From bddb126ed207d7b1437b5d388713ac4c2f858fb0 Mon Sep 17 00:00:00 2001
From: dragonpilot <dgnpilot@gmail.com>
Date: Mon, 9 Mar 2020 22:46:52 +1000
Subject: [PATCH 01/17] add enable auto shutdown toggle

---
 common/params.py                             |  1 +
 selfdrive/dragonpilot/dragonconf/__init__.py |  1 +
 selfdrive/dragonpilot/shutdownd/shutdownd.py | 69 ++++++++++----------
 3 files changed, 35 insertions(+), 36 deletions(-)

diff --git a/common/params.py b/common/params.py
index 111810ef6..f90ccfdca 100755
--- a/common/params.py
+++ b/common/params.py
@@ -106,6 +106,7 @@ keys = {
   #dragonpilot config
   "DragonEnableDashcam": [TxType.PERSISTENT],
   "DragonEnableDriverSafetyCheck": [TxType.PERSISTENT],
+  "DragonEnableAutoShutdown": [TxType.PERSISTENT],
   "DragonAutoShutdownAt": [TxType.PERSISTENT],
   "DragonEnableSteeringOnSignal": [TxType.PERSISTENT],
   "DragonEnableLogger": [TxType.PERSISTENT],
diff --git a/selfdrive/dragonpilot/dragonconf/__init__.py b/selfdrive/dragonpilot/dragonconf/__init__.py
index 020864dd7..89697146c 100644
--- a/selfdrive/dragonpilot/dragonconf/__init__.py
+++ b/selfdrive/dragonpilot/dragonconf/__init__.py
@@ -4,6 +4,7 @@ from common.params import Params, put_nonblocking
 default_conf = {
   'DragonEnableDashcam': '0',
   'DragonEnableDriverSafetyCheck': '1',
+  'DragonEnableAutoShutdown': '1',
   'DragonAutoShutdownAt': '0', # in minute
   'DragonEnableSteeringOnSignal': '0',
   'DragonEnableLogger': '1',
diff --git a/selfdrive/dragonpilot/shutdownd/shutdownd.py b/selfdrive/dragonpilot/shutdownd/shutdownd.py
index a467415de..f6cd8a17d 100644
--- a/selfdrive/dragonpilot/shutdownd/shutdownd.py
+++ b/selfdrive/dragonpilot/shutdownd/shutdownd.py
@@ -1,53 +1,50 @@
 #!/usr/bin/env python3
-
 import os
 import time
 from common.params import Params
 params = Params()
-import cereal
 import cereal.messaging as messaging
+from common.realtime import sec_since_boot
 
-
-def main(gctx=None):
-
-  shutdown_count = 0
-  auto_shutdown_at = get_shutdown_val()
-  frame = 0
-  last_shutdown_val = auto_shutdown_at
+def main():
   thermal_sock = messaging.sub_sock('thermal')
+  last_ts = 0
+  secs = 0
+  last_secs = 0
+  shutdown_at = 0
   started = False
-
+  usb_online = False
+  enabled = False
+  last_enabled = False
   while 1:
-    if frame % 5 == 0:
-      msg = messaging.recv_sock(thermal_sock, wait=True)
-      started = msg.thermal.started
-      with open("/sys/class/power_supply/usb/present") as f:
-        usb_online = bool(int(f.read()))
-      auto_shutdown_at = get_shutdown_val()
-      if not last_shutdown_val == auto_shutdown_at:
-        shutdown_count = 0
-        last_shutdown_val = auto_shutdown_at
+    cur_time = sec_since_boot()
+    if cur_time - last_ts >= 10.:
+      enabled = True if params.get("DragonEnableAutoShutdown", encoding='utf8') == '1' else False
+      # reset timer when enabled status has changed
+      if not last_enabled and enabled:
+        shutdown_at = cur_time + secs
+      last_enabled = enabled
 
-    if not started and not usb_online:
-      shutdown_count += 1
-    else:
-      shutdown_count = 0
+      if enabled:
+        secs = int(params.get("DragonAutoShutdownAt", encoding='utf8')) * 60
+        # reset timer when secs num has changed
+        if last_secs != secs:
+          shutdown_at = cur_time + secs
+        last_secs = secs
 
-    if auto_shutdown_at is None:
-      auto_shutdown_at = get_shutdown_val()
-    else:
-      if shutdown_count >= auto_shutdown_at > 0:
-        os.system('LD_LIBRARY_PATH="" svc power shutdown')
+        msg = messaging.recv_sock(thermal_sock, wait=True)
+        started = msg.thermal.started
+        with open("/sys/class/power_supply/usb/present") as f:
+          usb_online = bool(int(f.read()))
 
-    time.sleep(1)
-
-def get_shutdown_val():
-  val = params.get("DragonAutoShutdownAt", encoding='utf8')
-  if val is None:
-    return None
-  else:
-    return int(val)*60 # convert to seconds
+    if enabled:
+      if started or usb_online:
+        shutdown_at = cur_time + secs
+      else:
+        if secs > 0 and cur_time >= shutdown_at:
+          os.system('LD_LIBRARY_PATH="" svc power shutdown')
 
+    time.sleep(10)
 
 if __name__ == "__main__":
   main()
\ No newline at end of file

From 35d27ee879695ae72f2a4e29548765dbd8a96388 Mon Sep 17 00:00:00 2001
From: dragonpilot <dgnpilot@gmail.com>
Date: Mon, 9 Mar 2020 23:09:39 +1000
Subject: [PATCH 02/17] add greypandamode toggle


From d0e76602cf1052a30c67af11febef45f011b1197 Mon Sep 17 00:00:00 2001
From: dragonpilot <dgnpilot@gmail.com>
Date: Tue, 10 Mar 2020 15:41:01 +1000
Subject: [PATCH 03/17] performance optimisation.

---
 common/params.py                             |  1 +
 selfdrive/car/honda/carcontroller.py         |  9 +++-
 selfdrive/car/honda/interface.py             | 13 ++++--
 selfdrive/car/hyundai/carcontroller.py       | 10 +++--
 selfdrive/car/hyundai/interface.py           | 13 ++++--
 selfdrive/car/toyota/carcontroller.py        | 13 ++++--
 selfdrive/car/toyota/interface.py            | 13 ++++--
 selfdrive/controls/controlsd.py              | 15 ++++---
 selfdrive/controls/lib/driver_monitor.py     | 26 ++++++++---
 selfdrive/controls/lib/lane_planner.py       |  2 +-
 selfdrive/controls/lib/pathplanner.py        | 45 +++++++++++---------
 selfdrive/controls/lib/planner.py            | 13 ++++--
 selfdrive/dragonpilot/appd/appd.py           | 15 +++++--
 selfdrive/dragonpilot/dashcamd/dashcamd.py   |  2 +-
 selfdrive/dragonpilot/dragonconf/__init__.py | 28 +++++++-----
 selfdrive/dragonpilot/shutdownd/shutdownd.py | 35 ++++++++-------
 selfdrive/thermald.py                        | 34 ++++++++++-----
 selfdrive/ui/ui.cc                           | 30 ++++++-------
 18 files changed, 205 insertions(+), 112 deletions(-)

diff --git a/common/params.py b/common/params.py
index f90ccfdca..fa93520ee 100755
--- a/common/params.py
+++ b/common/params.py
@@ -168,6 +168,7 @@ keys = {
   "DragonBTG": [TxType.PERSISTENT],
   "DragonBootHotspot": [TxType.PERSISTENT],
   "DragonAccelProfile": [TxType.PERSISTENT],
+  "DragonLastModified": [TxType.PERSISTENT],
 }
 
 
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 098e1e1a5..f8bf0f749 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -9,6 +9,7 @@ from selfdrive.car.honda.values import CruiseButtons, CAR, VISUAL_HUD
 from opendbc.can.packer import CANPacker
 from common.params import Params
 params = Params()
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
@@ -96,14 +97,18 @@ class CarController():
     self.turning_signal_timer = 0
     self.dragon_enable_steering_on_signal = False
     self.dragon_lat_ctrl = True
+    self.dp_last_modified = None
 
   def update(self, enabled, CS, frame, actuators, \
              pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel, \
              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 = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
-      self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+      modified = dp_get_last_modified()
+      if self.dp_last_modified != modified:
+        self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
+        self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+        self.dp_last_modified = modified
 
