fix dynamicGas profile change does not take effect

Merge branch 'devel-i18n' of https://github.com/dragonpilot-community/dragonpilot into devel-i18n
dragonpilot 0.7.10.1
2026-06-12 10:24:14 +08:00 · 2020-12-13 11:47:04 +08:00 · 2020-12-01 09:25:01 +10:00 · 2020-12-01 09:22:08 +10:00 · 2020-11-30 21:40:50 +10:00 · 2020-11-28 10:54:29 +10:00
128 changed files with 906 additions and 2131 deletions
--- a/CHANGELOGS-DEV.md
+++ b/CHANGELOGS-DEV.md
@@ -1,10 +1,3 @@
-dragonpilot 0.8.0
-========================
-* 基於最新 openpilot 0.8.0 devel.
-* Based on latest openpilot 0.8.0 devel.
-* 加入 git 錯誤修正。(感謝 @toyboxZ 提供)
-* Added git error fix. (Thanks to @toyboxZ)
-
 dragonpilot 0.7.10.1
 ========================
 * HYUNDAI_GENESIS 使用 INDI 控制器。(感謝 @donfyffe 提供)
--- a/CHANGELOGS-REL.md
+++ b/CHANGELOGS-REL.md
@@ -1,10 +1,3 @@
-dragonpilot 0.8.0
-========================
-* 基於最新 openpilot 0.8.0 devel.
-* Based on latest openpilot 0.8.0 devel.
-* 加入 git 錯誤修正。(感謝 @toyboxZ 提供)
-* Added git error fix. (Thanks to @toyboxZ)
-
 dragonpilot 0.7.10.0
 ========================
 * 基於最新 openpilot 0.7.10 devel.
--- a/CHANGELOGS.md
+++ b/CHANGELOGS.md
@@ -1,18 +1,3 @@
-2020-12-07 (0.8.0.0)
-========================
-* 錯誤修正。
-* Bug fixes.
-
-2020-12-04 (0.8.0.0)
-========================
-* 加入 git 錯誤修正。(感謝 @toyboxZ 提供)
-* Added git error fix. (Thanks to @toyboxZ)
-
-2020-12-02 (0.8.0.0)
-========================
-* 基於最新 openpilot 0.8.0 devel.
-* Based on latest openpilot 0.8.0 devel.
-
 2020-11-28 (0.7.10.0)
 ========================
 * 加入來自 afa 的 Honda inspire, accord, crv SnG 優化。(感謝 @menwenliang 提供)
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@@ -28,7 +28,7 @@ Code is automatically checked for style by Github Actions as part of the automat

 We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.

-If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty.
+If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty. 

 ## Pull Requests

--- a/README.md
+++ b/README.md
@@ -66,7 +66,7 @@ Supported Cars
 | ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
 | Acura     | ILX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 25mph             |
 | Acura     | RDX 2016-18                   | AcuraWatch Plus   | openpilot        | 25mph<sup>1</sup>  | 12mph             |
-| Acura     | RDX 2020                      | All               | Stock            | 0mph               | 3mph              |
+| Acura     | RDX 2020                      | AcuraWatch        | Stock            | 0mph               | 3mph              |
 | Honda     | Accord 2018-20                | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Accord Hybrid 2018-20         | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Civic Hatchback 2017-19       | Honda Sensing     | Stock            | 0mph               | 12mph             |
@@ -78,7 +78,6 @@ Supported Cars
 | Honda     | Fit 2018-19                   | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | HR-V 2019                     | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | Insight 2019-20               | All               | Stock            | 0mph               | 3mph              |
-| Honda     | Inspire 2018                  | All               | Stock            | 0mph               | 3mph              |
 | Honda     | Odyssey 2018-20               | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 0mph              |
 | Honda     | Passport 2019                 | All               | openpilot        | 25mph<sup>1</sup>  | 12mph             |
 | Honda     | Pilot 2016-19                 | Honda Sensing     | openpilot        | 25mph<sup>1</sup>  | 12mph             |
@@ -86,11 +85,10 @@ Supported Cars
 | Hyundai   | Palisade 2020                 | All               | Stock            | 0mph               | 0mph         |
 | Hyundai   | Sonata 2020                   | All               | Stock            | 0mph               | 0mph              |
 | Lexus     | CT Hybrid 2017-18             | LSS               | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Lexus     | ES 2019-20                    | All               | openpilot        | 0mph               | 0mph              |
+| Lexus     | ES 2019                       | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | ES Hybrid 2019                | All               | openpilot        | 0mph               | 0mph              |
 | Lexus     | IS 2017-2019                  | All               | Stock            | 22mph              | 0mph              |
 | Lexus     | IS Hybrid 2017                | All               | Stock            | 0mph               | 0mph              |
-| Lexus     | NX 2018                       | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | NX Hybrid 2018                | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | RX 2016-18                    | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Lexus     | RX 2020                       | All               | openpilot        | 0mph               | 0mph              |
@@ -98,11 +96,11 @@ Supported Cars
 | Lexus     | RX Hybrid 2020                | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Avalon 2016-18                | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
 | Toyota    | Camry 2018-20                 | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
-| Toyota    | Camry Hybrid 2018-20          | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
+| Toyota    | Camry Hybrid 2018-19          | All               | Stock            | 0mph<sup>4</sup>   | 0mph              |
 | Toyota    | C-HR 2017-19                  | All               | Stock            | 0mph               | 0mph              |
 | Toyota    | C-HR Hybrid 2017-19           | All               | Stock            | 0mph               | 0mph              |
 | Toyota    | Corolla 2017-19               | All               | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
-| Toyota    | Corolla 2020-21               | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Corolla 2020                  | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Corolla Hatchback 2019-20     | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Corolla Hybrid 2020-21        | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Highlander 2017-19            | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
@@ -110,12 +108,11 @@ Supported Cars
 | Toyota    | Highlander Hybrid 2017-19     | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Toyota    | Highlander Hybrid 2020        | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Prius 2016-20                 | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Prius 2021                    | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Prius Prime 2017-20           | All               | Stock<sup>3</sup>| 0mph               | 0mph              |
 | Toyota    | Rav4 2016-18                  | TSS-P             | Stock<sup>3</sup>| 20mph<sup>1</sup>  | 0mph              |
 | Toyota    | Rav4 2019-21                  | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Rav4 Hybrid 2016-18           | TSS-P             | Stock<sup>3</sup>| 0mph               | 0mph              |
-| Toyota    | Rav4 Hybrid 2019-21           | All               | openpilot        | 0mph               | 0mph              |
+| Toyota    | Rav4 Hybrid 2019-20           | All               | openpilot        | 0mph               | 0mph              |
 | Toyota    | Sienna 2018-20                | All               | Stock<sup>3</sup>| 0mph               | 0mph              |

 <sup>1</sup>[Comma Pedal](https://github.com/commaai/openpilot/wiki/comma-pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
@@ -139,7 +136,7 @@ Community Maintained Cars and Features
 | Genesis   | G70 2018                      | All               | Stock            | 0mph               | 0mph         |
 | Genesis   | G80 2018                      | All               | Stock            | 0mph               | 0mph         |
 | Genesis   | G90 2018                      | All               | Stock            | 0mph               | 0mph         |
-| GMC       | Acadia 2018<sup>1</sup>       | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
+| GMC       | Acadia Denali 2018<sup>2</sup>| Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Holden    | Astra 2017<sup>1</sup>        | Adaptive Cruise   | openpilot        | 0mph               | 7mph         |
 | Hyundai   | Elantra 2017-19               | SCC + LKAS        | Stock            | 19mph              | 34mph        |
 | Hyundai   | Genesis 2015-16               | SCC + LKAS        | Stock            | 19mph              | 37mph        |
@@ -152,7 +149,6 @@ Community Maintained Cars and Features
 | Jeep      | Grand Cherokee 2016-18        | Adaptive Cruise   | Stock            | 0mph               | 9mph         |
 | Jeep      | Grand Cherokee 2019-20        | Adaptive Cruise   | Stock            | 0mph               | 39mph        |
 | Kia       | Forte 2018-19                 | SCC + LKAS        | Stock            | 0mph               | 0mph         |
-| Kia       | Niro EV 2020                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Optima 2017                   | SCC + LKAS        | Stock            | 0mph               | 32mph        |
 | Kia       | Optima 2019                   | SCC + LKAS        | Stock            | 0mph               | 0mph         |
 | Kia       | Sorento 2018                  | SCC + LKAS        | Stock            | 0mph               | 0mph         |
@@ -166,7 +162,8 @@ Community Maintained Cars and Features
 | Subaru    | Impreza 2017-19               | EyeSight          | Stock            | 0mph               | 0mph         |
 | Volkswagen| Golf 2015-19                  | Driver Assistance | Stock            | 0mph               | 0mph         |

-<sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built ASCM harness](https://github.com/commaai/openpilot/wiki/GM#hardware). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
+<sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built giraffe](https://github.com/commaai/openpilot/wiki/GM). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
+<sup>2</sup>Requires a custom connector for the developer [car harness](https://comma.ai/shop/products/car-harness) <br />

 Although it's not upstream, there's a community of people getting openpilot to run on Tesla's [here](https://tinkla.us/)

@@ -242,6 +239,7 @@ Many factors can impact the performance of openpilot DM, causing it to be unable
 * Low light conditions, such as driving at night or in dark tunnels.
 * Bright light (due to oncoming headlights, direct sunlight, etc.).
 * The driver's face is partially or completely outside field of view of the driver facing camera.
+* Right hand driving vehicles.
 * The driver facing camera is obstructed, covered, or damaged.

 The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.
@@ -271,7 +269,7 @@ Safety and Testing

 Testing on PC
 ------
-For simplified development and experimentation, openpilot can be run in the CARLA driving simulator, which allows you to develop openpilot without a car. The whole setup should only take a few minutes.
+For simplified development and experimentation, openpilot can be run in the CARLA driving simulator, which allows you to develop openpilot without a car. The whole setup should only take a few minutes. 

 Steps:
 1) Start the CARLA server on first terminal
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,15 +1,3 @@
-Version 0.8.0 (2020-11-30)
-========================
- * New driving model: fully 3D and improved cut-in detection
- * UI draws 2 road edges, 4 lanelines and paths in 3D
- * Major fixes to cut-in detection for openpilot longitudinal
- * Grey panda is no longer supported, upgrade to comma two or black panda
- * Lexus NX 2018 support thanks to matt12eagles!
- * Kia Niro EV 2020 support thanks to nickn17!
- * Toyota Prius 2021 support thanks to rav4kumar!
- * Improved lane positioning with uncertain lanelines, wide lanes and exits
- * Improved lateral control for Prius and Subaru
-
 Version 0.7.10 (2020-10-29)
 ========================
 * Grey panda is deprecated, upgrade to comma two or black panda
--- a/76
+++ b/76
@@ -5,8 +5,6 @@ import shutil
 import subprocess
 import sys
 import platform
-import numpy as np
-from sysconfig import get_paths

 TICI = os.path.isfile('/TICI')
 Decider('MD5-timestamp')
@@ -130,10 +128,6 @@ else:
 # change pythonpath to this
 lenv["PYTHONPATH"] = Dir("#").path

-#Get the path for Python.h for cython linking
-python_path = get_paths()['include']
-numpy_path = np.get_include()
-
 env = Environment(
  ENV=lenv,
  CCFLAGS=[
@@ -165,7 +159,6 @@ env = Environment(
    "#phonelibs/linux/include",
    "#phonelibs/snpe/include",
    "#phonelibs/nanovg",
-    "#selfdrive/boardd",
    "#selfdrive/common",
    "#selfdrive/camerad",
    "#selfdrive/camerad/include",
@@ -188,14 +181,50 @@ env = Environment(
  CXXFLAGS=["-std=c++1z"] + cxxflags,
  LIBPATH=libpath + [
    "#cereal",
-    "#selfdrive/boardd",
    "#selfdrive/common",
    "#phonelibs",
-  ],
-  CYTHONCFILESUFFIX=".cpp",
-  tools=["default", "cython"]
+  ]
 )

+qt_env = None
+if arch in ["x86_64", "Darwin", "larch64"]:
+  qt_env = env.Clone()
+
+  if arch == "Darwin":
+    qt_env['QTDIR'] = "/usr/local/opt/qt"
+    QT_BASE = "/usr/local/opt/qt/"
+    qt_dirs = [
+      QT_BASE + "include/",
+      QT_BASE + "include/QtWidgets",
+      QT_BASE + "include/QtGui",
+      QT_BASE + "include/QtCore",
+      QT_BASE + "include/QtDBus",
+      QT_BASE + "include/QtMultimedia",
+    ]
+    qt_env["LINKFLAGS"] += ["-F" + QT_BASE + "lib"]
+  else:
+    qt_env['QTDIR'] = "/usr"
+    qt_dirs = [
+      f"/usr/include/{real_arch}-linux-gnu/qt5",
+      f"/usr/include/{real_arch}-linux-gnu/qt5/QtWidgets",
+      f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui",
+      f"/usr/include/{real_arch}-linux-gnu/qt5/QtCore",
+      f"/usr/include/{real_arch}-linux-gnu/qt5/QtDBus",
+      f"/usr/include/{real_arch}-linux-gnu/qt5/QtMultimedia",
+      f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.5.1/QtGui",
+    ]
+
+  qt_env.Tool('qt')
+  qt_env['CPPPATH'] += qt_dirs
+  qt_flags = [
+    "-D_REENTRANT",
+    "-DQT_NO_DEBUG",
+    "-DQT_WIDGETS_LIB",
+    "-DQT_GUI_LIB",
+    "-DQT_CORE_LIB"
+  ]
+  qt_env['CXXFLAGS'] += qt_flags
+
 if os.environ.get('SCONS_CACHE'):
  cache_dir = '/tmp/scons_cache'

