Merge branch 'devel-en' into devel-zht

selfdrive/car/car_helpers.py

@@ -93,10 +93,10 @@ def fingerprint(logcan, sendcan, has_relay):
   car_fingerprint = None
   done = False
 
-  if params.get("DragonCacheCar") == "1" and params.get("DragonCachedFP") != "" and params.get("DragonCachedModel") != "":
-    car_fingerprint = pickle.loads(params.get("DragonCachedModel"))
-    finger = pickle.loads(params.get("DragonCachedFP"))
-    vin = pickle.loads(params.get("DragonCachedVIN"))
+  if params.get("DragonCacheCar", encoding='utf8') == "1" and params.get("DragonCachedFP", encoding='utf8') != "" and params.get("DragonCachedModel", encoding='utf8') != "":
+    car_fingerprint = pickle.loads(params.get("DragonCachedModel", encoding='utf8'))
+    finger = pickle.loads(params.get("DragonCachedFP", encoding='utf8'))
+    vin = pickle.loads(params.get("DragonCachedVIN", encoding='utf8'))
     done = True
 
   while not done:
@@ -134,9 +134,9 @@ def fingerprint(logcan, sendcan, has_relay):
     frame += 1
 
     if succeeded:
-      put_nonblocking("DragonCachedModel", pickle.dumps(car_fingerprint))
-      put_nonblocking("DragonCachedFP", pickle.dumps(finger))
-      put_nonblocking("DragonCachedVIN", pickle.dumps(vin))
+      put_nonblocking("DragonCachedModel", pickle.dumps(car_fingerprint.encode('utf8')))
+      put_nonblocking("DragonCachedFP", pickle.dumps(finger.encode('utf8')))
+      put_nonblocking("DragonCachedVIN", pickle.dumps(vin.encode('utf8')))
 
   cloudlog.warning("fingerprinted %s", car_fingerprint)
   return car_fingerprint, finger, vin

selfdrive/car/honda/carcontroller.py

@@ -96,9 +96,9 @@ class CarController():
              hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert):
     # dragonpilot, don't check for param too often as it's a kernel call
     if frame % 500 == 0:
-      self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
-      self.dragon_allow_gas = False if params.get("DragonAllowGas") == "0" else True
-      self.dragon_lat_ctrl = False if params.get("DragonLatCtrl") == "0" else True
+      self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
+      self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
+      self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
 
     # *** apply brake hysteresis ***
     brake, self.braking, self.brake_steady = actuator_hystereses(actuators.brake, self.braking, self.brake_steady, CS.v_ego, CS.CP.carFingerprint)
@@ -194,10 +194,11 @@ class CarController():
           gasPressed = CS.pedal_gas > 0
         else:
           gasPressed = CS.user_gas_pressed
+        dragon_apply_brake = apply_brake
         if self.dragon_allow_gas and gasPressed:
-          apply_brake = 0
+          dragon_apply_brake = 0
           apply_gas = 0
-        can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
+        can_sends.append(hondacan.create_brake_command(self.packer, dragon_apply_brake, pump_on,
           pcm_override, pcm_cancel_cmd, hud.fcw, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
         self.apply_brake_last = apply_brake
 

selfdrive/car/honda/interface.py

@@ -383,9 +383,9 @@ class CarInterface(CarInterfaceBase):
     # dragonpilot, don't check for param too often as it's a kernel call
     ts = sec_since_boot()
     if ts - self.ts_last_check > 5.:
-      self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
-      self.dragon_allow_gas = False if params.get("DragonAllowGas") == "0" else True
-      self.dragon_lat_ctrl = False if params.get("DragonLatCtrl") == "0" else True
+      self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else True
+      self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
+      self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
       self.ts_last_check = ts
 
     # ******************* do can recv *******************

selfdrive/car/toyota/carcontroller.py

@@ -129,10 +129,10 @@ class CarController():
              right_line, lead, left_lane_depart, right_lane_depart):
     # dragonpilot, don't check for param too often as it's a kernel call
     if frame % 500 == 0:
-      self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
-      self.dragon_allow_gas = False if params.get("DragonAllowGas") == "0" else True
-      self.dragon_lat_ctrl = False if params.get("DragonLatCtrl") == "0" else True
-      self.dragon_lane_departure_warning = False if params.get("DragonToyotaLaneDepartureWarning") == "0" else True
+      self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
+      self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
+      self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+      self.dragon_lane_departure_warning = False if params.get("DragonToyotaLaneDepartureWarning", encoding='utf8') == "0" else True
 