     # *** apply brake hysteresis ***
     brake, self.braking, self.brake_steady = actuator_hystereses(actuators.brake, self.braking, self.brake_steady, CS.v_ego, CS.CP.carFingerprint)
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index e43050514..e005c6c40 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -14,6 +14,7 @@ from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING
 from selfdrive.car.interfaces import CarInterfaceBase
 from common.params import Params
 params = Params()
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
 A_ACC_MAX = max(_A_CRUISE_MAX_V_FOLLOWING)
 
@@ -105,6 +106,7 @@ class CarInterface(CarInterfaceBase):
     self.dragon_allow_gas = False
     self.ts_last_check = 0.
     self.dragon_lat_ctrl = True
+    self.dp_last_modified = None
 
   @staticmethod
   def calc_accel_override(a_ego, a_target, v_ego, v_target):
@@ -386,10 +388,13 @@ class CarInterface(CarInterfaceBase):
   def update(self, c, can_strings):
     # 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 = 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
+    if ts - self.ts_last_check >= 5.:
+      modified = dp_get_last_modified()
+      if self.dp_last_modified != modified:
+        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.dp_last_modified = modified
       self.ts_last_check = ts
 
     # ******************* do can recv *******************
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 28dc52d94..fc0e49b3d 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -4,7 +4,7 @@ from selfdrive.car.hyundai.values import Buttons, SteerLimitParams
 from opendbc.can.packer import CANPacker
 from common.params import Params
 params = Params()
-
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
 class CarController():
   def __init__(self, dbc_name, car_fingerprint):
@@ -20,13 +20,17 @@ class CarController():
     self.turning_signal_timer = 0
     self.dragon_enable_steering_on_signal = False
     self.dragon_lat_ctrl = True
+    self.dp_last_modified = None
 
   def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, 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 = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
-      self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+      modified = dp_get_last_modified()
+      if self.dp_last_modified != modified:
+        self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
+        self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+        self.dp_last_modified = modified
 
     ### Steering Torque
     new_steer = actuators.steer * SteerLimitParams.STEER_MAX
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 9dbcf74d5..5a8e58475 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -10,6 +10,7 @@ from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness,
 from selfdrive.car.interfaces import CarInterfaceBase
 from common.params import Params
 params = Params()
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
 GearShifter = car.CarState.GearShifter
 ButtonType = car.CarState.ButtonEvent.Type
@@ -42,6 +43,7 @@ class CarInterface(CarInterfaceBase):
     self.dragon_allow_gas = False
     self.ts_last_check = 0.
     self.dragon_lat_ctrl = True
+    self.dp_last_modified = None
 
   @staticmethod
   def compute_gb(accel, speed):
@@ -162,10 +164,13 @@ class CarInterface(CarInterfaceBase):
   def update(self, c, can_strings):
     # 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 = 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
+    if ts - self.ts_last_check >= 5.:
+      modified = dp_get_last_modified()
+      if self.dp_last_modified != modified:
+        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.dp_last_modified = modified
       self.ts_last_check = ts
 
     # ******************* do can recv *******************
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 856feec0e..e65ade1cc 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -8,6 +8,7 @@ from selfdrive.car.toyota.values import Ecu, CAR, STATIC_MSGS, SteerLimitParams
 from opendbc.can.packer import CANPacker
 from common.params import Params
 params = Params()
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
@@ -109,16 +110,20 @@ class CarController():
     self.dragon_lat_ctrl = True
     self.dragon_lane_departure_warning = True
     self.dragon_toyota_sng_mod = False
+    self.dp_last_modified = None
 
   def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
              left_line, 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 = True if params.get("DragonEnableSteeringOnSignal", 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
-      self.dragon_toyota_sng_mod = True if params.get("DragonToyotaSnGMod", encoding='utf8') == "1" else False
+      modified = dp_get_last_modified()
+      if self.dp_last_modified != modified:
+        self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", 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
+        self.dragon_toyota_sng_mod = True if params.get("DragonToyotaSnGMod", encoding='utf8') == "1" else False
+        self.dp_last_modified = modified
 
     # *** compute control surfaces ***
 
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 2b2d65d60..62e60f200 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -11,6 +11,7 @@ from selfdrive.car.interfaces import CarInterfaceBase
 from common.realtime import sec_since_boot
 from common.params import Params
 params = Params()
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
 ButtonType = car.CarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
@@ -41,6 +42,7 @@ class CarInterface(CarInterfaceBase):
     self.dragon_allow_gas = False
     self.ts_last_check = 0.
     self.dragon_lat_ctrl = True
+    self.dp_last_modified = None
 
   @staticmethod
   def compute_gb(accel, speed):
@@ -382,10 +384,13 @@ 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 = 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
+      modified = dp_get_last_modified()
+      if self.dp_last_modified != modified:
+        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.dp_last_modified = modified
       self.ts_last_check = ts
 
     # ******************* do can recv *******************
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 6397e08c2..4bef4b8a5 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -25,6 +25,7 @@ from selfdrive.controls.lib.alertmanager import AlertManager
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.controls.lib.planner import LON_MPC_STEP
 from selfdrive.locationd.calibration_helpers import Calibration, Filter
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
 LANE_DEPARTURE_THRESHOLD = 0.1
 
@@ -546,15 +547,19 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
   dragon_display_steering_limit_alert = True
   dragon_stopped_has_lead_count = 0
   dragon_lead_car_moving_alert = False
+  dp_last_modified = None
 
   while True:
     # 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 = 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
-      dragon_lead_car_moving_alert = True if params.get("DragonEnableLeadCarMovingAlert", encoding='utf8') == "1" else False
+    if ts - ts_last_check >= 5.:
+      modified = dp_get_last_modified()
+      if dp_last_modified != modified:
+        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
+        dragon_lead_car_moving_alert = True if params.get("DragonEnableLeadCarMovingAlert", encoding='utf8') == "1" else False
+        dp_last_modified = modified
       ts_last_check = ts
 
     start_time = sec_since_boot()
diff --git a/selfdrive/controls/lib/driver_monitor.py b/selfdrive/controls/lib/driver_monitor.py
index ef453243d..3c0a2f50b 100644
--- a/selfdrive/controls/lib/driver_monitor.py
+++ b/selfdrive/controls/lib/driver_monitor.py
@@ -1,11 +1,12 @@
 from common.numpy_fast import interp
 from math import atan2, sqrt
-from common.realtime import DT_DMON
+from common.realtime import DT_DMON, sec_since_boot
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from common.filter_simple import FirstOrderFilter
 from common.stat_live import RunningStatFilter
 from common.params import Params
 params = Params()
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
 _AWARENESS_TIME = 70.  # one minute limit without user touching steering wheels make the car enter a terminal status
 _AWARENESS_PRE_TIME_TILL_TERMINAL = 15.  # a first alert is issued 25s before expiration
@@ -114,10 +115,11 @@ class DriverStatus():
     self.is_rhd_region_checked = False
 
     # dragonpilot
-    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", encoding='utf8') == "0" else True
-    self.dragon_enable_driver_monitoring = False if params.get("DragonEnableDriverMonitoring", encoding='utf8') == "0" else True
+    self.last_ts = 0
+    self.dp_last_modified = None
+    self.awareness_time = 100
+    self.dragon_enable_driver_safety_check = True
+    self.dragon_enable_driver_monitoring = True
 
     self._set_timers(active_monitoring=True)
 
