sunnypilot v2026.002.000
version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
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@@ -0,0 +1,487 @@
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using Cxx = import "/include/c++.capnp";
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$Cxx.namespace("cereal");
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@0xb526ba661d550a59;
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# custom.capnp: a home for empty structs reserved for custom forks
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# These structs are guaranteed to remain reserved and empty in mainline
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# cereal, so use these if you want custom events in your fork.
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# DO rename the structs
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# DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
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struct ModularAssistiveDrivingSystem {
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state @0 :ModularAssistiveDrivingSystemState;
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enabled @1 :Bool;
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active @2 :Bool;
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available @3 :Bool;
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enum ModularAssistiveDrivingSystemState {
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disabled @0;
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paused @1;
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enabled @2;
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softDisabling @3;
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overriding @4;
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}
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}
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struct IntelligentCruiseButtonManagement {
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state @0 :IntelligentCruiseButtonManagementState;
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sendButton @1 :SendButtonState;
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vTarget @2 :Float32;
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enum IntelligentCruiseButtonManagementState {
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inactive @0; # No button press or default state
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preActive @1; # Pre-active state before transitioning to increasing or decreasing
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increasing @2; # Increasing speed
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decreasing @3; # Decreasing speed
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holding @4; # Holding steady speed
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}
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enum SendButtonState {
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none @0;
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increase @1;
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decrease @2;
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}
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}
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# Same struct as Log.RadarState.LeadData
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struct LeadData {
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dRel @0 :Float32;
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yRel @1 :Float32;
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vRel @2 :Float32;
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aRel @3 :Float32;
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vLead @4 :Float32;
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dPath @6 :Float32;
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vLat @7 :Float32;
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vLeadK @8 :Float32;
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aLeadK @9 :Float32;
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fcw @10 :Bool;
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status @11 :Bool;
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aLeadTau @12 :Float32;
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modelProb @13 :Float32;
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radar @14 :Bool;
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radarTrackId @15 :Int32 = -1;
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aLeadDEPRECATED @5 :Float32;
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}
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struct SelfdriveStateSP @0x81c2f05a394cf4af {
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mads @0 :ModularAssistiveDrivingSystem;
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intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
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enum AudibleAlert {
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none @0;
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engage @1;
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disengage @2;
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refuse @3;
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warningSoft @4;
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warningImmediate @5;
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prompt @6;
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promptRepeat @7;
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promptDistracted @8;
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# unused, these are reserved for upstream events so we don't collide
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reserved9 @9;
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reserved10 @10;
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reserved11 @11;
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reserved12 @12;
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reserved13 @13;
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reserved14 @14;
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reserved15 @15;
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reserved16 @16;
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reserved17 @17;
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reserved18 @18;
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reserved19 @19;
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reserved20 @20;
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reserved21 @21;
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reserved22 @22;
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reserved23 @23;
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reserved24 @24;
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reserved25 @25;
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reserved26 @26;
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reserved27 @27;
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reserved28 @28;
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reserved29 @29;
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reserved30 @30;
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promptSingleLow @31;
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promptSingleHigh @32;
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}
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}
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struct ModelManagerSP @0xaedffd8f31e7b55d {
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activeBundle @0 :ModelBundle;
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selectedBundle @1 :ModelBundle;
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availableBundles @2 :List(ModelBundle);
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struct DownloadUri {
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uri @0 :Text;
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sha256 @1 :Text;
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}
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enum DownloadStatus {
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notDownloading @0;
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downloading @1;
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downloaded @2;
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cached @3;
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failed @4;
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}
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struct DownloadProgress {
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status @0 :DownloadStatus;
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progress @1 :Float32;
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eta @2 :UInt32;
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}
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struct Artifact {
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fileName @0 :Text;
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downloadUri @1 :DownloadUri;
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downloadProgress @2 :DownloadProgress;
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}