@@ -209,9 +238,6 @@ if os.environ.get('SCONS_CACHE'):
      if not os.path.isdir(cache_dir_branch) and os.path.isdir(cache_dir):
        shutil.copytree(cache_dir, cache_dir_branch)
      cache_dir = cache_dir_branch
-  elif TICI:
-    cache_dir = '/data/scons_cache'
-
  CacheDir(cache_dir)

 node_interval = 5
@@ -235,28 +261,9 @@ def abspath(x):
    # rpath works elsewhere
    return x[0].path.rsplit("/", 1)[1][:-3]

-#Cython build enviroment
-envCython = env.Clone()
-envCython["CPPPATH"] += [python_path, numpy_path]
-envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
-
-python_libs = []
-if arch == "Darwin":
-  envCython["LINKFLAGS"]=["-bundle", "-undefined", "dynamic_lookup"]
-elif arch == "aarch64":
-  envCython["LINKFLAGS"]=["-shared"]
-
-  python_libs.append(os.path.basename(python_path))
-else:
-  envCython["LINKFLAGS"]=["-pthread", "-shared"]
-
-envCython["LIBS"] = python_libs
-
-Export('envCython')
-
 # still needed for apks
 zmq = 'zmq'
-Export('env', 'arch', 'real_arch', 'zmq', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY')
+Export('env', 'qt_env', 'arch', 'zmq', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY')

 # cereal and messaging are shared with the system
 SConscript(['cereal/SConscript'])
@@ -309,5 +316,6 @@ SConscript(['selfdrive/ui/SConscript'])
 if arch != "Darwin":
  SConscript(['selfdrive/logcatd/SConscript'])

+
 if arch == "x86_64":
  SConscript(['tools/lib/index_log/SConscript'])
--- a/cereal/SConscript
+++ b/cereal/SConscript
@@ -2,7 +2,6 @@ Import('env', 'arch', 'zmq', 'cython_dependencies')

 import shutil

-cereal_dir = Dir('.')
 gen_dir = Dir('gen')
 messaging_dir = Dir('messaging')

@@ -10,12 +9,12 @@ messaging_dir = Dir('messaging')
 env.Command(["gen/c/include/c++.capnp.h", "gen/c/include/java.capnp.h"], [], "mkdir -p " + gen_dir.path + "/c/include && touch $TARGETS")
 env.Command(['gen/cpp/car.capnp.c++', 'gen/cpp/log.capnp.c++', 'gen/cpp/car.capnp.h', 'gen/cpp/log.capnp.h'],
            ['car.capnp', 'log.capnp'],
-            f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
+            'capnpc $SOURCES --src-prefix=cereal -o c++:' + gen_dir.path + '/cpp/')

 if shutil.which('capnpc-java'):
  env.Command(['gen/java/Car.java', 'gen/java/Log.java'],
              ['car.capnp', 'log.capnp'],
-              f"capnpc $SOURCES --src-prefix={cereal_dir.path} -o java:{gen_dir.path}/java/")
+              'capnpc $SOURCES --src-prefix=cereal -o java:' + gen_dir.path + '/java/')

 # TODO: remove non shared cereal and messaging
 cereal_objects = env.SharedObject([
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -73,6 +73,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    preLaneChangeLeft @57;
    preLaneChangeRight @58;
    laneChange @59;
+    invalidGiraffeToyota @60;
    internetConnectivityNeeded @61;
    communityFeatureDisallowed @62;
    lowMemory @63;
@@ -93,6 +94,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    startupMaster @78;
    fcw @79;
    steerSaturated @80;
+    whitePandaUnsupported @81;
+    startupGreyPanda @82;
    belowEngageSpeed @84;
    noGps @85;
    wrongCruiseMode @87;
@@ -110,9 +113,6 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    driverMonitorOffDEPRECATED @42;
    calibrationProgressDEPRECATED @47;
    invalidGiraffeHondaDEPRECATED @49;
-    invalidGiraffeToyotaDEPRECATED @60;
-    whitePandaUnsupportedDEPRECATED @81;
-    startupGreyPandaDEPRECATED @82;
    canErrorPersistentDEPRECATED @83;
    focusRecoverActiveDEPRECATED @86;
    neosUpdateRequiredDEPRECATED @88;
--- a/common/SConscript
+++ b/common/SConscript
@@ -1,4 +1,14 @@
-Import('envCython')
+Import('env', 'cython_dependencies')

-envCython.Program('clock.so', 'clock.pyx')
-envCython.Program('params_pyx.so', 'params_pyx.pyx')
+# Build cython clock module
+env.Command(['common_pyx.so', 'clock.cpp'],
+            cython_dependencies + ['common_pyx_setup.py', 'clock.pyx'],
+            "cd common && python3 common_pyx_setup.py build_ext --inplace")
+
+# Build cython params module
+env.Command(['params_pyx.so', 'params_pyx.cpp'],
+            cython_dependencies + [
+                'params_pyx_setup.py', 'params_pyx.pyx', 'params_pxd.pxd',
+                '#selfdrive/common/params.cc', '#selfdrive/common/params.h',
+                '#selfdrive/common/util.c', '#selfdrive/common/util.h'],
+            "cd common && python3 params_pyx_setup.py build_ext --inplace")
--- a/common/clock.pyx
+++ b/common/clock.pyx
@@ -1,4 +1,3 @@
-# distutils: language = c++
 # cython: language_level = 3
 from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t

--- a/common/common_pyx_setup.py
+++ b/common/common_pyx_setup.py
@@ -0,0 +1,20 @@
+from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
+from Cython.Build import cythonize
+
+from common.cython_hacks import BuildExtWithoutPlatformSuffix
+
+sourcefiles = ['clock.pyx']
+extra_compile_args = ["-std=c++1z"]
+
+setup(name='common',
+      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
+      ext_modules=cythonize(
+        Extension(
+          "common_pyx",
+          language="c++",
+          sources=sourcefiles,
+          extra_compile_args=extra_compile_args,
+        ),
+        nthreads=4,
+      ),
+)
--- a/common/dp_conf.py
+++ b/common/dp_conf.py
@@ -55,7 +55,6 @@ confs = [
  {'name': 'dp_allow_gas', 'default': False, 'type': 'Bool', 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_max_ctrl_speed', 'default': 92., 'type': 'Float32', 'conf_type': ['param', 'struct']},
  {'name': 'dp_lead_car_alert', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
-  {'name': 'dp_lead_car_away_alert', 'default': True, 'type': 'Bool', 'conf_type': ['param']},
  {'name': 'dp_dynamic_follow', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 4, 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param', 'struct']},
  {'name': 'dp_dynamic_follow_multiplier', 'default': 1., 'type': 'Float32', 'min': 0.85, 'max': 1.2, 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param']},
  {'name': 'dp_dynamic_follow_min_tr', 'default': 0.9, 'type': 'Float32', 'min': 0.85, 'max': 1.6, 'depends': [{'name': 'dp_atl', 'vals': [False]}], 'conf_type': ['param']},
--- a/common/kalman/SConscript
+++ b/common/kalman/SConscript
@@ -1,3 +1,6 @@
-Import('envCython')
+Import('env', 'cython_dependencies')
+
+env.Command(['simple_kalman_impl.so'],
+            cython_dependencies + ['simple_kalman_impl.pyx', 'simple_kalman_impl.pxd', 'simple_kalman_setup.py'],
+            "cd common/kalman && python3 simple_kalman_setup.py build_ext --inplace")

-envCython.Program('simple_kalman_impl.so', 'simple_kalman_impl.pyx')
--- a/common/kalman/simple_kalman_impl.pyx
+++ b/common/kalman/simple_kalman_impl.pyx
@@ -1,4 +1,3 @@
-# distutils: language = c++
 # cython: language_level=3

 cdef class KF1D:
--- a/common/kalman/simple_kalman_setup.py
+++ b/common/kalman/simple_kalman_setup.py
@@ -0,0 +1,10 @@
+from distutils.core import Extension, setup
+
+from Cython.Build import cythonize
+
+from common.cython_hacks import BuildExtWithoutPlatformSuffix
+
+setup(name='Simple Kalman Implementation',
+      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
+      ext_modules=cythonize(Extension("simple_kalman_impl",
+                                      ["simple_kalman_impl.pyx"])))
--- a/common/kalman/tests/test_simple_kalman.py
+++ b/common/kalman/tests/test_simple_kalman.py
@@ -82,6 +82,3 @@ kf = KF1D(x0=[[x0_0], [x1_0]],
    kf_speed = timeit.timeit("kf.update(1234)", setup=setup, number=10000)
    kf_old_speed = timeit.timeit("kf_old.update(1234)", setup=setup, number=10000)
    self.assertTrue(kf_speed < kf_old_speed / 4)
-
-if __name__ == "__main__":
-  unittest.main()
--- a/common/params_pyx.pyx
+++ b/common/params_pyx.pyx
@@ -2,7 +2,7 @@
 # cython: language_level = 3
 from libcpp cimport bool
 from libcpp.string cimport string
-from common.params_pxd cimport Params as c_Params
+from params_pxd cimport Params as c_Params
 from common.dp_conf import init_params_keys

 import os
@@ -70,7 +70,6 @@ keys = {
  b"Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
  b"Offroad_NeosUpdate": [TxType.CLEAR_ON_MANAGER_START],
  b"Offroad_UpdateFailed": [TxType.CLEAR_ON_MANAGER_START],
-  b"Offroad_HardwareUnsupported": [TxType.CLEAR_ON_MANAGER_START],
 }

 keys = init_params_keys(keys, [TxType.PERSISTENT])
--- a/common/params_pyx_setup.py
+++ b/common/params_pyx_setup.py
@@ -0,0 +1,33 @@
+import os
+import subprocess
+from distutils.core import Extension, setup
+from Cython.Build import cythonize
+
+from common.cython_hacks import BuildExtWithoutPlatformSuffix
+from common.basedir import BASEDIR
+from common.hardware import TICI
+
+ARCH = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()  # pylint: disable=unexpected-keyword-arg
+
+sourcefiles = ['params_pyx.pyx']
+extra_compile_args = ["-std=c++11"]
+
+if ARCH == "aarch64":
+  if TICI:
+    extra_compile_args += ["-DQCOM2"]
+  else:
+    extra_compile_args += ["-DQCOM"]
+
+
+setup(name='common',
+      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
+      ext_modules=cythonize(
+        Extension(
+          "params_pyx",
+          language="c++",
+          sources=sourcefiles,
+          include_dirs=[BASEDIR, os.path.join(BASEDIR, 'selfdrive')],
+          extra_compile_args=extra_compile_args
+        )
+      )
+)
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -5,7 +5,7 @@ import time
 import multiprocessing

 from common.hardware import PC
-from common.clock import sec_since_boot  # pylint: disable=no-name-in-module, import-error
+from common.common_pyx import sec_since_boot  # pylint: disable=no-name-in-module, import-error


 # time step for each process
--- a/common/spinner.py
+++ b/common/spinner.py
@@ -4,14 +4,17 @@ from common.basedir import BASEDIR


 class Spinner():
-  def __init__(self):
-    try:
-      self.spinner_proc = subprocess.Popen(["./spinner"],
-                                           stdin=subprocess.PIPE,
-                                           cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
-                                           close_fds=True)
-    except OSError:
-      self.spinner_proc = None
+  def __init__(self, noop=False):
+    # spinner is currently only implemented for android
+    self.spinner_proc = None
+    if not noop:
+      try:
+        self.spinner_proc = subprocess.Popen(["./spinner"],
+                                             stdin=subprocess.PIPE,
+                                             cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
+                                             close_fds=True)
+      except OSError:
+        self.spinner_proc = None

  def __enter__(self):
    return self
--- a/common/text_window.py
+++ b/common/text_window.py
@@ -6,14 +6,17 @@ from common.basedir import BASEDIR


 class TextWindow:
-  def __init__(self, text):
-    try:
-      self.text_proc = subprocess.Popen(["./text", text],
-                                        stdin=subprocess.PIPE,
-                                        cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
-                                        close_fds=True)
-    except OSError:
-      self.text_proc = None
+  def __init__(self, s, noop=False):
+    # text window is only implemented for android currently
+    self.text_proc = None
+    if not noop:
+      try:
+        self.text_proc = subprocess.Popen(["./text", s],
+                                          stdin=subprocess.PIPE,
+                                          cwd=os.path.join(BASEDIR, "selfdrive", "ui", "text"),
+                                          close_fds=True)
+      except OSError:
+        self.text_proc = None

  def get_status(self):
    if self.text_proc is not None:
--- a/common/transformations/SConscript
+++ b/common/transformations/SConscript
@@ -1,3 +1,8 @@
-Import('envCython')
+Import('env', 'cython_dependencies')

