Squashed 'cereal/' changes from 6511990..12aad06

12aad06 no more c capnp
0050e0a stockFcw event
2c325ed gasPressed event
8573a24 don't duplicate ordinals
3f384ef add carState.steerWarning and carState.steerError
8b347b0 add repeated warning2
3adb899 add sharpness metric
65af436 Add relayMalfunction alert
442e914 add preview driver flag
c8e5db8 Add comment to faulttype
975a633 Add all panda fault types to health
93ccbcb UiLayoutState: add mockEngaged for onboarding
9dbbb54 UiLayoutState: add 'none' app
c820f83 Add offroadLayout service
e370f79 Add the laneChangeBlocked Event (#40)
35040fe Update service documentation (#39)
8f13dfc Additional car params auto-detection in support of VW (#38)
22986de add speedTooHigh alert
f515e4d Add invalid lkas setting alert
5908762 gnustl_shared is only for android
b0c746b solve by renaming event name instead of service
df82a53 the service is called androidLogEntry

git-subtree-dir: cereal
git-subtree-split: 12aad06

SConscript

@@ -5,10 +5,6 @@ messaging_dir = Dir('messaging')
 
 # TODO: remove src-prefix and cereal from command string. can we set working directory?
 env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
-env.Command(
-  ['gen/c/car.capnp.c', 'gen/c/log.capnp.c', 'gen/c/car.capnp.h', 'gen/c/log.capnp.h'],
-  ['car.capnp', 'log.capnp'],
-  'capnpc $SOURCES --src-prefix=cereal -o c:' + gen_dir.path + '/c/')
 env.Command(
   ['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
   ['car.capnp', 'log.capnp'],
@@ -22,14 +18,12 @@ if shutil.which('capnpc-java'):
 
 # TODO: remove non shared cereal and messaging
 cereal_objects = env.SharedObject([
-    'gen/c/car.capnp.c',
-    'gen/c/log.capnp.c',
     'gen/cpp/car.capnp.c++',
     'gen/cpp/log.capnp.c++',
   ])
 
 env.Library('cereal', cereal_objects)
-env.SharedLibrary('cereal_shared', cereal_objects, LIBS=["capnp_c"])
+env.SharedLibrary('cereal_shared', cereal_objects)
 
 cereal_dir = Dir('.')
 services_h = env.Command(

car.capnp

@@ -91,6 +91,12 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     carUnrecognized @66;
     radarCommIssue @67;
     driverMonitorLowAcc @68;
+    invalidLkasSetting @69;
+    speedTooHigh @70;
+    laneChangeBlocked @71;
+    relayMalfunction @72;
+    gasPressed @73;
+    stockFcw @74;
   }
 }
 
@@ -119,12 +125,14 @@ struct CarState {
   brakeLights @19 :Bool;
 
   # steering wheel
-  steeringAngle @7 :Float32;   # deg
-  steeringRate @15 :Float32;   # deg/s
-  steeringTorque @8 :Float32;  # TODO: standardize units
+  steeringAngle @7 :Float32;       # deg
+  steeringRate @15 :Float32;       # deg/s
+  steeringTorque @8 :Float32;      # TODO: standardize units
   steeringTorqueEps @27 :Float32;  # TODO: standardize units
-  steeringPressed @9 :Bool;    # if the user is using the steering wheel
-  steeringRateLimited @29 :Bool;    # if the torque is limited by the rate limiter
+  steeringPressed @9 :Bool;        # if the user is using the steering wheel
+  steeringRateLimited @29 :Bool;   # if the torque is limited by the rate limiter
+  steerWarning @35 :Bool;          # temporary steer unavailble
+  steerError @36 :Bool;            # permanent steer error
   stockAeb @30 :Bool;
   stockFcw @31 :Bool;
   espDisabled @32 :Bool;
@@ -151,7 +159,7 @@ struct CarState {
 
   # which packets this state came from
   canMonoTimes @12: List(UInt64);
-  
+
   # blindspot sensors
   leftBlindspot @33 :Bool; # Is there something blocking the left lane change
   rightBlindspot @34 :Bool; # Is there something blocking the right lane change
@@ -309,6 +317,7 @@ struct CarControl {
       chimeWarning2 @5;
       chimeWarningRepeat @6;
       chimePrompt @7;
+      chimeWarning2Repeat @8;
     }
   }
 }
@@ -379,6 +388,7 @@ struct CarParams {
   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;
+  networkLocation @50 :NetworkLocation;  # Where Panda/C2 is integrated into the car's CAN network
 
   struct LateralParams {
     torqueBP @0 :List(Int32);
@@ -456,8 +466,9 @@ struct CarParams {
 
   enum TransmissionType {
     unknown @0;
-    automatic @1;
-    manual @2;
+    automatic @1;  # Traditional auto, including DSG
+    manual @2;  # True "stick shift" only
+    direct @3;  # Electric vehicle or other direct drive
   }
 
   struct CarFw {
@@ -496,4 +507,9 @@ struct CarParams {
     fw @1;
     fixed @2;
   }
+
+  enum NetworkLocation {
+    fwdCamera @0;  # Standard/default integration at LKAS camera
+    gateway @1;    # Integration at vehicle's CAN gateway
+  }
 }

log.capnp

@@ -129,6 +129,7 @@ struct FrameData {
   gainFrac @15 :Float32;
   focusVal @16 :List(Int16);
   focusConf @17 :List(UInt8);
+  sharpnessScore @18 :List(UInt16);
 
