Merge fixes

selfdrive/car/interfaces.py

@@ -131,11 +131,15 @@ class CarInterfaceBase():
       events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
     if cs_out.espDisabled:
       events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
-    if cs_out.gasPressed:
+    if cs_out.gasPressed and not self.dragon_toyota_stock_dsu and not self.dragon_allow_gas:
       events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
 
     # TODO: move this stuff to the capnp strut
-    if getattr(self.CS, "steer_error", False):
+    if not self.dragon_lat_ctrl:
+      events.append(create_event('manualSteeringRequired', [ET.WARNING]))
+    elif self.dragon_enable_steering_on_signal and (cs_out.leftBlinker or cs_out.rightBlinker):
+      events.append(create_event('manualSteeringRequiredBlinkersOn', [ET.WARNING]))
+    elif getattr(self.CS, "steer_error", False):
       events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
     elif getattr(self.CS, "steer_warning", False):
       events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
@@ -143,9 +147,15 @@ class CarInterfaceBase():
     # Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
     # Optionally allow to press gas at zero speed to resume.
     # e.g. Chrysler does not spam the resume button yet, so resuming with gas is handy. FIXME!
-    if (cs_out.gasPressed and (not self.gas_pressed_prev) and cs_out.vEgo > gas_resume_speed) or \
-       (cs_out.brakePressed and (not self.brake_pressed_prev or not cs_out.standstill)):
-      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
+    if not self.dragon_toyota_stock_dsu:
+      # DragonAllowGas
+      if not self.dragon_allow_gas:
+        if (cs_out.gasPressed and (not self.gas_pressed_prev) and cs_out.vEgo > gas_resume_speed) or \
+            (cs_out.brakePressed and (not self.brake_pressed_prev or not cs_out.standstill)):
+          events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
+      else:
+        if cs_out.brakePressed and (not self.brake_pressed_prev or not cs_out.standstill):
+          events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
 
     return events
 

selfdrive/controls/lib/long_mpc.py

@@ -34,6 +34,7 @@ class LongitudinalMpc():
     self.prev_lead_status = False
     self.prev_lead_x = 0.0
     self.new_lead = False
+
     self.last_cloudlog_t = 0.0
 
     # df from Shane Smiskol

selfdrive/controls/lib/longcontrol.py

@@ -85,7 +85,7 @@ class LongControl():
 
     v_ego_pid = max(v_ego, MIN_CAN_SPEED)  # Without this we get jumps, CAN bus reports 0 when speed < 0.3
 
-    if self.long_control_state == LongCtrlState.off or gas_pressed:
+    if self.long_control_state == LongCtrlState.off or gas_pressed or brake_pressed:
       self.v_pid = v_ego_pid
       self.pid.reset()
       output_gb = 0.

selfdrive/controls/lib/pathplanner.py

@@ -25,16 +25,19 @@ DESIRES = {
   LaneChangeDirection.none: {
     LaneChangeState.off: log.PathPlan.Desire.none,
     LaneChangeState.preLaneChange: log.PathPlan.Desire.none,
+    LaneChangeState.laneChangeStarting: log.PathPlan.Desire.none,
     LaneChangeState.laneChangeFinishing: log.PathPlan.Desire.none,
   },
   LaneChangeDirection.left: {
     LaneChangeState.off: log.PathPlan.Desire.none,
     LaneChangeState.preLaneChange: log.PathPlan.Desire.none,
+    LaneChangeState.laneChangeStarting: log.PathPlan.Desire.laneChangeLeft,
     LaneChangeState.laneChangeFinishing: log.PathPlan.Desire.laneChangeLeft,
   },
   LaneChangeDirection.right: {
     LaneChangeState.off: log.PathPlan.Desire.none,
     LaneChangeState.preLaneChange: log.PathPlan.Desire.none,
+    LaneChangeState.laneChangeStarting: log.PathPlan.Desire.laneChangeRight,
     LaneChangeState.laneChangeFinishing: log.PathPlan.Desire.laneChangeRight,
   },
 }

selfdrive/ui/paint.cc

@@ -1249,7 +1249,6 @@ static void ui_draw_blank(UIState *s) {
 }
 
 void ui_draw(UIState *s) {
-  ui_draw_sidebar(s);
   if (s->vision_connected && s->active_app == cereal_UiLayoutState_App_home && s->status != STATUS_STOPPED) {
     ui_draw_sidebar(s);
     ui_draw_vision(s);

selfdrive/ui/sidebar.cc

@@ -95,9 +95,9 @@ static void ui_draw_sidebar_battery_text(UIState *s, bool hasSidebar) {
   const int battery_img_x = hasSidebar ? 150 : -(sbr_w);
   const int battery_img_y = 305;
 
-  char battery_str[6];
-  snprintf(battery_str, sizeof(battery_str), "%d%%", s->scene.batteryPercent);
-  nvgFillColor(s->vg, strcmp(s->scene.batteryStatus, "Charging") == 0? COLOR_GREEN : s->scene.batteryPercent <= 50? COLOR_YELLOW : s->scene.batteryPercent <= 15? COLOR_RED : COLOR_WHITE);
+  char battery_str[7];
+  snprintf(battery_str, sizeof(battery_str), "%d%%%s", s->scene.batteryPercent, strcmp(s->scene.batteryStatus, "Charging") == 0 ? "+" : "-");
+  nvgFillColor(s->vg, COLOR_WHITE);
   nvgFontSize(s->vg, 40);
   nvgFontFace(s->vg, "sans-regular");
   nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
@@ -106,7 +106,7 @@ static void ui_draw_sidebar_battery_text(UIState *s, bool hasSidebar) {
 
 static void ui_draw_sidebar_network_type(UIState *s, bool hasSidebar) {
   const int network_x = hasSidebar ? 50 : -(sbr_w);
-  const int network_y = 273;
+  const int network_y = 303;
   const int network_w = 100;
   const int network_h = 100;
   const char *network_types[6] = {"--", "WiFi", "2G", "3G", "4G", "5G"};