-envCython.Program('transformations.so', 'transformations.pyx')
+d = Dir('.')
+
+env.Command(['transformations.so'],
+            cython_dependencies + ['transformations.pxd', 'transformations.pyx',
+             'coordinates.cc', 'orientation.cc', 'coordinates.hpp', 'orientation.hpp'],
+            'cd ' + d.path + ' && python3 setup.py build_ext --inplace')
--- a/common/transformations/camera.py
+++ b/common/transformations/camera.py
@@ -178,7 +178,7 @@ def img_from_device(pt_device):
 def get_camera_frame_from_calib_frame(camera_frame_from_road_frame, intrinsics=fcam_intrinsics):
  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
  calib_frame_from_ground = np.dot(intrinsics,
-                                     get_view_frame_from_road_frame(0, 0, 0, 1.22))[:, (0, 1, 3)]
+                                   get_view_frame_from_road_frame(0, 0, 0, 1.22))[:, (0, 1, 3)]
  ground_from_calib_frame = np.linalg.inv(calib_frame_from_ground)
  camera_frame_from_calib_frame = np.dot(camera_frame_from_ground, ground_from_calib_frame)
  return camera_frame_from_calib_frame
--- a/common/transformations/model.py
+++ b/common/transformations/model.py
@@ -76,16 +76,16 @@ sbigmodel_intrinsics = np.array([
  [0.0,  0.0,                                     1.0]])

 model_frame_from_road_frame = np.dot(model_intrinsics,
-  get_view_frame_from_road_frame(0, 0, 0, model_height))
+                                     get_view_frame_from_road_frame(0, 0, 0, model_height))

 bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
-  get_view_frame_from_road_frame(0, 0, 0, model_height))
+                                        get_view_frame_from_road_frame(0, 0, 0, model_height))

 medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
-  get_view_frame_from_road_frame(0, 0, 0, model_height))
+                                        get_view_frame_from_road_frame(0, 0, 0, model_height))

 medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics,
-  get_view_frame_from_calib_frame(0, 0, 0, 0))
+                                         get_view_frame_from_calib_frame(0, 0, 0, 0))

 model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics))
 medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics))
--- a/common/transformations/setup.py
+++ b/common/transformations/setup.py
@@ -0,0 +1,20 @@
+import numpy
+
+from Cython.Build import cythonize
+from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
+from common.cython_hacks import BuildExtWithoutPlatformSuffix
+
+setup(
+  name='Cython transformations wrapper',
+  cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
+  ext_modules=cythonize(
+    Extension(
+      "transformations",
+      sources=["transformations.pyx"],
+      language="c++",
+      extra_compile_args=["-std=c++1z", "-Wno-cpp"],
+      include_dirs=[numpy.get_include()],
+    ),
+    nthreads=4,
+  )
+)
--- a/common/transformations/transformations.pyx
+++ b/common/transformations/transformations.pyx
@@ -1,20 +1,18 @@
-# distutils: language = c++
-# cython: language_level = 3
-from common.transformations.transformations cimport Matrix3, Vector3, Quaternion
-from common.transformations.transformations cimport ECEF, NED, Geodetic
+from transformations cimport Matrix3, Vector3, Quaternion
+from transformations cimport ECEF, NED, Geodetic

-from common.transformations.transformations cimport euler2quat as euler2quat_c
-from common.transformations.transformations cimport quat2euler as quat2euler_c
-from common.transformations.transformations cimport quat2rot as quat2rot_c
-from common.transformations.transformations cimport rot2quat as rot2quat_c
-from common.transformations.transformations cimport euler2rot as euler2rot_c
-from common.transformations.transformations cimport rot2euler as rot2euler_c
-from common.transformations.transformations cimport rot_matrix as rot_matrix_c
-from common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
-from common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
-from common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
-from common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
-from common.transformations.transformations cimport LocalCoord_c
+from transformations cimport euler2quat as euler2quat_c
+from transformations cimport quat2euler as quat2euler_c
+from transformations cimport quat2rot as quat2rot_c
+from transformations cimport rot2quat as rot2quat_c
+from transformations cimport euler2rot as euler2rot_c
+from transformations cimport rot2euler as rot2euler_c
+from transformations cimport rot_matrix as rot_matrix_c
+from transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
+from transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
+from transformations cimport geodetic2ecef as geodetic2ecef_c
+from transformations cimport ecef2geodetic as ecef2geodetic_c
+from transformations cimport LocalCoord_c


 import cython
--- a/launch_openpilot.sh
+++ b/launch_openpilot.sh
@@ -1,10 +1,4 @@
 #!/usr/bin/bash
-size=$(du -sb .git/index 2>/dev/null|awk '{print $1}')
-echo $size|grep -E '^[0-9]+$' >/dev/null || size=0
-if [ $size -le 1024 ];then
-    rm .git/index 2>/dev/null
-    git reset
-fi
 /usr/bin/sh /data/openpilot/dragonpilot/cjk-fonts/installer.sh &
 export PASSIVE="0"
 exec ./launch_chffrplus.sh
--- a/opendbc/can/common.cc
+++ b/opendbc/can/common.cc
@@ -97,17 +97,18 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
  // a magic variable padding byte tacked onto the end of the payload.
  // https://www.autosar.org/fileadmin/user_upload/standards/classic/4-3/AUTOSAR_SWS_CRCLibrary.pdf

+  uint8_t *dat = (uint8_t *)&d;
  uint8_t crc = 0xFF; // Standard init value for CRC8 8H2F/AUTOSAR

  // CRC the payload first, skipping over the first byte where the CRC lives.
  for (int i = 1; i < l; i++) {
-    crc ^= (d >> (i*8)) & 0xFF;
+    crc ^= dat[i];
    crc = crc8_lut_8h2f[crc];
  }

  // Look up and apply the magic final CRC padding byte, which permutes by CAN
  // address, and additionally (for SOME addresses) by the message counter.
-  uint8_t counter = ((d >> 8) & 0xFF) & 0x0F;
+  uint8_t counter = dat[1] & 0x0F;
  switch(address) {
    case 0x86:  // LWI_01 Steering Angle
      crc ^= (uint8_t[]){0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86}[counter];
@@ -175,9 +176,11 @@ unsigned int pedal_checksum(uint64_t d, int l) {
  d >>= ((8-l)*8); // remove padding
  d >>= 8; // remove checksum

+  uint8_t *dat = (uint8_t *)&d;
+
  int i, j;
  for (i = 0; i < l - 1; i++) {
-    crc ^= (d >> (i*8)) & 0xFF;
+    crc ^= dat[i];
    for (j = 0; j < 8; j++) {
      if ((crc & 0x80) != 0) {
        crc = (uint8_t)((crc << 1) ^ poly);
--- a/opendbc/toyota_nodsu_pt_generated.dbc
+++ b/opendbc/toyota_nodsu_pt_generated.dbc
@@ -424,6 +424,14 @@ BO_ 956 GEAR_PACKET: 8 XXX
 SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
 SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX

+BO_ 1653 Date_Time: 8 XXX
+ SG_ Year : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ Month : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ Day : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ Hour : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ Minute : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ Second : 63|8@0+ (1,0) [0|255] "" XXX
+
 CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force";
 CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
 CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
--- a/release/build_release2.sh
+++ b/release/build_release2.sh
@@ -35,9 +35,7 @@ else
  git checkout --orphan release2-staging
 fi

-VERSION=$(cat selfdrive/common/version.h | awk -F[\"-]  '{print $2}')
-echo "#define COMMA_VERSION \"$VERSION-release\"" > selfdrive/common/version.h
-
+VERSION=$(cat selfdrive/common/version.h | awk -F\" '{print $2}')
 git commit -m "openpilot v$VERSION"

 # Build signed panda firmware
--- a/selfdrive/assets/offroad/circled-checkmark-empty.png
+++ b/selfdrive/assets/offroad/circled-checkmark-empty.png
--- a/selfdrive/boardd/SConscript
+++ b/selfdrive/boardd/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'common', 'cereal', 'messaging')
+Import('env', 'common', 'cereal', 'messaging', 'cython_dependencies')
 # dp - Add read dp_disable_relay value
 if FindFile('dp_disable_relay', '/data/params/d') != None:
  with open('/data/params/d/dp_disable_relay') as f:
@@ -7,4 +7,6 @@ if FindFile('dp_disable_relay', '/data/params/d') != None:
 env.Program('boardd', ['boardd.cc', 'panda.cc', 'pigeon.cc'], LIBS=['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj'])
 env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])

-envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])
+env.Command(['boardd_api_impl.so', 'boardd_api_impl.cpp'],
+            cython_dependencies + ['libcan_list_to_can_capnp.a', 'boardd_api_impl.pyx', 'boardd_setup.py'],
+            "cd selfdrive/boardd && python3 boardd_setup.py build_ext --inplace")
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -56,9 +56,7 @@ struct tm get_time(){
 }

 bool time_valid(struct tm sys_time){
-  int year = 1900 + sys_time.tm_year;
-  int month = 1 + sys_time.tm_mon;
-  return (year > 2020) || (year == 2020 && month >= 10);
+  return 1900 + sys_time.tm_year >= 2019;
 }

 void safety_setter_thread() {
@@ -109,9 +107,8 @@ void safety_setter_thread() {
  capnp::FlatArrayMessageReader cmsg(amsg);
  cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
  cereal::CarParams::SafetyModel safety_model = car_params.getSafetyModel();
-
-  panda->set_unsafe_mode(9);  // see safety_declarations.h for allowed values
-
+  LOGW("setting unsafe mode");
+  panda->set_unsafe_mode(9);
  auto safety_param = car_params.getSafetyParam();
  LOGW("setting safety model: %d with param %d", (int)safety_model, safety_param);

@@ -484,12 +481,10 @@ void pigeon_thread() {
 #endif

  pigeon->init();
-
  // dp
  #ifdef DisableRelay
  panda->set_safety_model(cereal::CarParams::SafetyModel::TOYOTA);
  #endif
-
  while (!do_exit && panda->connected) {
    std::string recv = pigeon->receive();
    if (recv.length() > 0) {
--- a/selfdrive/boardd/boardd_setup.py
+++ b/selfdrive/boardd/boardd_setup.py
@@ -0,0 +1,22 @@
+from distutils.core import Extension, setup
+from Cython.Build import cythonize
+
+from common.cython_hacks import BuildExtWithoutPlatformSuffix
+
+libraries = ['can_list_to_can_capnp', 'capnp', 'kj']
+
+setup(name='Boardd API Implementation',
+      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
+      ext_modules=cythonize(
+        Extension(
+          "boardd_api_impl",
+          libraries=libraries,
+          library_dirs=[
+            './',
+          ],
+          sources=['boardd_api_impl.pyx'],
+          language="c++",
+          extra_compile_args=["-std=c++1z", "-Wno-nullability-completeness"],
+        )
+      )
+)
--- a/selfdrive/boardd/panda.cc
+++ b/selfdrive/boardd/panda.cc
@@ -188,8 +188,8 @@ void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, int sa
  usb_write(0xdc, (uint16_t)safety_model, safety_param);
 }

-void Panda::set_unsafe_mode(uint16_t unsafe_mode) {
-  usb_write(0xdf, unsafe_mode, 0);
+void Panda::set_unsafe_mode(uint16_t wValue){
+  usb_write(0xdf, wValue, 0);
 }

 cereal::HealthData::HwType Panda::get_hw_type() {
@@ -283,6 +283,7 @@ const char* Panda::get_serial(){

  delete[] serial_buf;
  return NULL;
+
 }

 void Panda::set_power_saving(bool power_saving){
--- a/selfdrive/boardd/panda.h
+++ b/selfdrive/boardd/panda.h
@@ -63,7 +63,7 @@ class Panda {
  // Panda functionality
  cereal::HealthData::HwType get_hw_type();
  void set_safety_model(cereal::CarParams::SafetyModel safety_model, int safety_param=0);
-  void set_unsafe_mode(uint16_t unsafe_mode);
+  void set_unsafe_mode(uint16_t wValue);
  void set_rtc(struct tm sys_time);
  struct tm get_rtc();
  void set_fan_speed(uint16_t fan_speed);
--- a/selfdrive/camerad/SConscript
+++ b/selfdrive/camerad/SConscript
@@ -11,6 +11,10 @@ if arch == "aarch64":
 elif arch == "larch64":
  libs += ['atomic']
  cameras = ['cameras/camera_qcom2.cc']
+  # no screen
+  # env = env.Clone()
+  # env.Append(CXXFLAGS = '-DNOSCREEN')
+  # env.Append(CFLAGS = '-DNOSCREEN')
 else:
  if USE_WEBCAM:
    libs += ['opencv_core', 'opencv_highgui', 'opencv_imgproc', 'opencv_videoio']
@@ -24,9 +28,8 @@ else:

  if arch == "Darwin":
    del libs[libs.index('OpenCL')]
-    del libs[libs.index(gpucommon)][gpucommon.index('GL')]
    env = env.Clone()
-    env['FRAMEWORKS'] = ['OpenCL', 'OpenGL']
+    env['FRAMEWORKS'] = ['OpenCL']

 env.SharedLibrary('snapshot/visionipc',
  ["#selfdrive/common/visionipc.c", "#selfdrive/common/ipc.c"])
--- a/selfdrive/camerad/cameras/camera_common.cc
+++ b/selfdrive/camerad/cameras/camera_common.cc
@@ -24,12 +24,6 @@
 #include "common/util.h"
 #include "imgproc/utils.h"

-const int env_xmin = getenv("XMIN") ? atoi(getenv("XMIN")) : 0;
-const int env_xmax = getenv("XMAX") ? atoi(getenv("XMAX")) : -1;
-const int env_ymin = getenv("YMIN") ? atoi(getenv("YMIN")) : 0;
-const int env_ymax = getenv("YMAX") ? atoi(getenv("YMAX")) : -1;
-const int env_scale = getenv("SCALE") ? atoi(getenv("SCALE")) : 1;
-
 static cl_program build_debayer_program(cl_device_id device_id, cl_context context, const CameraInfo *ci, const CameraBuf *b) {
  char args[4096];
  snprintf(args, sizeof(args),
@@ -213,6 +207,7 @@ void CameraBuf::stop() {

 void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, uint32_t cnt) {
  framed.setFrameId(frame_data.frame_id);
+  framed.setEncodeId(cnt);
  framed.setTimestampEof(frame_data.timestamp_eof);
  framed.setFrameLength(frame_data.frame_length);
  framed.setIntegLines(frame_data.integ_lines);
@@ -224,27 +219,6 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr
  framed.setGainFrac(frame_data.gain_frac);
 }