   frameType @7 :FrameType;
   timestampSof @8 :UInt64;
@@ -352,6 +353,25 @@ struct HealthData {
 
   enum FaultType {
     relayMalfunction @0;
+    unusedInterruptHandled @1;
+    interruptRateCan1 @2;
+    interruptRateCan2 @3;
+    interruptRateCan3 @4;
+    interruptRateTach @5;
+    interruptRateGmlan @6;
+    interruptRateInterrupts @7;
+    interruptRateSpiDma @8;
+    interruptRateSpiCs @9;
+    interruptRateUart1 @10;
+    interruptRateUart2 @11;
+    interruptRateUart3 @12;
+    interruptRateUart5 @13;
+    interruptRateUartDma @14;
+    interruptRateUsb @15;
+    interruptRateTim1 @16;
+    interruptRateTim3 @17;
+    registerDivergent @18;
+    # Update max fault type in boardd when adding faults
   }
 
   enum HwType {
@@ -805,7 +825,7 @@ struct PathPlan {
 
 struct LiveLocationKalman {
 
-  # More info on reference frames: 
+  # More info on reference frames:
   # https://github.com/commaai/openpilot/tree/master/common/transformations
 
   positionECEF @0 : Measurement;
@@ -821,10 +841,10 @@ struct LiveLocationKalman {
   orientationECEF @6 : Measurement;
   orientationNED @7 : Measurement;
   angularVelocityDevice @8 : Measurement;
-  
+
   # orientationNEDCalibrated transforms to rot matrix: NED_from_calibrated
   orientationNEDCalibrated @9 : Measurement;
-  
+
   # Calibrated frame is simply device frame
   # aligned with the vehicle
   velocityCalibrated @10 : Measurement;
@@ -835,7 +855,7 @@ struct LiveLocationKalman {
   gpsTimeOfWeek @14 :Float64;
   status @15 :Status;
   unixTimestampMillis @16 :Int64;
-  
+
   enum Status {
     uninitialized @0;
     uncalibrated @1;
@@ -1775,12 +1795,14 @@ struct UiLayoutState {
   activeApp @0 :App;
   sidebarCollapsed @1 :Bool;
   mapEnabled @2 :Bool;
+  mockEngaged @3 :Bool;
 
   enum App {
     home @0;
     music @1;
     nav @2;
     settings @3;
+    none @4;
   }
 }
 
@@ -1879,6 +1901,7 @@ struct DMonitoringState {
   awarenessPassive @12 :Float32;
   isLowStd @13 :Bool;
   hiStdCount @14 :UInt32;
+  isPreview @15 :Bool;
 }
 
 struct Boot {
@@ -1971,7 +1994,7 @@ struct Event {
     sendcan @17 :List(CanData);
     logMessage @18 :Text;
     liveCalibration @19 :LiveCalibrationData;
-    androidLogEntry @20 :AndroidLogEntry;
+    androidLog @20 :AndroidLogEntry;
     gpsLocation @21 :GpsLocationData;
     carState @22 :Car.CarState;
     carControl @23 :Car.CarControl;

messaging/messaging_pyx_setup.py

@@ -34,7 +34,8 @@ def get_ext_filename(self, ext_name):
 libraries = ['zmq']
 ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg
 
-if ARCH == "aarch64":
+if ARCH == "aarch64" and os.path.isdir("/system"):
+  # android
   extra_compile_args += ["-Wno-deprecated-register"]
   libraries += ['gnustl_shared']
 

service_list.yaml

@@ -76,6 +76,7 @@ carEvents: [8070, true, 1., 1]
 carParams: [8071, true, 0.02, 1]
 frontFrame: [8072, true, 10.]
 dMonitoringState: [8073, true, 5., 1]
+offroadLayout: [8074, false, 0.]
 
 testModel: [8040, false, 0.]
 testLiveLocation: [8045, false, 0.]
@@ -103,19 +104,31 @@ testJoystick: [8056, false, 0.]
 # gpsd -- publishes EON's gps
 #   publishes: gpsNMEA
 
-# visiond -- talks to the cameras, runs the model, saves the videos
-#   publishes:  frame, model, driverMonitoring, cameraOdometry, thumbnail
+# camerad -- publishes camera frames
+#   publishes: frame, frontFrame, thumbnail
+#   subscribes: driverState
+
+# dmonitoringmodeld -- runs face detection on camera frames
+#   publishes: driverState
 
 # **** stateful data transformers ****
 
+# modeld -- runs & publishes the model 
+#   publishes: model, cameraOdometry
+#   subscribes: liveCalibration, pathPlan
+
 # plannerd -- decides where to drive the car
 #   subscribes: carState, model, radarState, controlsState, liveParameters
 #   publishes:  plan, pathPlan, liveMpc, liveLongitudinalMpc
 
 # controlsd -- drives the car by sending CAN messages to panda
-#   subscribes: can, thermal, health, plan, pathPlan, driverMonitoring, liveCalibration
+#   subscribes: can, thermal, health, plan, pathPlan, dMonitoringState, liveCalibration, model
 #   publishes:  carState, carControl, sendcan, controlsState, carEvents, carParams
 
+# dmonitoringd -- processes driver monitoring data and publishes driver awareness
+#   subscribes: driverState, liveCalibration, carState, model, gpsLocation
+#   publishes: dMonitoringState
+
 # radard -- processes the radar and vision data
 #   subscribes: can, controlsState, model, liveParameters
 #   publishes:  radarState, liveTracks