standalone monitorstate (#23)

cfranyota · Jan 28, 2020 · 06f8d15 · 06f8d15
1 parent 6eb1e36
commit 06f8d15
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diff --git a/car.capnp b/car.capnp
@@ -473,3 +473,26 @@ struct CarParams {
     apgs @7;
   }
 }
+
+struct MonitorState {
+  events @0 :List(CarEvent);
+  driverState @1 :DriverState;
+
+  # TODO: deprecate old fields in controlsState
+  struct DriverState {
+    faceDetected @0 :Bool;
+    isDistracted @1 :Bool;
+    awarenessStatus @2 :Float32;
+    isRHD @3 :Bool;
+    rhdChecked @4 :Bool;
+    posePitchOffset @5 :Float32;
+    posePitchValidCount @6 :UInt32;
+    poseYawOffset @7 :Float32;
+    poseYawValidCount @8 :UInt32;
+    stepChange @9 :Float32;
+    awarenessActive @10 :Float32;
+    awarenessPassive @11 :Float32;
+    isLowStd @12 :Bool;
+    hiStdCount @13 :UInt32;
+  }
+}
diff --git a/service_list.yaml b/service_list.yaml
@@ -75,6 +75,7 @@ thumbnail: [8069, true, 0.2, 1]
 carEvents: [8070, true, 1., 1]
 carParams: [8071, true, 0.02, 1]
 frontFrame: [8072, true, 10.]
+monitorState: [8073, true, 5., 1]
 
 testModel: [8040, false, 0.]
 testLiveLocation: [8045, false, 0.]