-void fill_frame_image(cereal::FrameData::Builder &framed, uint8_t *dat, int w, int h, int stride) {
-  if (dat != nullptr) {
-    int scale = env_scale;
-    int x_min = env_xmin; int y_min = env_ymin; int x_max = w-1; int y_max = h-1;
-    if (env_xmax != -1) x_max = env_xmax;
-    if (env_ymax != -1) y_max = env_ymax;
-    int new_width = (x_max - x_min + 1) / scale;
-    int new_height = (y_max - y_min + 1) / scale;
-    uint8_t *resized_dat = new uint8_t[new_width*new_height*3];
-
-    int goff = x_min*3 + y_min*stride;
-    for (int r=0;r<new_height;r++) {
-      for (int c=0;c<new_width;c++) {
-        memcpy(&resized_dat[(r*new_width+c)*3], &dat[goff+r*stride*scale+c*3*scale], 3*sizeof(uint8_t));
-      }
-    }
-    framed.setImage(kj::arrayPtr((const uint8_t*)resized_dat, new_width*new_height*3));
-    delete[] resized_dat;
-  }
-}
-
 void create_thumbnail(MultiCameraState *s, CameraState *c, uint8_t *bgr_ptr) {
  const CameraBuf *b = &c->buf;

@@ -428,8 +402,5 @@ void common_camera_process_front(SubMaster *sm, PubMaster *pm, CameraState *c, i
  auto framed = msg.initEvent().initFrontFrame();
  framed.setFrameType(cereal::FrameData::FrameType::FRONT);
  fill_frame_data(framed, b->cur_frame_data, cnt);
-  if (env_send_front) {
-    fill_frame_image(framed, (uint8_t*)b->cur_rgb_buf->addr, b->rgb_width, b->rgb_height, b->rgb_stride);
-  }
  pm->send("frontFrame", msg);
 }
--- a/selfdrive/camerad/cameras/camera_qcom.cc
+++ b/selfdrive/camerad/cameras/camera_qcom.cc
@@ -1,3 +1,4 @@
+#include <stdlib.h>
 #include <stdio.h>
 #include <stdbool.h>
 #include <assert.h>
@@ -2140,9 +2141,6 @@ void camera_process_frame(MultiCameraState *s, CameraState *c, int cnt) {
    MessageBuilder msg;
    auto framed = msg.initEvent().initFrame();
    fill_frame_data(framed, b->cur_frame_data, cnt);
-    if (env_send_rear) {
-      fill_frame_image(framed, (uint8_t*)b->cur_rgb_buf->addr, b->rgb_width, b->rgb_height, b->rgb_stride);
-    }
    framed.setFocusVal(kj::ArrayPtr<const int16_t>(&s->rear.focus[0], NUM_FOCUS));
    framed.setFocusConf(kj::ArrayPtr<const uint8_t>(&s->rear.confidence[0], NUM_FOCUS));
    framed.setSharpnessScore(kj::ArrayPtr<const uint16_t>(&s->lapres[0], ARRAYSIZE(s->lapres)));
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -13,17 +13,24 @@ from common.dp_common import is_online
 import threading
 import selfdrive.crash as crash

-from cereal import car
+from cereal import car, log
 EventName = car.CarEvent.EventName
+HwType = log.HealthData.HwType


-def get_startup_event(car_recognized, controller_available):
+def get_startup_event(car_recognized, controller_available, hw_type):
+  # if comma_remote and tested_branch:
+  #   event = EventName.startup
+  # else:
+  #   event = EventName.startupMaster
  event = EventName.startup

  if not car_recognized:
    event = EventName.startupNoCar
  elif car_recognized and not controller_available:
    event = EventName.startupNoControl
+  # elif hw_type == HwType.greyPanda:
+  #   event = EventName.startupGreyPanda
  return event


@@ -82,24 +89,15 @@ def only_toyota_left(candidate_cars):


 # **** for use live only ****
-def fingerprint(logcan, sendcan):
-  params = Params()
-  car_selected = params.get('dp_car_selected', encoding='utf8')
-  car_detected = params.get('dp_car_detected', encoding='utf8')
-  cached_params = params.get("CarParamsCache")
-  if cached_params is None and car_selected == "" and car_detected != "":
-    params.put('dp_car_selected', car_detected)
-    params.put('dp_car_detected', "")
-
-  fixed_fingerprint = os.environ.get('FINGERPRINT', "")
-  if fixed_fingerprint == "" and cached_params is None and car_selected != "":
-    fixed_fingerprint = car_selected
+def fingerprint(logcan, sendcan, has_relay):
+  fixed_fingerprint = os.environ.get('FINGERPRINT', "") or Params().get('dp_car_selected', encoding='utf8')
  skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)

-  if not fixed_fingerprint and not skip_fw_query:
+  if has_relay and not fixed_fingerprint and not skip_fw_query:
    # Vin query only reliably works thorugh OBDII
    bus = 1

+    cached_params = Params().get("CarParamsCache")
    if cached_params is not None:
      cached_params = car.CarParams.from_bytes(cached_params)
      if cached_params.carName == "mock":
@@ -151,7 +149,8 @@ def fingerprint(logcan, sendcan):
      # Toyota needs higher time to fingerprint, since DSU does not broadcast immediately
      if only_toyota_left(candidate_cars[b]):
        frame_fingerprint = 100  # 1s
-      if len(candidate_cars[b]) == 1 and frame > frame_fingerprint:
+      if len(candidate_cars[b]) == 1:
+        if frame > frame_fingerprint:
          # fingerprint done
          car_fingerprint = candidate_cars[b][0]

@@ -178,8 +177,8 @@ def fingerprint(logcan, sendcan):
  return car_fingerprint, finger, vin, car_fw, source


-def get_car(logcan, sendcan):
-  candidate, fingerprints, vin, car_fw, source = fingerprint(logcan, sendcan)
+def get_car(logcan, sendcan, has_relay=False):
+  candidate, fingerprints, vin, car_fw, source = fingerprint(logcan, sendcan, has_relay)

  if candidate is None:
    cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
@@ -190,7 +189,7 @@ def get_car(logcan, sendcan):
    x.start()

  CarInterface, CarController, CarState = interfaces[candidate]
-  car_params = CarInterface.get_params(candidate, fingerprints, car_fw)
+  car_params = CarInterface.get_params(candidate, fingerprints, has_relay, car_fw)
  car_params.carVin = vin
  car_params.carFw = car_fw
  car_params.fingerprintSource = source
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.car.chrysler.values import CAR
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
+from selfdrive.car.chrysler.values import Ecu, ECU_FINGERPRINT, CAR, FINGERPRINTS
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
 from common.dp_common import common_interface_atl, common_interface_get_params_lqr

@@ -11,11 +11,11 @@ class CarInterface(CarInterfaceBase):
    return float(accel) / 3.0

  @staticmethod
-  def get_params(candidate, fingerprint=None, car_fw=None):
+  def get_params(candidate, fingerprint=None, has_relay=False, car_fw=None):
    if fingerprint is None:
      fingerprint = gen_empty_fingerprint()

-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
    ret.carName = "chrysler"
    ret.safetyModel = car.CarParams.SafetyModel.chrysler
    ret.lateralTuning.init('pid')
@@ -56,7 +56,8 @@ class CarInterface(CarInterfaceBase):
    # mass and CG position, so all cars will have approximately similar dyn behaviors
    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)

-    ret.enableCamera = True
+    ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
+    print("ECU Camera Simulated: {0}".format(ret.enableCamera))

    return ret

--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -91,3 +91,8 @@ DBC = {
 }

 STEER_THRESHOLD = 120
+
+
+ECU_FINGERPRINT = {
+  Ecu.fwdCamera: [0x292],  # lkas cmd
+}
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -2,8 +2,8 @@
 from cereal import car
 from selfdrive.swaglog import cloudlog
 from selfdrive.config import Conversions as CV
-from selfdrive.car.ford.values import MAX_ANGLE
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
+from selfdrive.car.ford.values import MAX_ANGLE, Ecu, ECU_FINGERPRINT, FINGERPRINTS
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
 from common.dp_common import common_interface_atl, common_interface_get_params_lqr

@@ -14,8 +14,8 @@ class CarInterface(CarInterfaceBase):
    return float(accel) / 3.0

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
    ret.carName = "ford"
    ret.safetyModel = car.CarParams.SafetyModel.ford
    ret.dashcamOnly = True
@@ -47,7 +47,7 @@ class CarInterface(CarInterfaceBase):

    ret.steerControlType = car.CarParams.SteerControlType.angle

-    ret.enableCamera = True
+    ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
    cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)

    return ret
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -15,6 +15,10 @@ FINGERPRINTS = {
  }],
 }

+ECU_FINGERPRINT = {
+  Ecu.fwdCamera: [970, 973, 984]
+}
+
 DBC = {
  CAR.FUSION: dbc_dict('ford_fusion_2018_pt', 'ford_fusion_2018_adas'),
 }
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -28,7 +28,7 @@ SHORT_TESTER_PRESENT_RESPONSE = bytes([uds.SERVICE_TYPE.TESTER_PRESENT + 0x40])
 DEFAULT_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
                                    uds.SESSION_TYPE.DEFAULT])
 DEFAULT_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40,
-                                    uds.SESSION_TYPE.DEFAULT, 0x0, 0x32, 0x1, 0xf4])
+                                     uds.SESSION_TYPE.DEFAULT, 0x0, 0x32, 0x1, 0xf4])

 EXTENDED_DIAGNOSTIC_REQUEST = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL,
                                     uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC])
@@ -36,20 +36,20 @@ EXTENDED_DIAGNOSTIC_RESPONSE = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTRO
                                      uds.SESSION_TYPE.EXTENDED_DIAGNOSTIC, 0x0, 0x32, 0x1, 0xf4])

 UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
+                      p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
 UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)
+                       p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION)


 HYUNDAI_VERSION_REQUEST_SHORT = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-  p16(0xf1a0)  # 4 Byte version number
+                                p16(0xf1a0)  # 4 Byte version number
 HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-  p16(0xf100)  # Long description
+                               p16(0xf100)  # Long description
 HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
-  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \
-  p16(0xf100) + \
-  p16(0xf1a0)
+                                p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
+                                p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \
+                                p16(0xf100) + \
+                                p16(0xf1a0)
 HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])


--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
 from cereal import car
 from selfdrive.config import Conversions as CV
-from selfdrive.car.gm.values import CAR, CruiseButtons, \
-                                    AccState
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
+from selfdrive.car.gm.values import CAR, Ecu, ECU_FINGERPRINT, CruiseButtons, \
+                                    AccState, FINGERPRINTS
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
 from common.dp_common import common_interface_atl, common_interface_get_params_lqr

@@ -17,8 +17,8 @@ class CarInterface(CarInterfaceBase):
    return float(accel) / 4.0

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
    ret.carName = "gm"
    ret.safetyModel = car.CarParams.SafetyModel.gm
    ret.enableCruise = False  # stock cruise control is kept off
@@ -31,7 +31,7 @@ class CarInterface(CarInterfaceBase):
    # Presence of a camera on the object bus is ok.
    # Have to go to read_only if ASCM is online (ACC-enabled cars),
    # or camera is on powertrain bus (LKA cars without ACC).
-    ret.enableCamera = True
+    ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
    ret.openpilotLongitudinalControl = ret.enableCamera
    tire_stiffness_factor = 0.444  # not optimized yet

--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -70,6 +70,10 @@ FINGERPRINTS = {

 STEER_THRESHOLD = 1.0

+ECU_FINGERPRINT = {
+  Ecu.fwdCamera: [384, 715]  # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
+}
+
 DBC = {
  CAR.HOLDEN_ASTRA: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
  CAR.VOLT: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -77,13 +77,13 @@ HUDData = namedtuple("HUDData",

 class CarControllerParams():
  def __init__(self, CP):
-    self.BRAKE_MAX = 1024//4
-    self.STEER_MAX = CP.lateralParams.torqueBP[-1]
-    # mirror of list (assuming first item is zero) for interp of signed request values
-    assert(CP.lateralParams.torqueBP[0] == 0)
-    assert(CP.lateralParams.torqueBP[0] == 0)
-    self.STEER_LOOKUP_BP = [v * -1 for v in CP.lateralParams.torqueBP][1:][::-1] + list(CP.lateralParams.torqueBP)
-    self.STEER_LOOKUP_V = [v * -1 for v in CP.lateralParams.torqueV][1:][::-1] + list(CP.lateralParams.torqueV)
+      self.BRAKE_MAX = 1024//4
+      self.STEER_MAX = CP.lateralParams.torqueBP[-1]
+      # mirror of list (assuming first item is zero) for interp of signed request values
+      assert(CP.lateralParams.torqueBP[0] == 0)
+      assert(CP.lateralParams.torqueBP[0] == 0)
+      self.STEER_LOOKUP_BP = [v * -1 for v in CP.lateralParams.torqueBP][1:][::-1] + list(CP.lateralParams.torqueBP)
+      self.STEER_LOOKUP_V = [v * -1 for v in CP.lateralParams.torqueV][1:][::-1] + list(CP.lateralParams.torqueV)

 class CarController():
  def __init__(self, dbc_name, CP, VM):
@@ -179,35 +179,37 @@ class CarController():
    # Send steering command.
    idx = frame % 4
    can_sends.append(hondacan.create_steering_control(self.packer, apply_steer,
-      lkas_active, CS.CP.carFingerprint, idx, CS.CP.openpilotLongitudinalControl))
+      lkas_active, CS.CP.carFingerprint, idx, CS.CP.isPandaBlack, CS.CP.openpilotLongitudinalControl))

