performance optimisation.

common/params.py

@@ -168,6 +168,7 @@ keys = {
   "DragonBTG": [TxType.PERSISTENT],
   "DragonBootHotspot": [TxType.PERSISTENT],
   "DragonAccelProfile": [TxType.PERSISTENT],
+  "DragonLastModified": [TxType.PERSISTENT],
 }
 
 

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)

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 *******************

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

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 *******************

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 ***
 

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 *******************

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()

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.

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

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

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

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

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))

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():

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:

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')

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) {