@@ -220,6 +222,20 @@ class DriverStatus():
       self.hi_stds = 0
 
   def update(self, events, driver_engaged, ctrl_active, standstill):
+    cur_time = sec_since_boot()
+    if cur_time - self.last_ts >= 5.:
+      modified = dp_get_last_modified()
+      if self.dp_last_modified != modified:
+        self.awareness_time = int(params.get("DragonSteeringMonitorTimer", encoding='utf8'))
+        self.awareness_time = 100 if self.awareness_time <= 0. else self.awareness_time * 60.
+
+        self.dragon_enable_driver_safety_check = False if params.get("DragonEnableDriverSafetyCheck", encoding='utf8') == "0" else True
+        if self.dragon_enable_driver_safety_check:
+          self.dragon_enable_driver_monitoring = False if params.get("DragonEnableDriverMonitoring", encoding='utf8') == "0" else True
+        else:
+          self.dragon_enable_driver_monitoring = False
+        self.dp_last_modified = modified
+      self.last_ts = cur_time
     if (driver_engaged and self.awareness > 0) or not ctrl_active or not self.dragon_enable_driver_safety_check:
       # reset only when on disengagement if red reached
       self.awareness = 1.
diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py
index 2bc7b2b21..3e53ec3d0 100644
--- a/selfdrive/controls/lib/lane_planner.py
+++ b/selfdrive/controls/lib/lane_planner.py
@@ -77,7 +77,7 @@ class LanePlanner():
 
   def update_d_poly(self, v_ego):
     ts = sec_since_boot()
-    if ts - self.ts_last_check > 5.:
+    if ts - self.ts_last_check >= 5.:
       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
diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py
index 1f2eea032..9e784c4de 100644
--- a/selfdrive/controls/lib/pathplanner.py
+++ b/selfdrive/controls/lib/pathplanner.py
@@ -11,6 +11,7 @@ import cereal.messaging as messaging
 from cereal import log
 # dragonpilot
 from common.params import Params
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
 LaneChangeState = log.PathPlan.LaneChangeState
 LaneChangeDirection = log.PathPlan.LaneChangeDirection
@@ -72,6 +73,7 @@ class PathPlanner():
     self.dragon_auto_lc_min_mph = 60 * CV.MPH_TO_MS
     self.dragon_auto_lc_delay = 2.
     self.last_ts = 0.
+    self.dp_last_modified = None
 
   def setup_mpc(self):
     self.libmpc = libmpc_py.libmpc
@@ -92,26 +94,29 @@ class PathPlanner():
   def update(self, sm, pm, CP, VM):
     # dragonpilot
     cur_time = sec_since_boot()
-    if cur_time - self.last_ts > 5.:
-      self.dragon_assisted_lc_enabled = self.lane_change_enabled
-      if self.dragon_assisted_lc_enabled:
-        self.dragon_auto_lc_enabled = True if self.params.get("DragonEnableAutoLC", encoding='utf8') == "1" else False
-        # adjustable assisted lc min speed
-        self.dragon_assisted_lc_min_mph = int(self.params.get("DragonAssistedLCMinMPH", encoding='utf8')) * CV.MPH_TO_MS
-        if self.dragon_assisted_lc_min_mph < 0:
-          self.dragon_assisted_lc_min_mph = 0
-        if self.dragon_auto_lc_enabled:
-          # adjustable auto lc min speed
-          self.dragon_auto_lc_min_mph = int(self.params.get("DragonAutoLCMinMPH", encoding='utf8')) * CV.MPH_TO_MS
-          if self.dragon_auto_lc_min_mph < 0:
-            self.dragon_auto_lc_min_mph = 0
-          # when auto lc is smaller than assisted lc, we set assisted lc to the same speed as auto lc
-          if self.dragon_auto_lc_min_mph < self.dragon_assisted_lc_min_mph:
-            self.dragon_assisted_lc_min_mph = self.dragon_auto_lc_min_mph
-          # adjustable auto lc delay
-          self.dragon_auto_lc_delay = int(self.params.get("DragonAutoLCDelay", encoding='utf8'))
-          if self.dragon_auto_lc_delay < 0:
-            self.dragon_auto_lc_delay = 0
+    if cur_time - self.last_ts >= 5.:
+      modified = dp_get_last_modified()
+      if self.dp_last_modified != modified:
+        self.dragon_assisted_lc_enabled = self.lane_change_enabled
+        if self.dragon_assisted_lc_enabled:
+          self.dragon_auto_lc_enabled = True if self.params.get("DragonEnableAutoLC", encoding='utf8') == "1" else False
+          # adjustable assisted lc min speed
+          self.dragon_assisted_lc_min_mph = int(self.params.get("DragonAssistedLCMinMPH", encoding='utf8')) * CV.MPH_TO_MS
+          if self.dragon_assisted_lc_min_mph < 0:
+            self.dragon_assisted_lc_min_mph = 0
+          if self.dragon_auto_lc_enabled:
+            # adjustable auto lc min speed
+            self.dragon_auto_lc_min_mph = int(self.params.get("DragonAutoLCMinMPH", encoding='utf8')) * CV.MPH_TO_MS
+            if self.dragon_auto_lc_min_mph < 0:
+              self.dragon_auto_lc_min_mph = 0
+            # when auto lc is smaller than assisted lc, we set assisted lc to the same speed as auto lc
+            if self.dragon_auto_lc_min_mph < self.dragon_assisted_lc_min_mph:
+              self.dragon_assisted_lc_min_mph = self.dragon_auto_lc_min_mph
+            # adjustable auto lc delay
+            self.dragon_auto_lc_delay = int(self.params.get("DragonAutoLCDelay", encoding='utf8'))
+            if self.dragon_auto_lc_delay < 0:
+              self.dragon_auto_lc_delay = 0
+        self.dp_last_modified = modified
       self.last_ts = cur_time
 
     v_ego = sm['carState'].vEgo
diff --git a/selfdrive/controls/lib/planner.py b/selfdrive/controls/lib/planner.py
index 1fe641d21..8fd37832c 100755
--- a/selfdrive/controls/lib/planner.py
+++ b/selfdrive/controls/lib/planner.py
@@ -13,6 +13,7 @@ from selfdrive.controls.lib.speed_smoother import speed_smoother
 from selfdrive.controls.lib.longcontrol import LongCtrlState, MIN_CAN_SPEED
 from selfdrive.controls.lib.fcw import FCWChecker
 from selfdrive.controls.lib.long_mpc import LongitudinalMpc
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
 MAX_SPEED = 255.0
 
@@ -111,6 +112,7 @@ class Planner():
     self.dragon_fast_accel = False
     self.dragon_accel_profile = ACCEL_NORMAL_MODE
     self.last_ts = 0.
+    self.dp_last_modified = None
 
   def choose_solution(self, v_cruise_setpoint, enabled):
     if enabled:
@@ -147,10 +149,13 @@ class Planner():
     # dragonpilot
     # update variable status every 5 secs
     if cur_time - self.last_ts >= 5.:
-      self.dragon_slow_on_curve = False if self.params.get("DragonEnableSlowOnCurve", encoding='utf8') == "0" else True
-      self.dragon_accel_profile = int(self.params.get("DragonAccelProfile", encoding='utf8'))
-      if self.dragon_accel_profile >= 2 or self.dragon_accel_profile <= -2:
-        self.dragon_accel_profile = 0
+      modified = dp_get_last_modified()
+      if self.dp_last_modified != modified:
+        self.dragon_slow_on_curve = False if self.params.get("DragonEnableSlowOnCurve", encoding='utf8') == "0" else True
+        self.dragon_accel_profile = int(self.params.get("DragonAccelProfile", encoding='utf8'))
+        if self.dragon_accel_profile >= 2 or self.dragon_accel_profile <= -2:
+          self.dragon_accel_profile = 0
+        self.dp_last_modified = modified
       self.last_ts = cur_time
 
     long_control_state = sm['controlsState'].longControlState
diff --git a/selfdrive/dragonpilot/appd/appd.py b/selfdrive/dragonpilot/appd/appd.py
index a6a4e7112..64b2ae152 100644
--- a/selfdrive/dragonpilot/appd/appd.py
+++ b/selfdrive/dragonpilot/appd/appd.py
@@ -8,6 +8,8 @@ from selfdrive.swaglog import cloudlog
 from common.realtime import sec_since_boot
 from common.params import Params, put_nonblocking
 params = Params()
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
+from math import floor
 
 class App():
 
@@ -72,6 +74,8 @@ class App():
 
     self.set_package_permissions()
     self.system("pm disable %s" % self.app)
+    if self.manual_ctrl_param is not None:
+      put_nonblocking(self.manual_ctrl_param, '0')
     self.last_ts = sec_since_boot()
 
   def read_params(self):
@@ -107,6 +111,7 @@ class App():
       # app is manually ctrl, we record that
       if self.manual_ctrl_param is not None and self.manual_ctrl_status == self.MANUAL_ON:
         put_nonblocking(self.manual_ctrl_param, '0')
+        put_nonblocking('DragonLastModified', str(floor(time.time())))
         self.manually_ctrled = True
         self.is_running = False
 
@@ -280,6 +285,7 @@ def main():
   thermal_status = None
   start_ts = sec_since_boot()
   init_done = False
+  last_modified = None
 
   while 1: #has_enabled_apps:
     if not init_done and sec_since_boot() - start_ts >= 10:
@@ -289,10 +295,13 @@ def main():
     if init_done:
       enabled_apps = []
       has_fullscreen_apps = False
-
+      modified = dp_get_last_modified()
+      if last_modified != modified:
+        print("modified!!!!!")
       for app in apps:
         # read params loop
-        app.read_params()
+        if last_modified != modified:
+          app.read_params()
         if app.last_is_enabled and not app.is_enabled and app.is_running:
           app.kill(True)
 