    # Send dashboard UI commands.
    if not dragonconf.dpAtl and (frame % 10) == 0:
      idx = (frame//10) % 4
-      can_sends.extend(hondacan.create_ui_commands(self.packer, pcm_speed, hud, CS.CP.carFingerprint, CS.is_metric, idx, CS.CP.openpilotLongitudinalControl, CS.stock_hud))
+      can_sends.extend(hondacan.create_ui_commands(self.packer, pcm_speed, hud, CS.CP.carFingerprint, CS.is_metric, idx, CS.CP.isPandaBlack, CS.CP.openpilotLongitudinalControl, CS.stock_hud))

    if not CS.CP.openpilotLongitudinalControl:
      if (frame % 2) == 0:
        idx = frame // 2
-        can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, CS.CP.carFingerprint, idx))
+        can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, CS.CP.carFingerprint, idx, CS.CP.isPandaBlack))
      if dragonconf.dpAtl:
        pass
      # If using stock ACC, spam cancel command to kill gas when OP disengages.
      elif not dragonconf.dpAllowGas and pcm_cancel_cmd:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, idx, CS.CP.carFingerprint))
+        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
      elif CS.out.cruiseState.standstill:
        if CS.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
          rough_lead_speed = self.rough_speed(CS.lead_distance)
          if CS.lead_distance > (self.stopped_lead_distance + 15.0) or rough_lead_speed > 0.1:
            self.stopped_lead_distance = 0.0
            can_sends.append(
-              hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint))
+              hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint,
+                                            CS.CP.isPandaBlack))
        elif CS.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.CRV_HYBRID):
          if CS.hud_lead == 1:
            can_sends.append(
-              hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint))
+              hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint,
+                                            CS.CP.isPandaBlack))
        else:
-          can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint))
+          can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint,CS.CP.isPandaBlack))
      else:
        self.stopped_lead_distance = CS.lead_distance
        self.prev_lead_distance = CS.lead_distance
@@ -224,7 +226,7 @@ class CarController():
            apply_brake = int(clip(self.brake_last * P.BRAKE_MAX, 0, P.BRAKE_MAX - 1))
            pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts)
            can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
-              pcm_override, pcm_cancel_cmd, hud.fcw, idx, CS.CP.carFingerprint, CS.stock_brake))
+              pcm_override, pcm_cancel_cmd, hud.fcw, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack, CS.stock_brake))
            self.apply_brake_last = apply_brake

            if CS.CP.enableGasInterceptor:
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -361,7 +361,7 @@ class CarState(CarStateBase):
  @staticmethod
  def get_can_parser(CP):
    signals, checks = get_can_signals(CP)
-    bus_pt = 1 if CP.carFingerprint in HONDA_BOSCH else 0
+    bus_pt = 1 if CP.isPandaBlack and CP.carFingerprint in HONDA_BOSCH else 0
    checks = []
    return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, bus_pt)

@@ -386,8 +386,10 @@ class CarState(CarStateBase):
    checks = [(0xe4, 100)]
    if CP.carFingerprint in [CAR.CRV, CAR.CRV_EU, CAR.ACURA_RDX, CAR.ODYSSEY_CHN]:
      checks = [(0x194, 100)]
+
+    bus_cam = 1 if CP.carFingerprint in HONDA_BOSCH and not CP.isPandaBlack else 2
    checks = []
-    return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
+    return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, bus_cam)

  @staticmethod
  def get_body_can_parser(CP):
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -7,19 +7,24 @@ from selfdrive.car.honda.values import HONDA_BOSCH
 # 2 = ACC-CAN - camera side
 # 3 = F-CAN A - OBDII port

-def get_pt_bus(car_fingerprint):
-  return 1 if car_fingerprint in HONDA_BOSCH else 0
+# CAN bus layout with giraffe
+# 0 = F-CAN B - powertrain
+# 1 = ACC-CAN - camera side
+# 2 = ACC-CAN - radar side
+
+def get_pt_bus(car_fingerprint, has_relay):
+  return 1 if car_fingerprint in HONDA_BOSCH and has_relay else 0


-def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False):
+def get_lkas_cmd_bus(car_fingerprint, has_relay, radar_disabled=False):
  if radar_disabled:
    # when radar is disabled, steering commands are sent directly to powertrain bus
-    return get_pt_bus(car_fingerprint)
+    return get_pt_bus(car_fingerprint, has_relay)
  # normally steering commands are sent to radar, which forwards them to powertrain bus
-  return 0
+  return 2 if car_fingerprint in HONDA_BOSCH and not has_relay else 0


-def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, stock_brake):
+def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, has_relay, stock_brake):
  # TODO: do we loose pressure if we keep pump off for long?
  brakelights = apply_brake > 0
  brake_rq = apply_brake > 0
@@ -40,13 +45,13 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
    "AEB_REQ_2": 0,
    "AEB_STATUS": 0,
  }
-  bus = get_pt_bus(car_fingerprint)
+  bus = get_pt_bus(car_fingerprint, has_relay)
  return packer.make_can_msg("BRAKE_COMMAND", bus, values, idx)


-def create_acc_commands(packer, enabled, accel, gas, idx, stopping, starting, car_fingerprint):
+def create_acc_commands(packer, enabled, accel, gas, idx, stopping, starting, car_fingerprint, has_relay):
  commands = []
-  bus = get_pt_bus(car_fingerprint)
+  bus = get_pt_bus(car_fingerprint, has_relay)

  control_on = 5 if enabled else 0
  # no gas = -30000
@@ -79,31 +84,31 @@ def create_acc_commands(packer, enabled, accel, gas, idx, stopping, starting, ca

  return commands

-def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, idx, radar_disabled):
+def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, idx, has_relay, radar_disabled):
  values = {
    "STEER_TORQUE": apply_steer if lkas_active else 0,
    "STEER_TORQUE_REQUEST": lkas_active,
  }
-  bus = get_lkas_cmd_bus(car_fingerprint, radar_disabled)
+  bus = get_lkas_cmd_bus(car_fingerprint, has_relay, radar_disabled)
  return packer.make_can_msg("STEERING_CONTROL", bus, values, idx)


-def create_bosch_supplemental_1(packer, car_fingerprint, idx):
+def create_bosch_supplemental_1(packer, car_fingerprint, idx, has_relay):
  # non-active params
  values = {
    "SET_ME_X04": 0x04,
    "SET_ME_X80": 0x80,
    "SET_ME_X10": 0x10,
  }
-  bus = get_lkas_cmd_bus(car_fingerprint)
+  bus = get_lkas_cmd_bus(car_fingerprint, has_relay)
  return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values, idx)


-def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx, openpilot_longitudinal_control, stock_hud):
+def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx, has_relay, openpilot_longitudinal_control, stock_hud):
  commands = []
-  bus_pt = get_pt_bus(car_fingerprint)
+  bus_pt = get_pt_bus(car_fingerprint, has_relay)
  radar_disabled = car_fingerprint in HONDA_BOSCH and openpilot_longitudinal_control
-  bus_lkas = get_lkas_cmd_bus(car_fingerprint, radar_disabled)
+  bus_lkas = get_lkas_cmd_bus(car_fingerprint, has_relay, radar_disabled)

  if openpilot_longitudinal_control:
    if car_fingerprint in HONDA_BOSCH:
@@ -153,10 +158,10 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx,
  return commands


-def spam_buttons_command(packer, button_val, idx, car_fingerprint):
+def spam_buttons_command(packer, button_val, idx, car_fingerprint, has_relay):
  values = {
    'CRUISE_BUTTONS': button_val,
    'CRUISE_SETTING': 0,
  }
-  bus = get_pt_bus(car_fingerprint)
+  bus = get_pt_bus(car_fingerprint, has_relay)
  return packer.make_can_msg("SCM_BUTTONS", bus, values, idx)
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -6,8 +6,8 @@ from common.realtime import DT_CTRL
 from selfdrive.swaglog import cloudlog
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.events import ET
-from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH
-from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
+from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, Ecu, ECU_FINGERPRINT, FINGERPRINTS
+from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
 from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING
 from selfdrive.car.interfaces import CarInterfaceBase
 from common.dp_common import common_interface_atl, common_interface_get_params_lqr
@@ -121,19 +121,20 @@ class CarInterface(CarInterfaceBase):
    return float(max(max_accel, a_target / A_ACC_MAX)) * min(speedLimiter, accelLimiter)

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # pylint: disable=dangerous-default-value
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):  # pylint: disable=dangerous-default-value
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
    ret.carName = "honda"
    ret.lateralTuning.init('pid')

    if candidate in HONDA_BOSCH:
-      ret.safetyModel = car.CarParams.SafetyModel.hondaBoschHarness
-      ret.enableCamera = True
+      ret.safetyModel = car.CarParams.SafetyModel.hondaBoschHarness if has_relay else car.CarParams.SafetyModel.hondaBoschGiraffe
+      rdr_bus = 0 if has_relay else 2
+      ret.enableCamera = is_ecu_disconnected(fingerprint[rdr_bus], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
      ret.radarOffCan = True
      ret.openpilotLongitudinalControl = False
    else:
      ret.safetyModel = car.CarParams.SafetyModel.hondaNidec
-      ret.enableCamera = True
+      ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
      ret.enableGasInterceptor = 0x201 in fingerprint[0]
      ret.openpilotLongitudinalControl = ret.enableCamera

--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -1065,4 +1065,10 @@ SPEED_FACTOR = {
  CAR.INSIGHT: 1.,
 }

+# msgs sent for steering controller by camera module on can 0.
+# those messages are mutually exclusive on CRV and non-CRV cars
+ECU_FINGERPRINT = {
+  Ecu.fwdCamera: [0xE4, 0x194],   # steer torque cmd
+}
+
 HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G])
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -17,7 +17,10 @@ def process_hud_alert(enabled, fingerprint, visual_alert, left_lane,
  # initialize to no line visible
  sys_state = 1
  if left_lane and right_lane or sys_warning:  # HUD alert only display when LKAS status is active
-    sys_state = 3 if enabled or sys_warning else 4
+    if enabled or sys_warning:
+      sys_state = 3
+    else:
+      sys_state = 4
  elif left_lane:
    sys_state = 5
  elif right_lane:
@@ -68,7 +71,7 @@ class CarController():

    self.apply_steer_last = apply_steer

-    sys_warning, sys_state, left_lane_warning, right_lane_warning = \
+    sys_warning, sys_state, left_lane_warning, right_lane_warning =\
      process_hud_alert(enabled, self.car_fingerprint, visual_alert,
                        left_lane, right_lane, left_lane_depart, right_lane_depart)

--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 from cereal import car
 from selfdrive.config import Conversions as CV
-from selfdrive.car.hyundai.values import CAR
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
+from selfdrive.car.hyundai.values import Ecu, ECU_FINGERPRINT, CAR, FINGERPRINTS
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
 from common.dp_common import common_interface_atl, common_interface_get_params_lqr
 from common.params import Params
@@ -14,8 +14,8 @@ class CarInterface(CarInterfaceBase):
    return float(accel) / 3.0

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # pylint: disable=dangerous-default-value
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):  # pylint: disable=dangerous-default-value
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)

    ret.carName = "hyundai"
    ret.safetyModel = car.CarParams.SafetyModel.hyundai
@@ -155,7 +155,7 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 13.75
      tire_stiffness_factor = 0.5
      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]  

    # Genesis
    elif candidate == CAR.GENESIS_G70:
@@ -191,7 +191,7 @@ class CarInterface(CarInterfaceBase):

    # these cars require a special panda safety mode due to missing counters and checksums in the messages
    if candidate in [CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_2019,
-                     CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80]:
+                     CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70]:
      ret.safetyModel = car.CarParams.SafetyModel.hyundaiLegacy

    ret.centerToFront = ret.wheelbase * 0.4
@@ -210,7 +210,7 @@ class CarInterface(CarInterfaceBase):
    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                         tire_stiffness_factor=tire_stiffness_factor)

-    ret.enableCamera = True
+    ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay

    return ret

--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -156,8 +156,12 @@ FINGERPRINTS = {
  }]
 }

+ECU_FINGERPRINT = {
+  Ecu.fwdCamera: [832, 1156, 1191, 1342]
+}
+
 # Don't use these fingerprints for fingerprinting, they are still used for ECU detection
-IGNORED_FINGERPRINTS = [CAR.VELOSTER, CAR.GENESIS_G70, CAR.KONA]
+IGNORED_FINGERPRINTS = [CAR.VELOSTER, CAR.KONA]

 FW_VERSIONS = {
  CAR.SONATA: {
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -44,15 +44,15 @@ class CarInterfaceBase():
    raise NotImplementedError

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
    raise NotImplementedError

  # returns a set of default params to avoid repetition in car specific params
  @staticmethod
-  def get_std_params(candidate, fingerprint):
+  def get_std_params(candidate, fingerprint, has_relay):
    ret = car.CarParams.new_message()
    ret.carFingerprint = candidate
-    ret.isPandaBlack = True # TODO: deprecate this field
+    ret.isPandaBlack = has_relay