     # *** compute control surfaces ***
 

selfdrive/car/toyota/carstate.py

@@ -145,7 +145,7 @@ class CarState():
     # dragonpilot, don't check for param too often as it's a kernel call
     ts = sec_since_boot()
     if ts - self.ts_last_check > 5.:
-      self.dragon_toyota_stock_dsu = False if params.get("DragonToyotaStockDSU") == "0" else True
+      self.dragon_toyota_stock_dsu = True if params.get("DragonToyotaStockDSU", encoding='utf8') == "1" else False
       self.ts_last_check = ts
 
     # update prevs, update must run once per loop

selfdrive/car/toyota/interface.py

@@ -309,10 +309,10 @@ class CarInterface(CarInterfaceBase):
     # dragonpilot, don't check for param too often as it's a kernel call
     ts = sec_since_boot()
     if ts - self.ts_last_check > 5.:
-      self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
-      self.dragon_allow_gas = False if params.get("DragonAllowGas") == "0" else True
-      self.dragon_toyota_stock_dsu = True if params.get("DragonToyotaStockDSU") == "1" else False
-      self.dragon_lat_ctrl = False if params.get("DragonLatCtrl") == "0" else True
+      self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
+      self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
+      self.dragon_toyota_stock_dsu = True if params.get("DragonToyotaStockDSU", encoding='utf8') == "1" else False
+      self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
       self.ts_last_check = ts
 
     # ******************* do can recv *******************

selfdrive/controls/controlsd.py

@@ -526,9 +526,9 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
     # dragonpilot, don't check for param too often as it's a kernel call
     ts = sec_since_boot()
     if ts - ts_last_check > 5.:
-      dragon_toyota_stock_dsu = False if params.get("DragonToyotaStockDSU") == "0" else True
-      dragon_lat_control = False if params.get("DragonLatCtrl") == "0" else True
-      dragon_display_steering_limit_alert = False if params.get("DragonDisplaySteeringLimitAlert") == "0" else True
+      dragon_toyota_stock_dsu = True if params.get("DragonToyotaStockDSU", encoding='utf8') == "1" else False
+      dragon_lat_control = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+      dragon_display_steering_limit_alert = False if params.get("DragonDisplaySteeringLimitAlert", encoding='utf8') == "0" else True
       ts_last_check = ts
 
     start_time = sec_since_boot()

selfdrive/controls/lib/driver_monitor.py

@@ -97,10 +97,10 @@ class DriverStatus():
     self.is_rhd_region_checked = False
 
     # dragonpilot
-    self.awareness_time = float(params.get("DragonSteeringMonitorTimer"))
+    self.awareness_time = float(params.get("DragonSteeringMonitorTimer", encoding='utf8'))
     self.awareness_time = 86400 if self.awareness_time <= 0. else self.awareness_time * 60.
-    self.dragon_enable_driver_safety_check = False if params.get("DragonEnableDriverSafetyCheck") == "0" else True
-    self.dragon_enable_driver_monitoring = False if params.get("DragonEnableDriverMonitoring") == "0" else True
+    self.dragon_enable_driver_safety_check = False if params.get("DragonEnableDriverSafetyCheck", encoding='utf8') == "0" else True
+    self.dragon_enable_driver_monitoring = False if params.get("DragonEnableDriverMonitoring", encoding='utf8') == "0" else True
 
     self._set_timers(active_monitoring=True)
 

selfdrive/controls/lib/lane_planner.py

@@ -70,7 +70,7 @@ class LanePlanner():
   def update_lane(self, v_ego):
     ts = sec_since_boot()
     if ts - self.ts_last_check > 5.:
-      self.camera_offset = int(params.get("DragonCameraOffset")) * 0.01
+      self.camera_offset = int(params.get("DragonCameraOffset", encoding='utf8')) * 0.01
       self.ts_last_check = ts
     # only offset left and right lane lines; offsetting p_poly does not make sense
     self.l_poly[3] += self.camera_offset

selfdrive/dragonpilot/appd/appd.py

@@ -27,12 +27,12 @@ gpsservice_main = "cn.dragonpilot.gpsservice.MainService"
 
 def main(gctx=None):
 
-  dragon_enable_tomtom = True if params.get('DragonEnableTomTom') == "1" else False
-  dragon_enable_autonavi = True if params.get('DragonEnableAutonavi') == "1" else False
-  dragon_enable_mixplorer = True if params.get('DragonEnableMixplorer') == "1" else False
-  dragon_boot_tomtom = True if params.get("DragonBootTomTom") == "1" else False
-  dragon_boot_autonavi = True if params.get("DragonBootAutonavi") == "1" else False
-  dragon_greypanda_mode = True if params.get("DragonGreyPandaMode") == "1" else False
+  dragon_enable_tomtom = True if params.get('DragonEnableTomTom', encoding='utf8') == "1" else False
+  dragon_enable_autonavi = True if params.get('DragonEnableAutonavi', encoding='utf8') == "1" else False
+  dragon_enable_mixplorer = True if params.get('DragonEnableMixplorer', encoding='utf8') == "1" else False
+  dragon_boot_tomtom = True if params.get("DragonBootTomTom", encoding='utf8') == "1" else False
+  dragon_boot_autonavi = True if params.get("DragonBootAutonavi", encoding='utf8') == "1" else False
+  dragon_greypanda_mode = True if params.get("DragonGreyPandaMode", encoding='utf8') == "1" else False
   dragon_grepanda_mode_started = False
   tomtom_is_running = False
   autonavi_is_running = False
@@ -61,24 +61,24 @@ def main(gctx=None):
 