@@ -305,7 +314,7 @@ def main():
             app.run(True) if app.manual_ctrl_status == App.MANUAL_ON else app.kill(True)
 
           enabled_apps.append(app)
-
+      last_modified = modified
       msg = messaging.recv_sock(thermal_sock, wait=True)
       started = msg.thermal.started
       # when car is running
diff --git a/selfdrive/dragonpilot/dashcamd/dashcamd.py b/selfdrive/dragonpilot/dashcamd/dashcamd.py
index e4b0167f3..78aa49af1 100644
--- a/selfdrive/dragonpilot/dashcamd/dashcamd.py
+++ b/selfdrive/dragonpilot/dashcamd/dashcamd.py
@@ -29,7 +29,7 @@ def main(gctx=None):
 
   thermal_sock = messaging.sub_sock('thermal')
   while 1:
-    if params.get("DragonWazeMode", encoding='utf8') == "0" and params.get("DragonEnableDashcam", encoding='utf8') == "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))
diff --git a/selfdrive/dragonpilot/dragonconf/__init__.py b/selfdrive/dragonpilot/dragonconf/__init__.py
index 89697146c..9437308ba 100644
--- a/selfdrive/dragonpilot/dragonconf/__init__.py
+++ b/selfdrive/dragonpilot/dragonconf/__init__.py
@@ -1,5 +1,7 @@
 #!/usr/bin/env python2.7
 from common.params import Params, put_nonblocking
+import time
+from math import floor
 
 default_conf = {
   'DragonEnableDashcam': '0',
@@ -67,6 +69,7 @@ default_conf = {
   'DragonBTG': 0,
   'DragonBootHotspot': 0,
   'DragonAccelProfile': '0',
+  'DragonLastModified': str(floor(time.time()))
 }
 
 deprecated_conf = {
@@ -80,18 +83,21 @@ deprecated_conf_invert = {
 #   'DragonBBUI': False
 }
 
+def dp_get_last_modified():
+  return Params().get('DragonLastModified', encoding='utf-8')
+
 def dragonpilot_set_params(params):
-  # remove deprecated params
-  for old, new in deprecated_conf.items():
-    if params.get(old) is not None:
-      if new is not None:
-        old_val = str(params.get(old))
-        new_val = old_val
-        # invert the value if true
-        if old in deprecated_conf_invert and deprecated_conf_invert[old] is True:
-          new_val = "1" if old_val == "0" else "0"
-        put_nonblocking(new, new_val)
-      params.delete(old)
+  # # remove deprecated params
+  # for old, new in deprecated_conf.items():
+  #   if params.get(old) is not None:
+  #     if new is not None:
+  #       old_val = str(params.get(old))
+  #       new_val = old_val
+  #       # invert the value if true
+  #       if old in deprecated_conf_invert and deprecated_conf_invert[old] is True:
+  #         new_val = "1" if old_val == "0" else "0"
+  #       put_nonblocking(new, new_val)
+  #     params.delete(old)
 
   # set params
   for key, val in default_conf.items():
diff --git a/selfdrive/dragonpilot/shutdownd/shutdownd.py b/selfdrive/dragonpilot/shutdownd/shutdownd.py
index f6cd8a17d..ab5f9bd95 100644
--- a/selfdrive/dragonpilot/shutdownd/shutdownd.py
+++ b/selfdrive/dragonpilot/shutdownd/shutdownd.py
@@ -5,6 +5,7 @@ from common.params import Params
 params = Params()
 import cereal.messaging as messaging
 from common.realtime import sec_since_boot
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
 def main():
   thermal_sock = messaging.sub_sock('thermal')
@@ -16,26 +17,30 @@ def main():
   usb_online = False
   enabled = False
   last_enabled = False
+  dp_last_modified = None
   while 1:
     cur_time = sec_since_boot()
     if cur_time - last_ts >= 10.:
-      enabled = True if params.get("DragonEnableAutoShutdown", encoding='utf8') == '1' else False
-      # reset timer when enabled status has changed
-      if not last_enabled and enabled:
-        shutdown_at = cur_time + secs
-      last_enabled = enabled
-
-      if enabled:
-        secs = int(params.get("DragonAutoShutdownAt", encoding='utf8')) * 60
-        # reset timer when secs num has changed
-        if last_secs != secs:
+      modified = dp_get_last_modified()
+      if dp_last_modified != modified:
+        enabled = True if params.get("DragonEnableAutoShutdown", encoding='utf8') == '1' else False
+        # reset timer when enabled status has changed
+        if not last_enabled and enabled:
           shutdown_at = cur_time + secs
-        last_secs = secs
+        last_enabled = enabled
 
-        msg = messaging.recv_sock(thermal_sock, wait=True)
-        started = msg.thermal.started
-        with open("/sys/class/power_supply/usb/present") as f:
-          usb_online = bool(int(f.read()))
+        if enabled:
+          secs = int(params.get("DragonAutoShutdownAt", encoding='utf8')) * 60
+          # reset timer when secs num has changed
+          if last_secs != secs:
+            shutdown_at = cur_time + secs
+          last_secs = secs
+
+          msg = messaging.recv_sock(thermal_sock, wait=True)
+          started = msg.thermal.started
+          with open("/sys/class/power_supply/usb/present") as f:
+            usb_online = bool(int(f.read()))
+        dp_last_modified = modified
 
     if enabled:
       if started or usb_online:
diff --git a/selfdrive/thermald.py b/selfdrive/thermald.py
index 93d7b4d38..652a4c22b 100755
--- a/selfdrive/thermald.py
+++ b/selfdrive/thermald.py
@@ -24,6 +24,7 @@ FW_SIGNATURE = get_expected_signature()
 params = Params()
 import subprocess
 import re
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
 ThermalStatus = log.ThermalData.ThermalStatus
 NetworkType = log.ThermalData.NetworkType
@@ -185,13 +186,14 @@ def thermald_thread():
 
   # dragonpilot
   ts_last_ip = None
-  ts_last_update_vars = None
+  ts_last_update_vars = 0
   ts_last_charging_ctrl = None
+  dp_last_modified = None
 
   ip_addr = '255.255.255.255'
-  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'))
+  dragon_charging_ctrl = False
+  dragon_charging_at = 70
+  dragon_discharging_at = 80
 
   while 1:
     health = messaging.recv_sock(health_sock, wait=True)
@@ -241,7 +243,7 @@ def thermald_thread():
     # dragonpilot ip Mod
     # update ip every 10 seconds
     ts = sec_since_boot()
-    if ts_last_ip is None or ts - ts_last_ip > 10.:
+    if ts_last_ip is None or ts - ts_last_ip >= 10.:
       try:
         result = subprocess.check_output(["ifconfig", "wlan0"], encoding='utf8')  # pylint: disable=unexpected-keyword-arg
         ip_addr = re.findall(r"inet addr:((\d+\.){3}\d+)", result)[0][0]
@@ -412,18 +414,28 @@ def thermald_thread():
     # dragonpilot
     ts = sec_since_boot()
     # update variable status every 10 secs
-    if ts_last_update_vars is None or ts - ts_last_update_vars >= 10.:
-      dragon_charging_ctrl = True if params.get('DragonChargingCtrl', encoding='utf8') == "1" else False
-      dragon_charging_max = int(params.get('DragonCharging', encoding='utf8'))
-      dragon_discharging_min = int(params.get('DragonDisCharging', encoding='utf8'))
+    if ts - ts_last_update_vars >= 10.:
+      modified = dp_get_last_modified()
+      if dp_last_modified != modified:
+        dragon_charging_ctrl = True if params.get('DragonChargingCtrl', encoding='utf8') == "1" else False
+        if dragon_charging_ctrl:
+          try:
+            dragon_charging_at = int(params.get('DragonCharging', encoding='utf8'))
+          except TypeError:
+            dragon_charging_at = 70
+          try:
+            dragon_discharging_at = int(params.get('DragonDisCharging', encoding='utf8'))
+          except TypeError:
+            dragon_discharging_at = 80
+        dp_last_modified = modified
       ts_last_update_vars = ts
 