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struct Model {
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type @0 :Type;
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artifact @1 :Artifact; # Main artifact
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metadata @2 :Artifact; # Metadata artifact
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enum Type {
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supercombo @0;
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navigation @1;
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vision @2;
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policy @3;
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offPolicy @4;
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onPolicy @5;
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}
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}
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enum Runner {
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snpe @0;
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tinygrad @1;
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stock @2;
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}
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struct Override {
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key @0 :Text;
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value @1 :Text;
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}
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struct ModelBundle {
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index @0 :UInt32;
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internalName @1 :Text;
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displayName @2 :Text;
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models @3 :List(Model);
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status @4 :DownloadStatus;
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generation @5 :UInt32;
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environment @6 :Text;
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runner @7 :Runner;
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is20hz @8 :Bool;
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ref @9 :Text;
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minimumSelectorVersion @10 :UInt32;
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overrides @11 :List(Override);
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}
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}
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struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
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dec @0 :DynamicExperimentalControl;
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longitudinalPlanSource @1 :LongitudinalPlanSource;
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smartCruiseControl @2 :SmartCruiseControl;
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speedLimit @3 :SpeedLimit;
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vTarget @4 :Float32;
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aTarget @5 :Float32;
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events @6 :List(OnroadEventSP.Event);
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e2eAlerts @7 :E2eAlerts;
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struct DynamicExperimentalControl {
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state @0 :DynamicExperimentalControlState;
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enabled @1 :Bool;
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active @2 :Bool;
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enum DynamicExperimentalControlState {
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acc @0;
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blended @1;
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}
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}
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struct SmartCruiseControl {
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vision @0 :Vision;
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map @1 :Map;
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struct Vision {
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state @0 :VisionState;
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vTarget @1 :Float32;
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aTarget @2 :Float32;
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currentLateralAccel @3 :Float32;
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maxPredictedLateralAccel @4 :Float32;
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enabled @5 :Bool;
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active @6 :Bool;
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}
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struct Map {
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state @0 :MapState;
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vTarget @1 :Float32;
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aTarget @2 :Float32;
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enabled @3 :Bool;
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active @4 :Bool;
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}
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enum VisionState {
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disabled @0; # System disabled or inactive.
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enabled @1; # No predicted substantial turn on vision range.
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entering @2; # A substantial turn is predicted ahead, adapting speed to turn comfort levels.
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turning @3; # Actively turning. Managing acceleration to provide a roll on turn feeling.
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leaving @4; # Road ahead straightens. Start to allow positive acceleration.
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overriding @5; # System overriding with manual control.
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}
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enum MapState {
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disabled @0; # System disabled or inactive.
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enabled @1; # No predicted substantial turn on map range.
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turning @2; # Actively turning. Managing acceleration to provide a roll on turn feeling.
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overriding @3; # System overriding with manual control.
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}
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}
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struct SpeedLimit {
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resolver @0 :Resolver;
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assist @1 :Assist;
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struct Resolver {
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speedLimit @0 :Float32;
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distToSpeedLimit @1 :Float32;
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source @2 :Source;
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speedLimitOffset @3 :Float32;
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speedLimitLast @4 :Float32;
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speedLimitFinal @5 :Float32;
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speedLimitFinalLast @6 :Float32;
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speedLimitValid @7 :Bool;
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speedLimitLastValid @8 :Bool;
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}
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struct Assist {
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state @0 :AssistState;
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enabled @1 :Bool;
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active @2 :Bool;
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vTarget @3 :Float32;
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aTarget @4 :Float32;
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}
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enum Source {
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none @0;
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car @1;
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map @2;
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}
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enum AssistState {
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disabled @0;
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inactive @1; # No speed limit set or not enabled by parameter.
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preActive @2;
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pending @3; # Awaiting new speed limit.
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adapting @4; # Reducing speed to match new speed limit.
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active @5; # Cruising at speed limit.