     # allow user to manually start/stop app
     if dragon_enable_tomtom:
-      status = params.get('DragonRunTomTom')
+      status = params.get('DragonRunTomTom', encoding='utf8')
       if not status == "0":
         tomtom_is_running = exec_app(status, tomtom, tomtom_main)
-        params.put('DragonRunTomTom', '0')
+        put_nonblocking('DragonRunTomTom', '0')
         manual_tomtom = status != "0"
 
     if dragon_enable_autonavi:
-      status = params.get('DragonRunAutonavi')
+      status = params.get('DragonRunAutonavi', encoding='utf8')
       if not status == "0":
         autonavi_is_running = exec_app(status, autonavi, autonavi_main)
-        params.put('DragonRunAutonavi', '0')
+        put_nonblocking('DragonRunAutonavi', '0')
         manual_autonavi = status != "0"
 
     if dragon_enable_mixplorer:
-      status = params.get('DragonRunMixplorer')
+      status = params.get('DragonRunMixplorer', encoding='utf8')
       if not status == "0":
         mixplorer_is_running = exec_app(status, mixplorer, mixplorer_main)
-        params.put('DragonRunMixplorer', '0')
+        put_nonblocking('DragonRunMixplorer', '0')
 
     # if manual control is set, we do not allow any of the auto actions
     auto_tomtom = not manual_tomtom and dragon_enable_tomtom and dragon_boot_tomtom

selfdrive/dragonpilot/dashcamd/dashcamd.py

@@ -30,7 +30,7 @@ def main(gctx=None):
 
   thermal_sock = messaging.sub_sock(service_list['thermal'].port)
   while 1:
-    if params.get("DragonEnableDashcam") == "1":
+    if params.get("DragonEnableDashcam", encoding='utf8') == "1":
       now = datetime.datetime.now()
       file_name = now.strftime("%Y-%m-%d_%H-%M-%S")
       os.system("screenrecord --bit-rate %s --time-limit %s %s%s.mp4 &" % (bit_rates, duration, dashcam_videos, file_name))

selfdrive/dragonpilot/shutdownd/shutdownd.py

@@ -37,7 +37,7 @@ def main(gctx=None):
     time.sleep(1)
 
 def get_shutdown_val():
-  val = params.get("DragonAutoShutdownAt")
+  val = params.get("DragonAutoShutdownAt", encoding='utf8')
   if val is None:
     return None
   else:

selfdrive/manager.py

@@ -550,11 +550,11 @@ def main():
   if os.getenv("PREPAREONLY") is not None:
     return
 
-  if params.get("DragonEnableLogger") == "0":
+  if params.get("DragonEnableLogger", encoding='utf8') == "0":
     del managed_processes['loggerd']
     del managed_processes['tombstoned']
 
-  if params.get("DragonEnableUploader") == "0":
+  if params.get("DragonEnableUploader", encoding='utf8') == "0":
     del managed_processes['uploader']
 
   # SystemExit on sigterm

selfdrive/thermald.py

@@ -96,7 +96,7 @@ _TEMP_THRS_L = [42.5, 57.5, 72.5, 10000]
 _FAN_SPEEDS = [0, 16384, 32768, 65535]
 # max fan speed only allowed if battery is hot
 _BAT_TEMP_THERSHOLD = 45.
-if params.get('DragonNoctuaMode') == "1":
+if params.get('DragonNoctuaMode', encoding='utf8') == "1":
   _FAN_SPEEDS = [65535, 65535, 65535, 65535]
   _BAT_TEMP_THERSHOLD = 20.
 
@@ -153,7 +153,7 @@ def thermald_thread():
   ts_last_charging_ctrl = 0.
 
   ip_addr = '255.255.255.255'
-  dragon_charging_ctrl = True if params.get('DragonChargingCtrl') == "1" else False
+  dragon_charging_ctrl = True if params.get('DragonChargingCtrl', encoding='utf8') == "1" else False
   dragon_charging_max = int(params.get('DragonCharging'))
   dragon_discharging_min = int(params.get('DragonDisCharging'))
   charging_disabled = False