openpilot-evo/cereal/custom.capnp

using Cxx = import "./include/c++.capnp";
$Cxx.namespace("cereal");

@0xb526ba661d550a59;

# custom.capnp: a home for empty structs reserved for custom forks
# These structs are guaranteed to remain reserved and empty in mainline
# cereal, so use these if you want custom events in your fork.

# DO rename the structs
# DON'T change the identifier (e.g. @0x81c2f05a394cf4af)

struct ModularAssistiveDrivingSystem {
  state @0 :ModularAssistiveDrivingSystemState;
  enabled @1 :Bool;
  active @2 :Bool;
  available @3 :Bool;

  enum ModularAssistiveDrivingSystemState {
    disabled @0;
    paused @1;
    enabled @2;
    softDisabling @3;
    overriding @4;
  }
}

struct SelfdriveStateSP @0x81c2f05a394cf4af {
  mads @0 :ModularAssistiveDrivingSystem;
}

struct ModelManagerSP @0xaedffd8f31e7b55d {
  activeBundle @0 :ModelBundle;
  selectedBundle @1 :ModelBundle;
  availableBundles @2 :List(ModelBundle);

  struct DownloadUri {
    uri @0 :Text;
    sha256 @1 :Text;
  }

  enum Type {
    drive @0;
    navigation @1;
    metadata @2;
  }

  struct Model {
    fullName @0 :Text;
    fileName @1 :Text;
    downloadUri @2 :DownloadUri;
    downloadProgress @3 :DownloadProgress;
    type @4 :Type;
  }

  enum DownloadStatus {
    notDownloading @0;
    downloading @1;
    downloaded @2;
    cached @3;
    failed @4;
  }

  struct DownloadProgress {
    status @0 :DownloadStatus;
    progress @1 :Float32;
    eta @2 :UInt32;
  }

  enum Runner {
    snpe @0;
    tinygrad @1;
    stock @2;
  }

  struct ModelBundle {
    index @0 :UInt32;
    internalName @1 :Text;
    displayName @2 :Text;
    models @3 :List(Model);
    status @4 :DownloadStatus;
    generation @5 :UInt32;
    environment @6 :Text;
    runner @7 :Runner;
    is20hz @8 :Bool;
  }
}

struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
  dec @0 :DynamicExperimentalControl;

  struct DynamicExperimentalControl {
    state @0 :DynamicExperimentalControlState;
    enabled @1 :Bool;
    active @2 :Bool;

    enum DynamicExperimentalControlState {
      acc @0;
      blended @1;
    }
  }
}

struct OnroadEventSP @0xda96579883444c35 {
  name @0 :EventName;

  # event types
  enable @1 :Bool;
  noEntry @2 :Bool;
  warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
  userDisable @4 :Bool;
  softDisable @5 :Bool;
  immediateDisable @6 :Bool;
  preEnable @7 :Bool;
  permanent @8 :Bool; # alerts presented regardless of openpilot state
  overrideLateral @10 :Bool;
  overrideLongitudinal @9 :Bool;

  enum EventName {
    lkasEnable @0;
    lkasDisable @1;
    manualSteeringRequired @2;
    manualLongitudinalRequired @3;
    silentLkasEnable @4;
    silentLkasDisable @5;
    silentBrakeHold @6;
    silentWrongGear @7;
    silentReverseGear @8;
    silentDoorOpen @9;
    silentSeatbeltNotLatched @10;
    silentParkBrake @11;
    controlsMismatchLateral @12;
    hyundaiRadarTracksConfirmed @13;
    experimentalModeSwitched @14;
  }
}

struct CarParamsSP @0x80ae746ee2596b11 {
  flags @0 :UInt32;        # flags for car specific quirks in sunnypilot
  safetyParam @1 : Int16;  # flags for sunnypilot's custom safety flags

  neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;

  struct NeuralNetworkLateralControl {
    model @0 :Model;
    fuzzyFingerprint @1 :Bool;

    struct Model {
      path @0 :Text;
      name @1 :Text;
    }
  }
}

struct CarControlSP @0xa5cd762cd951a455 {
  mads @0 :ModularAssistiveDrivingSystem;
}

struct CustomReserved6 @0xf98d843bfd7004a3 {
}

struct CustomReserved7 @0xb86e6369214c01c8 {
}

struct CustomReserved8 @0xf416ec09499d9d19 {
}

struct CustomReserved9 @0xa1680744031fdb2d {
}

struct CustomReserved10 @0xcb9fd56c7057593a {
}

struct CustomReserved11 @0xc2243c65e0340384 {
}

struct CustomReserved12 @0x9ccdc8676701b412 {
}

struct CustomReserved13 @0xcd96dafb67a082d0 {
}

struct CustomReserved14 @0xb057204d7deadf3f {
}

struct CustomReserved15 @0xbd443b539493bc68 {
}

struct CustomReserved16 @0xfc6241ed8877b611 {
}

struct CustomReserved17 @0xa30662f84033036c {
}

struct CustomReserved18 @0xc86a3d38d13eb3ef {
}

struct CustomReserved19 @0xa4f1eb3323f5f582 {
}