     # we update charging status once every min
     if ts_last_charging_ctrl is None or ts - ts_last_charging_ctrl >= 60.:
       if dragon_charging_ctrl:
-        if msg.thermal.batteryPercent >= dragon_charging_max:
+        if msg.thermal.batteryPercent >= dragon_charging_at:
           os.system('echo "0" > /sys/class/power_supply/battery/charging_enabled')
-        if msg.thermal.batteryPercent <= dragon_discharging_min:
+        if msg.thermal.batteryPercent <= dragon_discharging_at:
           os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled')
       else:
         os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled')
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 2a7fccd1f..4a232385a 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -238,21 +238,21 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
   s->limit_set_speed_timeout = UI_FREQ;
 
   // dragonpilot, 1hz
-  s->dragon_ui_speed_timeout = UI_FREQ * 3.1;
-  s->dragon_ui_event_timeout = UI_FREQ * 3.2;
-  s->dragon_ui_maxspeed_timeout = UI_FREQ * 3.3;
-  s->dragon_ui_face_timeout = UI_FREQ * 3.4;
-  s->dragon_ui_dev_timeout = UI_FREQ * 3.5;
-  s->dragon_ui_dev_mini_timeout = UI_FREQ * 3.6;
-  s->dragon_enable_dashcam_timeout = UI_FREQ * 3.7;
-  s->dragon_ui_volume_boost_timeout = UI_FREQ * 3.8;
-  s->dragon_driving_ui_timeout = UI_FREQ * 3.9;
-  s->dragon_ui_lane_timeout = UI_FREQ * 4.0;
-  s->dragon_ui_lead_timeout = UI_FREQ * 4.1;
-  s->dragon_ui_path_timeout = UI_FREQ * 4.2;
-  s->dragon_ui_blinker_timeout = UI_FREQ * 4.3;
-  s->dragon_waze_mode_timeout = UI_FREQ * 4.4;
-  s->dragon_ui_dm_view_timeout = UI_FREQ * 4.5;
+  s->dragon_ui_speed_timeout = UI_FREQ * 5.1;
+  s->dragon_ui_event_timeout = UI_FREQ * 5.2;
+  s->dragon_ui_maxspeed_timeout = UI_FREQ * 5.3;
+  s->dragon_ui_face_timeout = UI_FREQ * 5.4;
+  s->dragon_ui_dev_timeout = UI_FREQ * 5.5;
+  s->dragon_ui_dev_mini_timeout = UI_FREQ * 5.6;
+  s->dragon_enable_dashcam_timeout = UI_FREQ * 5.7;
+  s->dragon_ui_volume_boost_timeout = UI_FREQ * 5.8;
+  s->dragon_driving_ui_timeout = UI_FREQ * 5.9;
+  s->dragon_ui_lane_timeout = UI_FREQ * 6.0;
+  s->dragon_ui_lead_timeout = UI_FREQ * 6.1;
+  s->dragon_ui_path_timeout = UI_FREQ * 6.2;
+  s->dragon_ui_blinker_timeout = UI_FREQ * 6.3;
+  s->dragon_waze_mode_timeout = UI_FREQ * 6.4;
+  s->dragon_ui_dm_view_timeout = UI_FREQ * 6.5;
 }
 
 static PathData read_path(cereal_ModelData_PathData_ptr pathp) {

From fffe34e93bb1dbe275a36bc93da1949ba3557cfe Mon Sep 17 00:00:00 2001
From: dragonpilot <dgnpilot@gmail.com>
Date: Tue, 10 Mar 2020 15:55:48 +1000
Subject: [PATCH 04/17] remove debug codes

---
 selfdrive/dragonpilot/appd/appd.py | 2 --
 1 file changed, 2 deletions(-)

diff --git a/selfdrive/dragonpilot/appd/appd.py b/selfdrive/dragonpilot/appd/appd.py
index 64b2ae152..86c97e282 100644
--- a/selfdrive/dragonpilot/appd/appd.py
+++ b/selfdrive/dragonpilot/appd/appd.py
@@ -296,8 +296,6 @@ def main():
       enabled_apps = []
       has_fullscreen_apps = False
       modified = dp_get_last_modified()
-      if last_modified != modified:
-        print("modified!!!!!")
       for app in apps:
         # read params loop
         if last_modified != modified:

From f7a890939aa2bbf0085a409d20d51568ee8c7864 Mon Sep 17 00:00:00 2001
From: dragonpilot <dgnpilot@gmail.com>
Date: Tue, 10 Mar 2020 16:26:49 +1000
Subject: [PATCH 05/17] add subaru support: * steering on signal. * ability to
 disable steer ctrl. * allow gas.

---
 selfdrive/car/subaru/carcontroller.py | 35 ++++++++++++++++++++++-
 selfdrive/car/subaru/interface.py     | 40 +++++++++++++++++++++++----
 2 files changed, 69 insertions(+), 6 deletions(-)

diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index dce4df810..fe1f309b0 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -3,7 +3,9 @@ from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.subaru import subarucan
 from selfdrive.car.subaru.values import DBC
 from opendbc.can.packer import CANPacker
-
+from common.params import Params
+params = Params()
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
 class CarControllerParams():
   def __init__(self, car_fingerprint):
@@ -32,9 +34,23 @@ class CarController():
     self.params = CarControllerParams(car_fingerprint)
     self.packer = CANPacker(DBC[car_fingerprint]['pt'])
 
+    # dragonpilot
+    self.turning_signal_timer = 0
+    self.dragon_enable_steering_on_signal = False
+    self.dragon_lat_ctrl = True
+    self.dp_last_modified = None
+
   def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line):
     """ Controls thread """
 
+    # dragonpilot, don't check for param too often as it's a kernel call
+    if frame % 500 == 0:
+      modified = dp_get_last_modified()
+      if self.dp_last_modified != modified:
+        self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
+        self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+        self.dp_last_modified = modified
+
     P = self.params
 
     # Send CAN commands.
@@ -58,6 +74,23 @@ class CarController():
       if not lkas_enabled:
         apply_steer = 0
 
+      # dragonpilot
+      if enabled:
+        if self.dragon_enable_steering_on_signal:
+          if CS.left_blinker_on == 0 and CS.right_blinker_on == 0:
+            self.turning_signal_timer = 0
+          else:
+            self.turning_signal_timer = 100
+
+          if self.turning_signal_timer > 0:
+            self.turning_signal_timer -= 1
+            apply_steer = 0
+        else:
+          self.turning_signal_timer = 0
+
+        if not self.dragon_lat_ctrl:
+          apply_steer = 0
+
       can_sends.append(subarucan.create_steering_control(self.packer, CS.CP.carFingerprint, apply_steer, frame, P.STEER_STEP))
 
       self.apply_steer_last = apply_steer
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index d4388727b..021adb1a9 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -7,6 +7,10 @@ from selfdrive.car.subaru.values import CAR
 from selfdrive.car.subaru.carstate import CarState, get_powertrain_can_parser, get_camera_can_parser
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
+from common.realtime import sec_since_boot
+from common.params import Params
+params = Params()
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
 ButtonType = car.CarState.ButtonEvent.Type
 
@@ -30,6 +34,14 @@ class CarInterface(CarInterfaceBase):
     if CarController is not None:
       self.CC = CarController(CP.carFingerprint)
 
+    # dragonpilot
+    self.frame = 0
+    self.dragon_enable_steering_on_signal = False
+    self.dragon_allow_gas = False
+    self.ts_last_check = 0.
+    self.dragon_lat_ctrl = True
+    self.dp_last_modified = None
+
   @staticmethod
   def compute_gb(accel, speed):
     return float(accel) / 4.0
@@ -95,6 +107,17 @@ class CarInterface(CarInterfaceBase):
 
   # returns a car.CarState
   def update(self, c, can_strings):
+    # 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.:
+      modified = dp_get_last_modified()
+      if self.dp_last_modified != modified:
+        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.dp_last_modified = modified
+      self.ts_last_check = ts
+
     self.pt_cp.update_strings(can_strings)
     self.cam_cp.update_strings(can_strings)
 
@@ -166,17 +189,24 @@ class CarInterface(CarInterfaceBase):
     if ret.doorOpen:
       events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
 
+    if not self.dragon_lat_ctrl:
+      events.append(create_event('manualSteeringRequired', [ET.WARNING]))
+    elif (self.CS.left_blinker_on or self.CS.right_blinker_on) and self.dragon_enable_steering_on_signal:
+      events.append(create_event('manualSteeringRequiredBlinkersOn', [ET.WARNING]))
+
     if self.CS.acc_active and not self.acc_active_prev:
       events.append(create_event('pcmEnable', [ET.ENABLE]))
     if not self.CS.acc_active:
       events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
 
-    # disable on gas pedal rising edge
-    if (ret.gasPressed and not self.gas_pressed_prev):
-      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
+    # DragonAllowGas
+    if not self.dragon_allow_gas:
+      # disable on gas pedal rising edge
+      if (ret.gasPressed and not self.gas_pressed_prev):
+        events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
 
-    if ret.gasPressed:
-      events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
+      if ret.gasPressed:
+        events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
 
     ret.events = events
 

From 5e1c69b05cff9212657551de692d99125538b7ff Mon Sep 17 00:00:00 2001
From: dragonpilot <dgnpilot@gmail.com>
Date: Wed, 11 Mar 2020 11:20:19 +1000
Subject: [PATCH 06/17] allow higher error tolerance when dealing with steering
 torque in toyota.