    # standard ALC params
    ret.steerControlType = car.CarParams.SteerControlType.torque
@@ -94,11 +94,12 @@ class CarInterfaceBase():
      events.add(EventName.doorOpen)
    if cs_out.seatbeltUnlatched:
      events.add(EventName.seatbeltNotLatched)
-    if self.dragonconf.dpGearCheck and cs_out.gearShifter != GearShifter.drive and cs_out.gearShifter not in extra_gears:
-      events.add(EventName.wrongGear)
+    if self.dragonconf.dpGearCheck:
+      if cs_out.gearShifter != GearShifter.drive and cs_out.gearShifter not in extra_gears:
+        events.add(EventName.wrongGear)
    if cs_out.gearShifter == GearShifter.reverse:
      events.add(EventName.reverseGear)
-    if not self.dragonconf.dpAtl and not cs_out.cruiseState.available:
+    if not cs_out.cruiseState.available and not self.dragonconf.dpAtl:
      events.add(EventName.wrongCarMode)
    if cs_out.espDisabled:
      events.add(EventName.espDisabled)
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 from cereal import car
 from selfdrive.config import Conversions as CV
-from selfdrive.car.mazda.values import CAR, LKAS_LIMITS
-from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
+from selfdrive.car.mazda.values import CAR, LKAS_LIMITS, FINGERPRINTS, ECU_FINGERPRINT, Ecu
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, is_ecu_disconnected
 from selfdrive.car.interfaces import CarInterfaceBase
 from common.dp_common import common_interface_atl, common_interface_get_params_lqr

@@ -16,8 +16,8 @@ class CarInterface(CarInterfaceBase):
    return float(accel) / 4.0

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)

    ret.carName = "mazda"
    ret.safetyModel = car.CarParams.SafetyModel.mazda
@@ -72,7 +72,7 @@ class CarInterface(CarInterfaceBase):
    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                         tire_stiffness_factor=tire_stiffness_factor)

-    ret.enableCamera = True
+    ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay

    return ret

--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -71,6 +71,10 @@ FINGERPRINTS = {
  ],
 }

+ECU_FINGERPRINT = {
+  Ecu.fwdCamera: [579],   # steer torque cmd
+}
+

 DBC = {
  CAR.CX5: dbc_dict('mazda_2017', None),
--- a/selfdrive/car/mock/interface.py
+++ b/selfdrive/car/mock/interface.py
@@ -33,8 +33,8 @@ class CarInterface(CarInterfaceBase):
    return accel

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
    ret.carName = "mock"
    ret.safetyModel = car.CarParams.SafetyModel.noOutput
    ret.mass = 1700.
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -15,9 +15,9 @@ class CarInterface(CarInterfaceBase):
    return float(accel) / 4.0

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):

-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
    ret.carName = "nissan"
    ret.safetyModel = car.CarParams.SafetyModel.nissan
    ret.lateralTuning.init('pid')
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -12,8 +12,8 @@ class CarInterface(CarInterfaceBase):
    return float(accel) / 4.0

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)

    ret.carName = "subaru"
    ret.radarOffCan = True
@@ -26,8 +26,11 @@ class CarInterface(CarInterfaceBase):

    # Subaru port is a community feature, since we don't own one to test
    ret.communityFeature = True
+
    ret.dashcamOnly = candidate in PREGLOBAL_CARS

+    # force openpilot to fake the stock camera, since car harness is not supported yet and old style giraffe (with switches)
+    # was never released
    ret.enableCamera = True

    ret.steerRateCost = 0.7
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -78,6 +78,10 @@ STEER_THRESHOLD = {
  CAR.OUTBACK_PREGLOBAL_2018: 75,
 }

+ECU_FINGERPRINT = {
+  Ecu.fwdCamera: [290, 356],   # steer torque cmd
+}
+
 DBC = {
  CAR.ASCENT: dbc_dict('subaru_global_2017_generated', None),
  CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None),
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -25,35 +25,36 @@ class TestCarInterfaces(unittest.TestCase):

      car_fw = []

-      car_params = CarInterface.get_params(car_name, fingerprints, car_fw)
-      car_interface = CarInterface(car_params, CarController, CarState)
-      assert car_params
-      assert car_interface
+      for has_relay in [True, False]:
+        car_params = CarInterface.get_params(car_name, fingerprints, has_relay, car_fw)
+        car_interface = CarInterface(car_params, CarController, CarState)
+        assert car_params
+        assert car_interface

-      self.assertGreater(car_params.mass, 1)
-      self.assertGreater(car_params.steerRateCost, 1e-3)
+        self.assertGreater(car_params.mass, 1)
+        self.assertGreater(car_params.steerRateCost, 1e-3)

-      tuning = car_params.lateralTuning.which()
-      if tuning == 'pid':
-        self.assertTrue(len(car_params.lateralTuning.pid.kpV))
-      elif tuning == 'lqr':
-        self.assertTrue(len(car_params.lateralTuning.lqr.a))
-      elif tuning == 'indi':
-        self.assertGreater(car_params.lateralTuning.indi.outerLoopGain, 1e-3)
+        tuning = car_params.lateralTuning.which()
+        if tuning == 'pid':
+          self.assertTrue(len(car_params.lateralTuning.pid.kpV))
+        elif tuning == 'lqr':
+          self.assertTrue(len(car_params.lateralTuning.lqr.a))
+        elif tuning == 'indi':
+          self.assertGreater(car_params.lateralTuning.indi.outerLoopGain, 1e-3)

-      # Run car interface
-      CC = car.CarControl.new_message()
-      for _ in range(10):
-        car_interface.update(CC, [])
-        car_interface.apply(CC)
-        car_interface.apply(CC)
+        # Run car interface
+        CC = car.CarControl.new_message()
+        for _ in range(10):
+          car_interface.update(CC, [])
+          car_interface.apply(CC)
+          car_interface.apply(CC)

-      CC = car.CarControl.new_message()
-      CC.enabled = True
-      for _ in range(10):
-        car_interface.update(CC, [])
-        car_interface.apply(CC)
-        car_interface.apply(CC)
+        CC = car.CarControl.new_message()
+        CC.enabled = True
+        for _ in range(10):
+          car_interface.update(CC, [])
+          car_interface.apply(CC)
+          car_interface.apply(CC)

      # Test radar interface
      RadarInterface = importlib.import_module('selfdrive.car.%s.radar_interface' % car_params.carName).RadarInterface
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -22,8 +22,8 @@ class CarInterface(CarInterfaceBase):
    return float(accel) / 3.0

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]):  # pylint: disable=dangerous-default-value
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):  # pylint: disable=dangerous-default-value
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)

    ret.carName = "toyota"
    ret.safetyModel = car.CarParams.SafetyModel.toyota
@@ -325,7 +325,7 @@ class CarInterface(CarInterfaceBase):
    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
                                                                         tire_stiffness_factor=tire_stiffness_factor)

-    ret.enableCamera = True
+    ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
    # Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it
    smartDsu = 0x2FF in fingerprint[0]
    # In TSS2 cars the camera does long control
@@ -390,6 +390,8 @@ class CarInterface(CarInterfaceBase):
    # events
    events = self.create_common_events(ret)

+    if self.cp_cam.can_invalid_cnt >= 200 and self.CP.enableCamera and not self.CP.isPandaBlack:
+      events.add(EventName.invalidGiraffeToyota)
    if self.CS.low_speed_lockout and self.CP.openpilotLongitudinalControl:
      events.add(EventName.lowSpeedLockout)
    if ret.vEgo < self.CP.minEnableSpeed and self.CP.openpilotLongitudinalControl:
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -347,7 +347,7 @@ FINGERPRINTS = {
 }

 # Don't use theses fingerprints for fingerprinting, they are still needed for ECU detection
-IGNORED_FINGERPRINTS = [CAR.RAV4H_TSS2, CAR.HIGHLANDERH_TSS2, CAR.LEXUS_RXH_TSS2, CAR.PRIUS_TSS2, CAR.LEXUS_NX]
+IGNORED_FINGERPRINTS = [CAR.HIGHLANDERH_TSS2, CAR.LEXUS_RXH_TSS2, CAR.PRIUS_TSS2, CAR.LEXUS_NX]

 FW_VERSIONS = {
  CAR.AVALON: {
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -30,8 +30,9 @@ class CarInterface(CarInterfaceBase):
    return float(accel) / 4.0

  @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
-    ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
+    ret.lateralTuning.init('pid')

    # Set global default parameters
    ret.radarOffCan = True
--- a/selfdrive/common/clutil.c
+++ b/selfdrive/common/clutil.c
@@ -39,7 +39,7 @@ void clu_init(void) {
 cl_device_id cl_get_device_id(cl_device_type device_type) {
  bool opencl_platform_found = false;
  cl_device_id device_id = NULL;
-
+  
  cl_uint num_platforms = 0;
  int err = clGetPlatformIDs(0, NULL, &num_platforms);
  assert(err == 0);
@@ -66,7 +66,7 @@ cl_device_id cl_get_device_id(cl_device_type device_type) {
    break;
  }
  free(platform_ids);
-
+  
  if (!opencl_platform_found) {
    printf("No valid openCL platform found\n");
    assert(opencl_platform_found);
--- a/selfdrive/common/i2c.cc
+++ b/selfdrive/common/i2c.cc
@@ -12,10 +12,7 @@

 #ifdef QCOM2
 // TODO: decide if we want to isntall libi2c-dev everywhere
-extern "C" {
-  #include <linux/i2c-dev.h>
-  #include <i2c/smbus.h>
-}
+#include <linux/i2c-dev.h>

 I2CBus::I2CBus(uint8_t bus_id){
  char bus_name[20];
--- a/selfdrive/common/params.cc
+++ b/selfdrive/common/params.cc
@@ -49,17 +49,30 @@ void params_sig_handler(int signal) {
 }

 static int fsync_dir(const char* path){
+  int result = 0;
  int fd = open(path, O_RDONLY, 0755);
+
  if (fd < 0){
-    return -1;
+    result = -1;
+    goto cleanup;
  }

-  int result = fsync(fd);
-  int result_close = close(fd);
-  if (result_close < 0) {
-    result = result_close;
+  result = fsync(fd);
+  if (result < 0) {
+    goto cleanup;
+  }
+
+ cleanup:
+  int result_close = 0;
+  if (fd >= 0){
+    result_close = close(fd);
+  }
+
+  if (result_close < 0) {
+    return result_close;
+  } else {
+    return result;
  }
-  return result;
 }

 static int mkdir_p(std::string path) {
@@ -224,6 +237,10 @@ cleanup:
 }

 int Params::delete_db_value(std::string key) {
+  return delete_db_value(key.c_str());
+}
+
+int Params::delete_db_value(const char* key) {
  int lock_fd = -1;
  int result;
  std::string path;
@@ -239,7 +256,7 @@ int Params::delete_db_value(std::string key) {
  }

  // Delete value.
-  path = params_path + "/d/" + key;
+  path = params_path + "/d/" + std::string(key);
  result = remove(path.c_str());
  if (result != 0) {
    result = ERR_NO_VALUE;
--- a/selfdrive/common/params.h
+++ b/selfdrive/common/params.h
@@ -33,6 +33,7 @@ public:
  // Delete a value from the params database.
  // Inputs are the same as read_db_value, without value and value_sz.
  int delete_db_value(std::string key);
+  int delete_db_value(const char* key);

  // Reads a value from the params database, blocking until successful.
  // Inputs are the same as read_db_value.
--- a/selfdrive/ui/android/spinner/spinner.c
+++ b/selfdrive/ui/android/spinner/spinner.c
@@ -42,7 +42,8 @@ bool stdin_input_available() {
  return (FD_ISSET(0, &fds));
 }

-int main(int argc, char** argv) {
+int spin(int argc, char** argv) {
+  int err;

  bool draw_progress = false;
  float progress_val = 0.0;
--- a/selfdrive/common/spinner.h
+++ b/selfdrive/common/spinner.h
@@ -0,0 +1,14 @@
+#ifndef COMMON_SPINNER_H
+#define COMMON_SPINNER_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int spin(int argc, char** argv);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
--- a/selfdrive/common/version.h
+++ b/selfdrive/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.8.0-d56e04c0-2020-11-24T21:53:22"
+#define COMMA_VERSION "0.7.10-release"
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -69,10 +69,12 @@ class Controls:
      self.can_sock = messaging.sub_sock('can', timeout=can_timeout)

    # wait for one health and one CAN packet
+    hw_type = messaging.recv_one(self.sm.sock['health']).health.hwType
+    has_relay = hw_type in [HwType.blackPanda, HwType.uno, HwType.dos]
    print("Waiting for CAN messages...")
    get_one_can(self.can_sock)

-    self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'])
+    self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], has_relay)

    # read params
    params = Params()
@@ -139,7 +141,7 @@ class Controls:
    self.sm['dMonitoringState'].awarenessStatus = 1.
    self.sm['dMonitoringState'].faceDetected = False

-    self.startup_event = get_startup_event(car_recognized, controller_available)
+    self.startup_event = get_startup_event(car_recognized, controller_available, hw_type)

    # if not sounds_available:
    #   self.events.add(EventName.soundsUnavailable, static=True)
@@ -149,6 +151,8 @@ class Controls:
      self.events.add(EventName.communityFeatureDisallowed, static=True)
    if not car_recognized:
      self.events.add(EventName.carUnrecognized, static=True)
+    # if hw_type == HwType.whitePanda:
+    #   self.events.add(EventName.whitePandaUnsupported, static=True)

