IQ.Pilot Release Commit @ f82ff4d

cereal/car.capnp

@@ -1 +1 @@
-../opendbc_repo/opendbc/car/car.capnp
+../iqdbc_repo/iqdbc/car/car.capnp

cereal/custom.capnp

@@ -319,7 +319,6 @@ struct IQOnroadEvent @0xf4621d3ee9233bc9 {
 }
 
 struct IQCarParams @0xd4189b5c8aca9f78 {
-  # Data fields first (packed into the struct data section), pointer field last.
   # Ordinals are IQ-native; all consumers access by name. Live copies self-heal
   # via CLEAR_ON_MANAGER_START on the "IQCarParams" param; the persistent cache
   # is versioned separately (see IQCarParamsPersistentV2).
@@ -329,6 +328,7 @@ struct IQCarParams @0xd4189b5c8aca9f78 {
   enableGasInterceptor @3 :Bool;
 
   iqLateralNet @4 :LateralNet;
+  longitudinalStoppingSpeedOverride @5 :Float32;  # m/s; zero keeps the upstream default
 
   struct LateralNet {
     fuzzyFingerprint @0 :Bool;

cereal/log.capnp

@@ -70,12 +70,12 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     longitudinalManeuver @30;
     steerTempUnavailableSilent @31;
     resumeRequired @32;
-    preDriverDistracted @33;
-    promptDriverDistracted @34;
-    driverDistracted @35;
-    preDriverUnresponsive @36;
-    promptDriverUnresponsive @37;
-    driverUnresponsive @38;
+    driverDistracted1 @33;
+    driverDistracted2 @34;
+    driverDistracted3 @35;
+    driverUnresponsive1 @36;
+    driverUnresponsive2 @37;
+    driverUnresponsive3 @38;
     belowSteerSpeed @39;
     lowBattery @40;
     accFaulted @41;
@@ -2183,6 +2183,7 @@ struct DriverStateV2 {
     rightBlinkProb @8 :Float32;
     sunglassesProb @9 :Float32;
     phoneProb @13 :Float32;
+    sleepProb @14 :Float32;
     notReadyProbDEPRECATED @12 :List(Float32);
     occludedProbDEPRECATED @10 :Float32;
     readyProbDEPRECATED @11 :List(Float32);
@@ -2224,7 +2225,7 @@ struct DriverStateDEPRECATED @0xb83c6cc593ed0a00 {
   stdDEPRECATED @2 :Float32;
 }
 
-struct DriverMonitoringState @0xb83cda094a1da284 {
+struct DriverMonitoringStateDEPRECATED @0xb83cda094a1da284 {
   events @18 :List(OnroadEvent);
   faceDetected @1 :Bool;
   isDistracted @2 :Bool;
@@ -2250,6 +2251,81 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
   eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED);
 }
 
+struct DriverMonitoringState {
+  lockout @0 :Bool;
+  lockoutCount @15 :Int8;
+  lockoutMinutesRemaining @11 :Int8;
+  alert3Count @12 :Int8;
+  noResponseCount @13 :Int8;
+  noResponseForceDecel @14 :Bool;
+
+  alwaysOn @3 :Bool;
+  alwaysOnLockout @4 :Bool;
+
+  alertLevel @5 :AlertLevel;
+  activePolicy @6 :MonitoringPolicy;
+  isRHD @7 :Bool;
+  rhdCalibration @8 :CalibrationState;
+
+  visionPolicyState @9 :VisionPolicyState;
+  wheeltouchPolicyState @10 :WheeltouchPolicyState;
+
+  enum AlertLevel {
+    none @0;
+    one @1;
+    two @2;
+    three @3;
+  }
+
+  enum MonitoringPolicy {
+    wheeltouch @0;
+    vision @1;
+  }
+
+  struct VisionPolicyState {
+    awarenessPercent @0 :Int8;
+    awarenessStep @1 :Float32;
+    isDistracted @2 :Bool;
+    distractedTypes @3 :DistractedTypes;
+
+    faceDetected @4 :Bool;
+    pose @5 :Pose;
+    wheeltouchFallbackPercent @6 :Int8;
+    uncertainOffroadAlertPercent @7 :Int8;
+
+    struct DistractedTypes {
+      pose @0: Bool;
+      eye @1: Bool;
+      phone @2: Bool;
+    }
+
+    struct Pose {
+      pitch @0 :Float32;
+      yaw @1 :Float32;
+      pitchCalib @2 :CalibrationState;
+      yawCalib @3 :CalibrationState;
+      calibrated @4 :Bool;
+      uncertainty @5 :Float32;
+    }
+  }
+
+  struct WheeltouchPolicyState {
+    awarenessPercent @0 :Int8;
+    awarenessStep @1 :Float32;
+    driverInteracting @2 :Bool;
+  }
+
+  struct CalibrationState {
+    calibratedPercent @0 :Int8;
+    offset @1 :Float32;
+  }
+
+  deprecated :group {
+    alertCountLockoutPercent @1 :Int8;
+    alertTimeLockoutPercent @2 :Int8;
+  }
+}
+
 struct Boot {
   wallTimeNanos @0 :UInt64;
   pstore @4 :Map(Text, Data);
@@ -2570,7 +2646,7 @@ struct Event {
     thumbnail @66: Thumbnail;
     onroadEvents @134: List(OnroadEvent);
     carParams @69: Car.CarParams;
-    driverMonitoringState @71: DriverMonitoringState;
+    driverMonitoringState @165: DriverMonitoringState;
     livePose @129 :LivePose;
     modelV2 @75 :ModelDataV2;
     drivingModelData @128 :DrivingModelData;
@@ -2693,6 +2769,7 @@ struct Event {
     wifiScanDEPRECATED @29 :List(Legacy.WifiScan);
     uiNavigationEventDEPRECATED @50 :Legacy.UiNavigationEvent;
     liveMapDataDEPRECATED @62 :LiveMapDataDEPRECATED;
+    driverMonitoringStateDEPRECATED @71 :DriverMonitoringStateDEPRECATED;
     gpsPlannerPointsDEPRECATED @40 :Legacy.GPSPlannerPoints;
     gpsPlannerPlanDEPRECATED @41 :Legacy.GPSPlannerPlan;
     applanixRawDEPRECATED @42 :Data;