---
 panda/board/safety/safety_toyota.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h
index 9b06a7cd0..fa0848a04 100644
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -4,8 +4,8 @@ const int TOYOTA_MAX_TORQUE = 1500;       // max torque cmd allowed ever
 // rate based torque limit + stay within actually applied
 // packet is sent at 100hz, so this limit is 1000/sec
 const int TOYOTA_MAX_RATE_UP = 10;        // ramp up slow
-const int TOYOTA_MAX_RATE_DOWN = 25;      // ramp down fast
-const int TOYOTA_MAX_TORQUE_ERROR = 350;  // max torque cmd in excess of torque motor
+const int TOYOTA_MAX_RATE_DOWN = 44;      // ramp down fast
+const int TOYOTA_MAX_TORQUE_ERROR = 500;  // max torque cmd in excess of torque motor
 
 // real time torque limit to prevent controls spamming
 // the real time limit is 1500/sec

From bcc399f67758bf683a76a995257b9386f4b39830 Mon Sep 17 00:00:00 2001
From: dragonpilot <dgnpilot@gmail.com>
Date: Wed, 11 Mar 2020 12:48:51 +1000
Subject: [PATCH 07/17] move driver monitor patch to dmonitoringd.

---
 selfdrive/controls/dmonitoringd.py       | 44 +++++++++++++++++++++++-
 selfdrive/controls/lib/driver_monitor.py | 30 ++--------------
 2 files changed, 46 insertions(+), 28 deletions(-)

diff --git a/selfdrive/controls/dmonitoringd.py b/selfdrive/controls/dmonitoringd.py
index 3c888d7b3..a6c74571e 100755
--- a/selfdrive/controls/dmonitoringd.py
+++ b/selfdrive/controls/dmonitoringd.py
@@ -1,12 +1,15 @@
 #!/usr/bin/env python3
 import gc
-from common.realtime import set_realtime_priority
+from common.realtime import set_realtime_priority, sec_since_boot
 from common.params import Params, put_nonblocking
 import cereal.messaging as messaging
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from selfdrive.controls.lib.driver_monitor import DriverStatus, MAX_TERMINAL_ALERTS, MAX_TERMINAL_DURATION
 from selfdrive.locationd.calibration_helpers import Calibration
 from selfdrive.controls.lib.gps_helpers import is_rhd_region
+from common.params import Params
+params = Params()
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
 def dmonitoringd_thread(sm=None, pm=None):
   gc.disable()
@@ -40,8 +43,47 @@ def dmonitoringd_thread(sm=None, pm=None):
   v_cruise_last = 0
   driver_engaged = False
 
+  # dragonpilot
+  last_ts = 0
+  dp_last_modified = None
+  dp_enable_driver_safety_check = True
+  dp_enable_driver_monitoring = True
+
   # 10Hz <- dmonitoringmodeld
   while True:
+    cur_time = sec_since_boot()
+    if cur_time - last_ts >= 5.:
+      modified = dp_get_last_modified()
+      if dp_last_modified != modified:
+        dp_enable_driver_safety_check = False if params.get("DragonEnableDriverSafetyCheck", encoding='utf8') == "0" else True
+        # load driver monitor val only when safety is on
+        if dp_enable_driver_safety_check:
+          dp_enable_driver_monitoring = False if params.get("DragonEnableDriverMonitoring", encoding='utf8') == "0" else True
+          # load steering monitor timer val only when driver monitor is on
+          if dp_enable_driver_monitoring:
+            try:
+              dp_awareness_time = int(params.get("DragonSteeringMonitorTimer", encoding='utf8'))
+            except TypeError:
+              dp_awareness_time = 0.
+            driver_status.awareness_time = 86400 if dp_awareness_time <= 0. else dp_awareness_time * 60.
+        dp_last_modified = modified
+      last_ts = cur_time
+
+    # reset all awareness val
+    if not dp_enable_driver_safety_check:
+      dp_enable_driver_monitoring = False
+      driver_status.awareness = 1.
+      driver_status.awareness_active = 1.
+      driver_status.awareness_passive = 1.
+      driver_status.terminal_alert_cnt = 0
+      driver_status.terminal_time = 0
+
+    # dm don't check rhd, set to true
+    if not dp_enable_driver_monitoring:
+      driver_status.awareness_time = 86400
+      driver_status.is_rhd_region = True
+      driver_status.is_rhd_region_checked = True
+
     sm.update()
 
     # GPS coords RHD parsing, once every restart
diff --git a/selfdrive/controls/lib/driver_monitor.py b/selfdrive/controls/lib/driver_monitor.py
index 3c0a2f50b..2b740000f 100644
--- a/selfdrive/controls/lib/driver_monitor.py
+++ b/selfdrive/controls/lib/driver_monitor.py
@@ -1,12 +1,9 @@
 from common.numpy_fast import interp
 from math import atan2, sqrt
-from common.realtime import DT_DMON, sec_since_boot
+from common.realtime import DT_DMON
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from common.filter_simple import FirstOrderFilter
 from common.stat_live import RunningStatFilter
-from common.params import Params
-params = Params()
-from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
 
 _AWARENESS_TIME = 70.  # one minute limit without user touching steering wheels make the car enter a terminal status
 _AWARENESS_PRE_TIME_TILL_TERMINAL = 15.  # a first alert is issued 25s before expiration
@@ -115,11 +112,7 @@ class DriverStatus():
     self.is_rhd_region_checked = False
 
     # dragonpilot
-    self.last_ts = 0
-    self.dp_last_modified = None
-    self.awareness_time = 100
-    self.dragon_enable_driver_safety_check = True
-    self.dragon_enable_driver_monitoring = True
+    self.awareness_time = 70.
 
     self._set_timers(active_monitoring=True)
 
@@ -184,9 +177,6 @@ class DriverStatus():
     if len(driver_state.faceOrientation) == 0 or len(driver_state.facePosition) == 0 or len(driver_state.faceOrientationStd) == 0 or len(driver_state.facePositionStd) == 0:
       return
 
-    if not self.dragon_enable_driver_monitoring:
-      self.is_rhd_region = True
-
     self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_state.faceOrientation, driver_state.facePosition, cal_rpy)
     self.pose.pitch_std = driver_state.faceOrientationStd[0]
     self.pose.yaw_std = driver_state.faceOrientationStd[1]
@@ -222,21 +212,7 @@ class DriverStatus():
       self.hi_stds = 0
 
   def update(self, events, driver_engaged, ctrl_active, standstill):
-    cur_time = sec_since_boot()
-    if cur_time - self.last_ts >= 5.:
-      modified = dp_get_last_modified()
-      if self.dp_last_modified != modified:
-        self.awareness_time = int(params.get("DragonSteeringMonitorTimer", encoding='utf8'))
-        self.awareness_time = 100 if self.awareness_time <= 0. else self.awareness_time * 60.
-
-        self.dragon_enable_driver_safety_check = False if params.get("DragonEnableDriverSafetyCheck", encoding='utf8') == "0" else True
-        if self.dragon_enable_driver_safety_check:
-          self.dragon_enable_driver_monitoring = False if params.get("DragonEnableDriverMonitoring", encoding='utf8') == "0" else True
-        else:
-          self.dragon_enable_driver_monitoring = False
-        self.dp_last_modified = modified
-      self.last_ts = cur_time
-    if (driver_engaged and self.awareness > 0) or not ctrl_active or not self.dragon_enable_driver_safety_check:
+    if (driver_engaged and self.awareness > 0) or not ctrl_active:
       # reset only when on disengagement if red reached
       self.awareness = 1.
       self.awareness_active = 1.