    # controlsd is driven by can recv, expected at 100Hz
    self.rk = Ratekeeper(100, print_delay_threshold=None)
@@ -160,8 +164,8 @@ class Controls:
    self.sm['dragonConf'].dpAtl = False
    self.sm['dragonConf'].dpCameraOffset = 6

-    self.dp_lead_away_alert = params.get('dp_lead_car_away_alert') == b'1'
-    self.dp_lead_away_min_speed = 80 # kph
+    self.dp_lead_away_alert = params.get('dp_driver_monitor') == b'0' and params.get('dp_steering_monitor') == b'0'
+    self.dp_lead_away_min_speed = 40 # kph
    self.dp_lead_away_alert_lead_count = 0
    self.dp_lead_away_alert_nolead_count = 0

@@ -224,8 +228,7 @@ class Controls:

    if self.can_rcv_error or (not CS.canValid and self.sm.frame > 5 / DT_CTRL):
      self.events.add(EventName.pcmDisable if self.sm['dragonConf'].dpAtl else EventName.canError)
-    if (self.sm['health'].safetyModel != self.CP.safetyModel and self.sm.frame > 2 / DT_CTRL) or \
-       self.mismatch_counter >= 200:
+    if self.mismatch_counter >= 200:
      self.events.add(EventName.controlsMismatch)
    if not self.sm.alive['plan'] and self.sm.alive['pathPlan']:
      # only plan not being received: radar not communicating
@@ -275,7 +278,7 @@ class Controls:
        self.dp_lead_away_state = LEAD_AWAY_STATE_OFF

      if current_speed >= self.dp_lead_away_min_speed:
-        nolead_count = interp(current_speed, [self.dp_lead_away_min_speed, 100], [300, 100])
+        nolead_count = interp(current_speed, [self.dp_lead_away_min_speed, 100], [500, 250])
        # when car had lead for 5 more secs and lead move away for 3 secs
        if self.dp_lead_away_state == LEAD_AWAY_STATE_OFF and self.sm['plan'].hasLead:
          self.dp_lead_away_alert_lead_count += 1
@@ -517,7 +520,7 @@ class Controls:
      self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))

    force_decel = (self.sm['dMonitoringState'].awarenessStatus < 0.) or \
-                  (self.state == State.softDisabling)
+                    (self.state == State.softDisabling)

    steer_angle_rad = (CS.steeringAngle - self.sm['pathPlan'].angleOffset) * CV.DEG_TO_RAD

--- a/selfdrive/controls/lib/alerts_offroad.json
+++ b/selfdrive/controls/lib/alerts_offroad.json
@@ -36,9 +36,5 @@
  "Offroad_NeosUpdate": {
    "text": "An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install.",
    "severity": 0
-  },
-  "Offroad_HardwareUnsupported": {
-    "text": "White and grey panda are unsupported. Upgrade to comma two or black panda.",
-    "severity": 0
  }
 }
--- a/selfdrive/controls/lib/dynamic_gas.py
+++ b/selfdrive/controls/lib/dynamic_gas.py
@@ -12,10 +12,9 @@ class DynamicGas:
    self.CP = CP
    self.candidate = self.CP.carFingerprint
    self.lead_data = {'v_rel': None, 'a_lead': None, 'x_lead': None, 'status': False}
-    self.mpc_TR = 1.8
    self.blinker_status = False
-    self.gas_pressed = False
    self.dp_profile = DP_OFF
+    self.set_profile()

  def update(self, CS, sm):
    v_ego = CS.vEgo
@@ -23,13 +22,12 @@ class DynamicGas:

    current_dp_profile = sm['dragonConf'].dpAccelProfile
    if self.dp_profile != current_dp_profile:
-      self.set_profile()
      self.dp_profile = current_dp_profile
+      self.set_profile()

    if self.dp_profile == DP_OFF:
      return float(interp(v_ego, self.CP.gasMaxBP, self.CP.gasMaxV))

-
    gas = interp(v_ego, self.gasMaxBP, self.gasMaxV)
    if self.lead_data['status']:  # if lead
      x = [0.0, 0.24588812499999999, 0.432818589, 0.593044697, 0.730381365, 1.050833588, 1.3965, 1.714627481]  # relative velocity mod
@@ -56,16 +54,16 @@ class DynamicGas:
    self.x_lead_mod_y = [1.0, 0.75, 0.5, 0.25, 0.0] # as lead gets further from car, lessen gas mod/reduction
    x = [0.0, 1.4082, 2.80311, 4.22661, 5.38271, 6.16561, 7.24781, 8.28308, 10.24465, 12.96402, 15.42303, 18.11903, 20.11703, 24.46614, 29.05805, 32.71015, 35.76326, 40]
    if self.dp_profile == DP_ECO:
-      #km/h[0,   5,    10,    15,    19,    22,    25,     29,      36,      43,   54,    64,    72,    87,    104,   117,    128   144]
-      y = [0.45, 0.42, 0.38, 0.33, 0.3, 0.32, 0.31, 0.30, 0.30, 0.28, 0.24, 0.21, 0.20, 0.20, 0.19, 0.19, 0.17, 0.15]
+      #km/h[0,   5,    10,   15,   19,   22,   25,   29,   36,   43,   54,   64,   72,   87,   104,  117,  128   144]
+      y = [0.38, 0.40, 0.38, 0.33, 0.33, 0.32, 0.31, 0.30, 0.27, 0.25, 0.24, 0.21, 0.20, 0.20, 0.19, 0.19, 0.17, 0.15]
      self.x_lead_mod_x = [8.1, 12.15, 25.24, 35 , 50 ]
    elif self.dp_profile == DP_SPORT:
-      #km/h[0,   5,    10,    15,    19,    22,    25,     29,      36,      43,   54,    64,    72,    87,    104,   117,    128   144]
+      #km/h[0,   5,    10,    15,   19,  22,   25,     29,      36,      43,   54,    64,    72,    87,    104,   117,  128  144]
      y = [0.65, 0.67, 0.63, 0.50, 0.53, 0.53, 0.5229, 0.51784, 0.50765, 0.48, 0.496, 0.509, 0.525, 0.538, 0.45, 0.421, 0.42,0.35]
      self.x_lead_mod_x = [4.1, 6.15, 8.24, 10 , 15 ]
    else:
-      #km/h[0,   5,    10,    15,    19,    22,    25,     29,      36,      43,   54,    64,    72,    87,    104,   117,    128   144]
-      y = [0.55, 0.57, 0.43, 0.35, 0.33, 0.33, 0.3529, 0.36784, 0.37765, 0.38, 0.396, 0.309, 0.325, 0.358, 0.32, 0.301, 0.29,0.25]
+      #km/h[0,   5,    10,   15,   19,  22,   25,   29,   36,   43,   54,   64,   72,   87,   104,  117,  128   144]
+      y = [0.45, 0.42, 0.38, 0.33, 0.3, 0.32, 0.31, 0.30, 0.30, 0.28, 0.24, 0.21, 0.20, 0.20, 0.19, 0.19, 0.17, 0.15]
      self.x_lead_mod_x = [7.1, 10.15, 12.24, 15 , 20 ]

    y = [interp(i, [0.2, (0.2 + 0.45) / 2, 0.45], [1.075 * i, i * 1.05, i]) for i in y]
@@ -73,7 +71,6 @@ class DynamicGas:

  def handle_passable(self, CS, sm):
    self.blinker_status = CS.leftBlinker or CS.rightBlinker
-    self.gas_pressed = CS.gasPressed
    lead_one = sm['radarState'].leadOne
    self.lead_data['v_rel'] = lead_one.vRel
    self.lead_data['a_lead'] = lead_one.aLeadK
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -257,6 +257,31 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
  },

+  EventName.startupGreyPanda: {
+    ET.PERMANENT: Alert(
+      "WARNING: Grey panda is deprecated",
+      "Upgrade to comma two or black panda",
+      AlertStatus.userPrompt, AlertSize.mid,
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),
+  },
+
+  EventName.invalidGiraffeToyota: {
+    ET.PERMANENT: Alert(
+      _("Unsupported Giraffe Configuration"),
+      _("Visit comma.ai/tg"),
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
+  },
+
+  EventName.whitePandaUnsupported: {
+    ET.PERMANENT: Alert(
+      _("White Panda No Longer Supported"),
+      _("Upgrade to comma two or black panda"),
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
+    ET.NO_ENTRY: NoEntryAlert(_("Unsupported Hardware")),
+  },
+
  EventName.invalidLkasSetting: {
    ET.PERMANENT: Alert(
      _("Stock LKAS is turned on"),
@@ -464,10 +489,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
    ET.PERMANENT: NormalPermanentAlert(_("Camera Malfunction"), _("Contact Support")),
  },

-  EventName.cameraMalfunction: {
-    ET.PERMANENT: NormalPermanentAlert("Camera Malfunction", "Contact Support"),
-  },
-
  # ********** events that affect controls state transitions **********

  EventName.pcmEnable: {
--- a/selfdrive/controls/lib/lane_planner.py
+++ b/selfdrive/controls/lib/lane_planner.py
@@ -89,7 +89,10 @@ class LanePlanner:
    prob_mods = []
    for t_check in [0.0, 1.5, 3.0]:
      width_at_t = eval_poly(width_poly, t_check * (v_ego + 7))
-      prob_mods.append(interp(width_at_t, [4.0, 5.0], [1.0, 0.0]))
+      # dp note
+      # [3.5, 4.5] = from 3m to 4m (lane width)
+      # [1.0, 0.0] = "use lane line" to "not use lane line at all"
+      prob_mods.append(interp(width_at_t, [3.5, 4.5], [1.0, 0.0]))
    mod = min(prob_mods)
    l_prob *= mod
    r_prob *= mod
--- a/selfdrive/debug/get_fingerprint.py
+++ b/selfdrive/debug/get_fingerprint.py
@@ -6,6 +6,7 @@
 # - connect to a Panda
 # - run selfdrive/boardd/boardd
 # - launching this script
+# - turn on the car in STOCK MODE (set giraffe switches properly).
 #   Note: it's very important that the car is in stock mode, in order to collect a complete fingerprint
 # - since some messages are published at low frequency, keep this script running for at least 30s,
 #   until all messages are received at least once
--- a/selfdrive/debug/test_fw_query_on_routes.py
+++ b/selfdrive/debug/test_fw_query_on_routes.py
@@ -37,7 +37,7 @@ if __name__ == "__main__":
  for route in tqdm(routes):
    route = route.rstrip()
    dongle_id, time = route.split('|')
-    qlog_path = f"cd:/{dongle_id}/{time}/0/qlog.bz2"
+    qlog_path = f"cd:/{dongle_id}/{time}/1/qlog.bz2"

    if dongle_id in dongles:
      continue
@@ -65,7 +65,7 @@ if __name__ == "__main__":
            live_fingerprint = args.car

          if live_fingerprint not in list(TOYOTA_FINGERPRINTS.keys()) + list(HONDA_FINGERPRINTS.keys()) + list(HYUNDAI_FINGERPRINTS.keys()):
-            break
+            continue

          candidates = match_fw_to_car(car_fw)
          if (len(candidates) == 1) and (list(candidates)[0] == live_fingerprint):
--- a/selfdrive/manager.py
+++ b/selfdrive/manager.py
@@ -80,10 +80,8 @@ import traceback
 from multiprocessing import Process

 # Run scons
-spinner = Spinner()
+spinner = Spinner(noop=(__name__ != "__main__" or not ANDROID))
 spinner.update("0")
-if __name__ != "__main__":
-  spinner.close()

 if not prebuilt:
  for retry in [True, False]:
@@ -149,8 +147,9 @@ if not prebuilt:
          ip = 'N/A'

        # Show TextWindow
+        no_ui = __name__ != "__main__" or not ANDROID
        error_s = "\n \n".join(["\n".join(textwrap.wrap(e, 65)) for e in errors])
-        with TextWindow(("openpilot failed to build (IP: %s)\n \n" % ip) + error_s) as t:
+        with TextWindow(("openpilot failed to build (IP: %s)\n \n" % ip) + error_s, noop=no_ui) as t:
          t.wait_for_exit()

        exit(1)
@@ -387,8 +386,11 @@ def kill_managed_process(name):
        join_process(running[name], 15)
        if running[name].exitcode is None:
          cloudlog.critical("unkillable process %s failed to die!" % name)
-          os.system("date >> /sdcard/unkillable_reboot")
-          HARDWARE.reboot()
+          # TODO: Use method from HARDWARE
+          if ANDROID:
+            cloudlog.critical("FORCE REBOOTING PHONE!")
+            os.system("date >> /sdcard/unkillable_reboot")
+            os.system("reboot")
          raise RuntimeError
      else:
        cloudlog.info("killing %s with SIGKILL" % name)
@@ -411,10 +413,8 @@ def cleanup_all_processes(signal, frame):


 def send_managed_process_signal(name, sig):
-  if name not in running or name not in managed_processes or \
-     running[name].exitcode is not None:
+  if name not in running or name not in managed_processes:
    return
-
  cloudlog.info(f"sending signal {sig} to {name}")
  os.kill(running[name].pid, sig)

