDDEPRECATED @4 :Bool;
   isPreviewDEPRECATED @15 :Bool;
   rhdCheckedDEPRECATED @5 :Bool;
 }
@@ -1862,7 +1891,6 @@ struct Event {
     qcomGnss @31 :QcomGnss;
     gpsLocationExternal @48 :GpsLocationData;
     gnssMeasurements @91 :GnssMeasurements;
-    driverState @59 :DriverState;
     liveParameters @61 :LiveParametersData;
     cameraOdometry @63 :CameraOdometry;
     thumbnail @66: Thumbnail;
@@ -1871,6 +1899,7 @@ struct Event {
     driverMonitoringState @71: DriverMonitoringState;
     liveLocationKalman @72 :LiveLocationKalman;
     modelV2 @75 :ModelDataV2;
+    driverStateV2 @92 :DriverStateV2;
 
     # camera stuff, each camera state has a matching encode idx
     roadCameraState @2 :FrameData;
@@ -1940,5 +1969,6 @@ struct Event {
     gpsLocationDEPRECATED @21 :GpsLocationData;
     uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState;
     pandaStateDEPRECATED @12 :PandaState;
+    driverStateDEPRECATED @59 :DriverStateDEPRECATED;
   }
 }
diff --git a/services.py b/services.py
index 95060a3..8c50e11 100755
--- a/services.py
+++ b/services.py
@@ -56,7 +56,7 @@ services = {
   "roadCameraState": (True, 20., 20),
   "driverCameraState": (True, 20., 20),
   "driverEncodeIdx": (False, 20., 1),
-  "driverState": (True, 20., 10),
+  "driverStateV2": (True, 20., 10),
   "driverMonitoringState": (True, 20., 10),
   "wideRoadEncodeIdx": (False, 20., 1),
   "wideRoadCameraState": (True, 20., 20),