From 246003d345ed34b3c6f304b3adf6230a1260a156 Mon Sep 17 00:00:00 2001
From: dragonpilot <dgnpilot@gmail.com>
Date: Wed, 11 Mar 2020 13:15:23 +1000
Subject: [PATCH 08/17] add warning for mismatch fw

---
 selfdrive/car/car_helpers.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index f11ad374f..a223b5cea 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -237,6 +237,7 @@ def get_car(logcan, sendcan, has_relay=False):
       y.start()
 
     cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
+    cloudlog.warning("car doesn't match any fw: %s" % car_fw)
     candidate = "mock"
 
   if is_online():

From fe055633e7e134208775063b2cd0a53f3d99981a Mon Sep 17 00:00:00 2001
From: dragonpilot <dgnpilot@gmail.com>
Date: Wed, 11 Mar 2020 13:16:13 +1000
Subject: [PATCH 09/17] added manual CIVIC_BOSCH fw fingerprint from sentry.
 (AlexNoop)

---
 selfdrive/car/honda/values.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index dfcbc566e..132d87da2 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -307,6 +307,7 @@ FW_VERSIONS = {
       b'37805-5AN-LJ20\x00\x00',
       b'37805-5AZ-E850\x00\x00',
       b'37805-5BB-L640\x00\x00',
+      b'37805-5AN-E410\x00\x00', # AlexNoop's CIVIC_BOSCH (manual car?)
     ],
     (Ecu.unknown, 0x18da1ef1, None): [
       b'28101-5CG-A920\x00\x00',

From 7d95159d24b5e626a983599043846115b5159926 Mon Sep 17 00:00:00 2001
From: dragonpilot <dgnpilot@gmail.com>
Date: Wed, 11 Mar 2020 19:34:44 +1000
Subject: [PATCH 10/17] fix up driver/steering monitor toggle

---
 selfdrive/controls/dmonitoringd.py | 27 +++++++++++++--------------
 1 file changed, 13 insertions(+), 14 deletions(-)

diff --git a/selfdrive/controls/dmonitoringd.py b/selfdrive/controls/dmonitoringd.py
index a6c74571e..a1639b522 100755
--- a/selfdrive/controls/dmonitoringd.py
+++ b/selfdrive/controls/dmonitoringd.py
@@ -59,31 +59,30 @@ def dmonitoringd_thread(sm=None, pm=None):
         # load driver monitor val only when safety is on
         if dp_enable_driver_safety_check:
           dp_enable_driver_monitoring = False if params.get("DragonEnableDriverMonitoring", encoding='utf8') == "0" else True
-          # load steering monitor timer val only when driver monitor is on
-          if dp_enable_driver_monitoring:
-            try:
-              dp_awareness_time = int(params.get("DragonSteeringMonitorTimer", encoding='utf8'))
-            except TypeError:
-              dp_awareness_time = 0.
-            driver_status.awareness_time = 86400 if dp_awareness_time <= 0. else dp_awareness_time * 60.
+        # load steering monitor timer val only when driver monitor is on
+        if dp_enable_driver_safety_check:
+          try:
+            dp_awareness_time = int(params.get("DragonSteeringMonitorTimer", encoding='utf8'))
+          except TypeError:
+            dp_awareness_time = 0.
+          driver_status.awareness_time = 86400 if dp_awareness_time <= 0. else dp_awareness_time * 60.
         dp_last_modified = modified
       last_ts = cur_time
 
-    # reset all awareness val
     if not dp_enable_driver_safety_check:
       dp_enable_driver_monitoring = False
+      driver_status.awareness_time = 86400
+
+    # reset all awareness val and set to rhd region, this will enforce steering monitor.
+    if not dp_enable_driver_monitoring:
+      driver_status.is_rhd_region = True
+      driver_status.is_rhd_region_checked = True
       driver_status.awareness = 1.
       driver_status.awareness_active = 1.
       driver_status.awareness_passive = 1.
       driver_status.terminal_alert_cnt = 0
       driver_status.terminal_time = 0
 
-    # dm don't check rhd, set to true
-    if not dp_enable_driver_monitoring:
-      driver_status.awareness_time = 86400
-      driver_status.is_rhd_region = True
-      driver_status.is_rhd_region_checked = True
-
     sm.update()
 
     # GPS coords RHD parsing, once every restart

From d465fc9a80fb6d8d894752116a073c266a13e505 Mon Sep 17 00:00:00 2001
From: dragonpilot <dgnpilot@gmail.com>
Date: Thu, 12 Mar 2020 10:54:45 +1000
Subject: [PATCH 11/17] added manual CIVIC_BOSCH fingerprint. (AlexNoop)

---
 selfdrive/car/honda/values.py | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 132d87da2..5c7562267 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -73,6 +73,10 @@ FINGERPRINTS = {
   # 2017 Civic Hatchback EX, 2019 Civic Sedan Touring Canadian, and 2018 Civic Hatchback Executive Premium 1.0L CVT European
     57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 460: 3, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 892: 8, 927: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1625: 5, 1629: 5, 1633: 8,
   },
+  # Manual CIVIC from AlexNoop
+  {
+    57: 3, 148: 8, 228: 5, 274: 3, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 420: 8, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 460: 3, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 892: 8, 927: 8, 929: 8, 985: 3, 1024: 5, 1029: 8, 1036: 8, 1108: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1625: 5, 1633: 8,
+  },
   # 2017 Civic Hatchback LX
   {
     57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 423: 2, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 815: 8, 825: 4, 829: 5, 846: 8, 862: 8, 881: 8, 882: 4, 884: 8, 888: 8, 891: 8, 892: 8, 918: 7, 927: 8, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1092: 1, 1108: 8, 1125: 8, 1127: 2, 1296: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1633: 8
@@ -307,7 +311,7 @@ FW_VERSIONS = {
       b'37805-5AN-LJ20\x00\x00',
       b'37805-5AZ-E850\x00\x00',
       b'37805-5BB-L640\x00\x00',
-      b'37805-5AN-E410\x00\x00', # AlexNoop's CIVIC_BOSCH (manual car?)
+      b'37805-5AN-E410\x00\x00', # AlexNoop's Manual CIVIC_BOSCH
     ],
     (Ecu.unknown, 0x18da1ef1, None): [
       b'28101-5CG-A920\x00\x00',

From 8152d530c7715786e55e3b3e087ac11fab53c081 Mon Sep 17 00:00:00 2001
From: dragonpilot <dgnpilot@gmail.com>
Date: Thu, 12 Mar 2020 10:56:02 +1000
Subject: [PATCH 12/17] Fix charging ctrl logic.

---
 selfdrive/thermald.py | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/selfdrive/thermald.py b/selfdrive/thermald.py
index 652a4c22b..109688e39 100755
--- a/selfdrive/thermald.py
+++ b/selfdrive/thermald.py
@@ -192,8 +192,8 @@ def thermald_thread():
 
   ip_addr = '255.255.255.255'
   dragon_charging_ctrl = False
-  dragon_charging_at = 70
-  dragon_discharging_at = 80
+  dragon_to_discharge = 70
+  dragon_to_charge = 60
 
   while 1:
     health = messaging.recv_sock(health_sock, wait=True)
@@ -420,22 +420,22 @@ def thermald_thread():
         dragon_charging_ctrl = True if params.get('DragonChargingCtrl', encoding='utf8') == "1" else False
         if dragon_charging_ctrl:
           try:
-            dragon_charging_at = int(params.get('DragonCharging', encoding='utf8'))
+            dragon_to_discharge = int(params.get('DragonCharging', encoding='utf8'))
           except TypeError:
-            dragon_charging_at = 70
+            dragon_to_discharge = 70
           try:
-            dragon_discharging_at = int(params.get('DragonDisCharging', encoding='utf8'))
+            dragon_to_charge = int(params.get('DragonDisCharging', encoding='utf8'))
           except TypeError:
-            dragon_discharging_at = 80
+            dragon_to_charge = 60
         dp_last_modified = modified
       ts_last_update_vars = ts
 