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}
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}
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enum LongitudinalPlanSource {
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cruise @0;
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sccVision @1;
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sccMap @2;
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speedLimitAssist @3;
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}
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struct E2eAlerts {
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greenLightAlert @0 :Bool;
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leadDepartAlert @1 :Bool;
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}
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}
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struct OnroadEventSP @0xda96579883444c35 {
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events @0 :List(Event);
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struct Event {
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name @0 :EventName;
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# event types
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enable @1 :Bool;
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noEntry @2 :Bool;
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warning @3 :Bool; # alerts presented only when enabled or soft disabling
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userDisable @4 :Bool;
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softDisable @5 :Bool;
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immediateDisable @6 :Bool;
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preEnable @7 :Bool;
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permanent @8 :Bool; # alerts presented regardless of openpilot state
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overrideLateral @10 :Bool;
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overrideLongitudinal @9 :Bool;
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}
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enum EventName {
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lkasEnable @0;
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lkasDisable @1;
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manualSteeringRequired @2;
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manualLongitudinalRequired @3;
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silentLkasEnable @4;
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silentLkasDisable @5;
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silentBrakeHold @6;
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silentWrongGear @7;
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silentReverseGear @8;
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silentDoorOpen @9;
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silentSeatbeltNotLatched @10;
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silentParkBrake @11;
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controlsMismatchLateral @12;
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hyundaiRadarTracksConfirmed @13;
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experimentalModeSwitched @14;
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wrongCarModeAlertOnly @15;
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pedalPressedAlertOnly @16;
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laneTurnLeft @17;
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laneTurnRight @18;
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speedLimitPreActive @19;
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speedLimitActive @20;
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speedLimitChanged @21;
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speedLimitPending @22;
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e2eChime @23;
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}
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}
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struct CarParamsSP @0x80ae746ee2596b11 {
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flags @0 :UInt32; # flags for car specific quirks in sunnypilot
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safetyParam @1 : Int16; # flags for sunnypilot's custom safety flags
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pcmCruiseSpeed @3 :Bool;
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intelligentCruiseButtonManagementAvailable @4 :Bool;
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enableGasInterceptor @5 :Bool;
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neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;
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struct NeuralNetworkLateralControl {
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model @0 :Model;
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fuzzyFingerprint @1 :Bool;
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struct Model {
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path @0 :Text;
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name @1 :Text;
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}
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}
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}
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struct CarControlSP @0xa5cd762cd951a455 {
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mads @0 :ModularAssistiveDrivingSystem;
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params @1 :List(Param);
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leadOne @2 :LeadData;
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leadTwo @3 :LeadData;
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intelligentCruiseButtonManagement @4 :IntelligentCruiseButtonManagement;
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struct Param {
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key @0 :Text;
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type @2 :ParamType;
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value @3 :Data;
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valueDEPRECATED @1 :Text; # The data type change may cause issues with backwards compatibility.
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}
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enum ParamType {
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string @0;
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bool @1;
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int @2;
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float @3;
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time @4;
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json @5;
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bytes @6;
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}
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}
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struct BackupManagerSP @0xf98d843bfd7004a3 {
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backupStatus @0 :Status;
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restoreStatus @1 :Status;
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backupProgress @2 :Float32;
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restoreProgress @3 :Float32;
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lastError @4 :Text;
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currentBackup @5 :BackupInfo;
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backupHistory @6 :List(BackupInfo);
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enum Status {
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idle @0;
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inProgress @1;
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completed @2;
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failed @3;
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}
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struct Version {
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major @0 :UInt16;
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minor @1 :UInt16;
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patch @2 :UInt16;
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build @3 :UInt16;
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branch @4 :Text;
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}
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struct MetadataEntry {
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key @0 :Text;
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value @1 :Text;
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tags @2 :List(Text);
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}
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struct BackupInfo {
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deviceId @0 :Text;
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version @1 :UInt32;
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config @2 :Text;
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isEncrypted @3 :Bool;
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createdAt @4 :Text; # ISO timestamp
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updatedAt @5 :Text; # ISO timestamp
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sunnypilotVersion @6 :Version;
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backupMetadata @7 :List(MetadataEntry);
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}
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}
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struct CarStateSP @0xb86e6369214c01c8 {
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speedLimit @0 :Float32;
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}
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struct LiveMapDataSP @0xf416ec09499d9d19 {
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speedLimitValid @0 :Bool;
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speedLimit @1 :Float32;
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speedLimitAheadValid @2 :Bool;
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speedLimitAhead @3 :Float32;
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speedLimitAheadDistance @4 :Float32;
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roadName @5 :Text;
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}
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struct ModelDataV2SP @0xa1680744031fdb2d {
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laneTurnDirection @0 :TurnDirection;
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enum TurnDirection {
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none @0;
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turnLeft @1;
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turnRight @2;
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}
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}
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struct CustomReserved10 @0xcb9fd56c7057593a {
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}
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struct CustomReserved11 @0xc2243c65e0340384 {
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}
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struct CustomReserved12 @0x9ccdc8676701b412 {
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}
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struct CustomReserved13 @0xcd96dafb67a082d0 {
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}
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struct CustomReserved14 @0xb057204d7deadf3f {
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}
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struct CustomReserved15 @0xbd443b539493bc68 {
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}
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struct CustomReserved16 @0xfc6241ed8877b611 {
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}
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struct CustomReserved17 @0xa30662f84033036c {
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}
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struct CustomReserved18 @0xc86a3d38d13eb3ef {
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}
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struct CustomReserved19 @0xa4f1eb3323f5f582 {
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}
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Reference in new issue
Block a user