     # we update charging status once every min
     if ts_last_charging_ctrl is None or ts - ts_last_charging_ctrl >= 60.:
       if dragon_charging_ctrl:
-        if msg.thermal.batteryPercent >= dragon_charging_at:
+        if msg.thermal.batteryPercent >= dragon_to_discharge:
           os.system('echo "0" > /sys/class/power_supply/battery/charging_enabled')
-        if msg.thermal.batteryPercent <= dragon_discharging_at:
+        if msg.thermal.batteryPercent <= dragon_to_charge:
           os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled')
       else:
         os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled')

From 053418d46bc3780f141c23b40eb1e5cc354df1ea Mon Sep 17 00:00:00 2001
From: dragonpilot <dgnpilot@gmail.com>
Date: Thu, 12 Mar 2020 23:21:06 +1000
Subject: [PATCH 13/17] fix shutdownd logic error

---
 selfdrive/dragonpilot/shutdownd/shutdownd.py | 16 +++++-----------
 1 file changed, 5 insertions(+), 11 deletions(-)

diff --git a/selfdrive/dragonpilot/shutdownd/shutdownd.py b/selfdrive/dragonpilot/shutdownd/shutdownd.py
index ab5f9bd95..cbf104554 100644
--- a/selfdrive/dragonpilot/shutdownd/shutdownd.py
+++ b/selfdrive/dragonpilot/shutdownd/shutdownd.py
@@ -11,12 +11,12 @@ def main():
   thermal_sock = messaging.sub_sock('thermal')
   last_ts = 0
   secs = 0
-  last_secs = 0
+  last_secs = None
   shutdown_at = 0
   started = False
   usb_online = False
   enabled = False
-  last_enabled = False
+  last_enabled = None
   dp_last_modified = None
   while 1:
     cur_time = sec_since_boot()
@@ -24,31 +24,25 @@ def main():
       modified = dp_get_last_modified()
       if dp_last_modified != modified:
         enabled = True if params.get("DragonEnableAutoShutdown", encoding='utf8') == '1' else False
-        # reset timer when enabled status has changed
-        if not last_enabled and enabled:
-          shutdown_at = cur_time + secs
-        last_enabled = enabled
-
         if enabled:
           secs = int(params.get("DragonAutoShutdownAt", encoding='utf8')) * 60
           # reset timer when secs num has changed
-          if last_secs != secs:
+          if last_secs != secs or last_enabled != enabled:
             shutdown_at = cur_time + secs
-          last_secs = secs
 
           msg = messaging.recv_sock(thermal_sock, wait=True)
           started = msg.thermal.started
           with open("/sys/class/power_supply/usb/present") as f:
             usb_online = bool(int(f.read()))
+        last_enabled = enabled
         dp_last_modified = modified
-
+      last_ts = cur_time
     if enabled:
       if started or usb_online:
         shutdown_at = cur_time + secs
       else:
         if secs > 0 and cur_time >= shutdown_at:
           os.system('LD_LIBRARY_PATH="" svc power shutdown')
-
     time.sleep(10)
 
 if __name__ == "__main__":

From 5918e54e98739b4c4a7a2c61388f2ccf2c60a632 Mon Sep 17 00:00:00 2001
From: dragonpilot <dgnpilot@gmail.com>
Date: Thu, 12 Mar 2020 23:49:03 +1000
Subject: [PATCH 14/17] remove duplicated candidate

---
 selfdrive/car/toyota/interface.py | 10 ----------
 1 file changed, 10 deletions(-)

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 62e60f200..69e052e5a 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -225,16 +225,6 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 3800. * CV.LB_TO_KG + STD_CARGO_KG
       ret.lateralTuning.pid.kf = 0.00007818594
 
-    elif candidate == CAR.RAV4H_TSS2:
-      stop_and_go = True
-      ret.safetyParam = 73
-      ret.wheelbase = 2.68986
-      ret.steerRatio = 14.3
-      tire_stiffness_factor = 0.7933
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
-      ret.mass = 3800. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.lateralTuning.pid.kf = 0.00007818594
-
     elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
       stop_and_go = True
       ret.safetyParam = 73

From e0456a01a18f850c1e9a10a655bc93a706969e12 Mon Sep 17 00:00:00 2001
From: dragonpilot <dgnpilot@gmail.com>
Date: Fri, 13 Mar 2020 12:38:58 +1000
Subject: [PATCH 15/17] disable time validation

---
 selfdrive/thermald.py | 19 ++++++++++---------
 1 file changed, 10 insertions(+), 9 deletions(-)

diff --git a/selfdrive/thermald.py b/selfdrive/thermald.py
index 109688e39..495df408b 100755
--- a/selfdrive/thermald.py
+++ b/selfdrive/thermald.py
@@ -286,15 +286,16 @@ def thermald_thread():
     # **** starting logic ****
 
     # Check for last update time and display alerts if needed
-    now = datetime.datetime.now()
-
-    # show invalid date/time alert
-    time_valid = now.year >= 2019
-    if time_valid and not time_valid_prev:
-      params.delete("Offroad_InvalidTime")
-    if not time_valid and time_valid_prev:
-      params.put("Offroad_InvalidTime", json.dumps(OFFROAD_ALERTS["Offroad_InvalidTime"]))
-    time_valid_prev = time_valid
+    # now = datetime.datetime.now()
+    #
+    # # show invalid date/time alert
+    # time_valid = now.year >= 2019
+    # if time_valid and not time_valid_prev:
+    #   params.delete("Offroad_InvalidTime")
+    # if not time_valid and time_valid_prev:
+    #   params.put("Offroad_InvalidTime", json.dumps(OFFROAD_ALERTS["Offroad_InvalidTime"]))
+    # time_valid_prev = time_valid
+    time_valid = True
 
     # Show update prompt
     # try:

From 227229350840b11d600898c1f3d4c5a680d109c0 Mon Sep 17 00:00:00 2001
From: dragonpilot <dgnpilot@gmail.com>
Date: Fri, 13 Mar 2020 14:02:11 +1000
Subject: [PATCH 16/17] fix shutdownd logic

---
 selfdrive/dragonpilot/shutdownd/shutdownd.py | 28 ++++++++++----------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/selfdrive/dragonpilot/shutdownd/shutdownd.py b/selfdrive/dragonpilot/shutdownd/shutdownd.py
index cbf104554..702bda718 100644
--- a/selfdrive/dragonpilot/shutdownd/shutdownd.py
+++ b/selfdrive/dragonpilot/shutdownd/shutdownd.py
@@ -26,23 +26,23 @@ def main():
         enabled = True if params.get("DragonEnableAutoShutdown", encoding='utf8') == '1' else False
         if enabled:
           secs = int(params.get("DragonAutoShutdownAt", encoding='utf8')) * 60
-          # reset timer when secs num has changed
-          if last_secs != secs or last_enabled != enabled:
-            shutdown_at = cur_time + secs
 
-          msg = messaging.recv_sock(thermal_sock, wait=True)
-          started = msg.thermal.started
-          with open("/sys/class/power_supply/usb/present") as f:
-            usb_online = bool(int(f.read()))
-        last_enabled = enabled
         dp_last_modified = modified
-      last_ts = cur_time
-    if enabled:
-      if started or usb_online:
+
+      if enabled:
+        msg = messaging.recv_sock(thermal_sock, wait=True)
+        started = msg.thermal.started
+        usb_online = msg.thermal.usbOnline
+
+      if last_enabled != enabled or last_secs != secs or started or usb_online:
         shutdown_at = cur_time + secs
-      else:
-        if secs > 0 and cur_time >= shutdown_at:
-          os.system('LD_LIBRARY_PATH="" svc power shutdown')
+
+      last_enabled = enabled
+      last_secs = secs
+      last_ts = cur_time
+
+    if enabled and not started and not usb_online and secs > 0 and cur_time >= shutdown_at:
+      os.system('LD_LIBRARY_PATH="" svc power shutdown')
     time.sleep(10)
 
 if __name__ == "__main__":

From 11be9b8a908430bf247b5ad1d93ad0d9c4999e47 Mon Sep 17 00:00:00 2001
From: dragonpilot <dgnpilot@gmail.com>
Date: Sat, 14 Mar 2020 11:11:03 +1000
Subject: [PATCH 17/17] bump prius mass, tested by Wei

---
 selfdrive/car/toyota/interface.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 69e052e5a..ebb26394f 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -74,7 +74,7 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.70
       ret.steerRatio = 15.74   # unknown end-to-end spec
       tire_stiffness_factor = 0.6371   # hand-tune
-      ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG
 
       ret.lateralTuning.init('indi')
       ret.lateralTuning.indi.innerLoopGain = 4.0