--- a/selfdrive/modeld/modeld.cc
+++ b/selfdrive/modeld/modeld.cc
@@ -201,7 +201,7 @@ int main(int argc, char **argv) {
        // tracked dropped frames
        uint32_t vipc_dropped_frames = extra.frame_id - last_vipc_frame_id - 1;
        frames_dropped = (1. - frame_filter_k) * frames_dropped + frame_filter_k * (float)std::min(vipc_dropped_frames, 10U);
-        if (run_count < 10) frames_dropped = 0;  // let frame drops warm up
+        if (run_count < 10) frames_dropped = 0;    // let frame drops warm up
        float frame_drop_ratio = frames_dropped / (1 + frames_dropped);

        model_publish(pm, extra.frame_id, frame_id,  vipc_dropped_frames, frame_drop_ratio, model_buf, extra.timestamp_eof, model_execution_time);
--- a/selfdrive/modeld/models/driving.cc
+++ b/selfdrive/modeld/models/driving.cc
@@ -311,7 +311,7 @@ void model_publish_v2(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
                     float model_execution_time) {
  // make msg
  MessageBuilder msg;
-  auto framed = msg.initEvent().initModelV2();
+  auto framed = msg.initEvent(frame_drop < MAX_FRAME_DROP).initModelV2();
  uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0;
  framed.setFrameId(vipc_frame_id);
  framed.setFrameAge(frame_age);
@@ -393,7 +393,7 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,

  uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0;
  MessageBuilder msg;
-  auto framed = msg.initEvent().initModel();
+  auto framed = msg.initEvent(frame_drop < MAX_FRAME_DROP).initModel();
  framed.setFrameId(vipc_frame_id);
  framed.setFrameAge(frame_age);
  framed.setFrameDropPerc(frame_drop * 100);
--- a/selfdrive/modeld/models/driving.h
+++ b/selfdrive/modeld/models/driving.h
@@ -39,6 +39,7 @@
 #define POSE_SIZE 12

 #define MODEL_FREQ 20
+#define MAX_FRAME_DROP 0.05

 struct ModelDataRaw {
    float *plan;
--- a/selfdrive/modeld/runners/run.h
+++ b/selfdrive/modeld/runners/run.h
@@ -7,9 +7,9 @@
 #ifdef QCOM
  #define DefaultRunModel SNPEModel
 #else
-  #ifdef USE_ONNX_MODEL
-    #include "onnxmodel.h"
-    #define DefaultRunModel ONNXModel
+  #ifdef USE_TF_MODEL
+    #include "tfmodel.h"
+    #define DefaultRunModel TFModel
  #else
    #define DefaultRunModel SNPEModel
  #endif
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -15,7 +15,7 @@ def dmonitoringd_thread(sm=None, pm=None):
    pm = messaging.PubMaster(['dMonitoringState'])

  if sm is None:
-    sm = messaging.SubMaster(['driverState', 'liveCalibration', 'carState', 'controlsState', 'model', 'dragonConf'], poll=['driverState'])
+    sm = messaging.SubMaster(['driverState', 'liveCalibration', 'carState', 'model', 'dragonConf'], poll=['driverState'])

  driver_status = DriverStatus()
  driver_status.is_rhd_region = Params().get("IsRHD") == b"1"
@@ -25,6 +25,7 @@ def dmonitoringd_thread(sm=None, pm=None):
  sm['liveCalibration'].calStatus = Calibration.INVALID
  sm['liveCalibration'].rpyCalib = [0, 0, 0]
  sm['carState'].vEgo = 0.
+  sm['carState'].cruiseState.enabled = False
  sm['carState'].cruiseState.speed = 0.
  sm['carState'].buttonEvents = []
  sm['carState'].steeringPressed = False
@@ -71,7 +72,7 @@ def dmonitoringd_thread(sm=None, pm=None):
                        sm['carState'].gasPressed or \
                        sm['carState'].brakePressed
      if driver_engaged:
-        driver_status.update(Events(), True, sm['controlsState'].enabled, sm['carState'].standstill)
+        driver_status.update(Events(), True, sm['carState'].cruiseState.enabled, sm['carState'].standstill)
      v_cruise_last = v_cruise

    if sm.updated['model']:
@@ -80,14 +81,14 @@ def dmonitoringd_thread(sm=None, pm=None):
    # Get data from dmonitoringmodeld
    events = Events()
    if sm['dragonConf'].dpDriverMonitor:
-      driver_status.get_pose(sm['driverState'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled)
+      driver_status.get_pose(sm['driverState'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['carState'].cruiseState.enabled)

    # Block engaging after max number of distrations
    if driver_status.terminal_alert_cnt >= MAX_TERMINAL_ALERTS or driver_status.terminal_time >= MAX_TERMINAL_DURATION:
      events.add(car.CarEvent.EventName.tooDistracted)

    # Update events from driver state
-    driver_status.update(events, driver_engaged, sm['controlsState'].enabled, sm['carState'].standstill)
+    driver_status.update(events, driver_engaged, sm['carState'].cruiseState.enabled, sm['carState'].standstill)

    # build dMonitoringState packet
    dat = messaging.new_message('dMonitoringState')
--- a/selfdrive/monitoring/driver_monitor.py
+++ b/selfdrive/monitoring/driver_monitor.py
@@ -15,8 +15,8 @@ EventName = car.CarEvent.EventName
 # ******************************************************************************************

 _AWARENESS_TIME = 35.  # passive wheel touch total timeout
-_AWARENESS_PRE_TIME_TILL_TERMINAL = 12.
-_AWARENESS_PROMPT_TIME_TILL_TERMINAL = 6.
+_AWARENESS_PRE_TIME_TILL_TERMINAL = 7.
+_AWARENESS_PROMPT_TIME_TILL_TERMINAL = 5.
 _DISTRACTED_TIME = 11.
 _DISTRACTED_PRE_TIME_TILL_TERMINAL = 8.
 _DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
@@ -251,13 +251,13 @@ class DriverStatus():
    if self.awareness <= 0.:
      # terminal red alert: disengagement required
      alert = EventName.driverDistracted if self.active_monitoring_mode else EventName.driverUnresponsive
-      self.hi_std_alert_enabled = True
      self.terminal_time += 1
      if awareness_prev > 0.:
        self.terminal_alert_cnt += 1
    elif self.awareness <= self.threshold_prompt:
      # prompt orange alert
      alert = EventName.promptDriverDistracted if self.active_monitoring_mode else EventName.promptDriverUnresponsive
+      self.hi_std_alert_enabled = True
    elif self.awareness <= self.threshold_pre:
      # pre green alert
      alert = EventName.preDriverDistracted if self.active_monitoring_mode else EventName.preDriverUnresponsive
--- a/selfdrive/rtshield.py
+++ b/selfdrive/rtshield.py
@@ -17,4 +17,3 @@ def main():

 if __name__ == "__main__":
  main()
-
--- a/selfdrive/sensord/SConscript
+++ b/selfdrive/sensord/SConscript
@@ -17,7 +17,4 @@ else:
    'sensors/lsm6ds3_gyro.cc',
    'sensors/lsm6ds3_temp.cc',
  ]
-  libs = [common, cereal, messaging, 'capnp', 'zmq', 'kj']
-  if arch == "larch64":
-    libs.append('i2c')
-  env.Program('_sensord', ['sensors_qcom2.cc'] + sensors, LIBS=libs)
+  env.Program('_sensord', ['sensors_qcom2.cc'] + sensors, LIBS=[common, cereal, messaging, 'capnp', 'zmq', 'kj'])
--- a/selfdrive/test/test_cpu_usage.py
+++ b/selfdrive/test/test_cpu_usage.py
@@ -15,11 +15,11 @@ def cputime_total(ct):

 def print_cpu_usage(first_proc, last_proc):
  procs = [
-    ("selfdrive.controls.controlsd", 47.0),
-    ("./loggerd", 42.0),
-    ("selfdrive.locationd.locationd", 35.0),
-    ("selfdrive.locationd.paramsd", 12.0),
-    ("selfdrive.controls.plannerd", 10.0),
+    ("selfdrive.controls.controlsd", 45.0),
+    ("./loggerd", 33.90),
+    ("selfdrive.locationd.locationd", 29.5),
+    ("selfdrive.controls.plannerd", 11.84),
+    ("selfdrive.locationd.paramsd", 10.5),
    ("./_modeld", 7.12),
    ("./camerad", 7.07),
    ("./_sensord", 6.17),
@@ -102,7 +102,5 @@ if __name__ == "__main__":
  passed = False
  try:
    passed = test_cpu_usage()
-  except Exception as e:
-    print("\n\n\n", "TEST FAILED:", str(e), "\n\n\n")
  finally:
    sys.exit(int(not passed))
--- a/selfdrive/thermald/power_monitoring.py
+++ b/selfdrive/thermald/power_monitoring.py
@@ -9,6 +9,7 @@ from common.params import Params, put_nonblocking
 from common.hardware import TICI
 from selfdrive.swaglog import cloudlog

+PANDA_OUTPUT_VOLTAGE = 5.28
 CAR_VOLTAGE_LOW_PASS_K = 0.091 # LPF gain for 5s tau (dt/tau / (dt/tau + 1))

 # A C2 uses about 1W while idling, and 30h seens like a good shutoff for most cars
@@ -61,6 +62,11 @@ def _read_param(path, parser, default=0):
    return default


+def panda_current_to_actual_current(panda_current):
+  # From white/grey panda schematic
+  return (3.3 - (panda_current * 3.3 / 4096)) / 8.25
+
+
 class PowerMonitoring:
  def __init__(self):
    self.params = Params()
@@ -129,6 +135,11 @@ class PowerMonitoring:
          # If the battery is discharging, we can use this measurement
          # On C2: this is low by about 10-15%, probably mostly due to UNO draw not being factored in
          current_power = ((get_battery_voltage() / 1000000) * (get_battery_current() / 1000000))
+        elif (health.health.hwType in [log.HealthData.HwType.whitePanda, log.HealthData.HwType.greyPanda]) and (health.health.current > 1):
+          # If white/grey panda, use the integrated current measurements if the measurement is not 0
+          # If the measurement is 0, the current is 400mA or greater, and out of the measurement range of the panda
+          # This seems to be accurate to about 5%
+          current_power = (PANDA_OUTPUT_VOLTAGE * panda_current_to_actual_current(health.health.current))
        elif (self.next_pulsed_measurement_time is not None) and (self.next_pulsed_measurement_time <= now):
          # TODO: Figure out why this is off by a factor of 3/4???
          FUDGE_FACTOR = 1.33
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -136,7 +136,6 @@ else:
  # max fan speed only allowed if battery is hot
  _BAT_TEMP_THRESHOLD = 45.

-
 def handle_fan_eon(max_cpu_temp, bat_temp, fan_speed, ignition):
  new_speed_h = next(speed for speed, temp_h in zip(_FAN_SPEEDS, _TEMP_THRS_H) if temp_h > max_cpu_temp)
  new_speed_l = next(speed for speed, temp_l in zip(_FAN_SPEEDS, _TEMP_THRS_L) if temp_l > max_cpu_temp)
@@ -212,6 +211,7 @@ def thermald_thread():
  should_start_prev = False
  handle_fan = None
  is_uno = False
+  has_relay = False

  pm = PowerMonitoring()
  no_panda_cnt = 0
@@ -262,6 +262,7 @@ def thermald_thread():
      # Setup fan handler on first connect to panda
      if handle_fan is None and health.health.hwType != log.HealthData.HwType.unknown:
        is_uno = health.health.hwType == log.HealthData.HwType.uno
+        has_relay = health.health.hwType in [log.HealthData.HwType.blackPanda, log.HealthData.HwType.uno, log.HealthData.HwType.dos]

        if (not EON) or is_uno:
          cloudlog.info("Setting up UNO fan handler")
@@ -318,7 +319,7 @@ def thermald_thread():
    # since going onroad increases load and can make temps go over 107
    # We only do this if there is a relay that prevents the car from faulting
    is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (sec_since_boot() - off_ts > 60 * 5))
-    if max_cpu_temp > 107. or bat_temp >= 63. or (is_offroad_for_5_min and max_cpu_temp > 70.0):
+    if max_cpu_temp > 107. or bat_temp >= 63. or (has_relay and is_offroad_for_5_min and max_cpu_temp > 70.0):
      # onroad not allowed
      thermal_status = ThermalStatus.danger
    elif max_comp_temp > 96.0 or bat_temp > 60.:
@@ -345,7 +346,7 @@ def thermald_thread():
    # now = datetime.datetime.utcnow()
    #
    # # show invalid date/time alert
-    # startup_conditions["time_valid"] = (now.year > 2020) or (now.year == 2020 and now.month >= 10)
+    # startup_conditions["time_valid"] = now.year >= 2019
    # set_offroad_alert_if_changed("Offroad_InvalidTime", (not startup_conditions["time_valid"]))
    #
    # # Show update prompt
@@ -381,18 +382,18 @@ def thermald_thread():
    #   set_offroad_alert_if_changed("Offroad_UpdateFailed", False)
    #   set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", False)
    #   set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt", False)
-
+    #
    startup_conditions["not_uninstalling"] = not params.get("DoUninstall") == b"1"
    startup_conditions["accepted_terms"] = params.get("HasAcceptedTerms") == terms_version
+    completed_training = params.get("CompletedTrainingVersion") == training_version

    panda_signature = params.get("PandaFirmware")
    startup_conditions["fw_version_match"] = (panda_signature is None) or (panda_signature == FW_SIGNATURE)   # don't show alert is no panda is connected (None)
    set_offroad_alert_if_changed("Offroad_PandaFirmwareMismatch", (not startup_conditions["fw_version_match"]))
-
-    # with 2% left, we killall, otherwise the phone will take a long time to boot
+    #
+    # # with 2% left, we killall, otherwise the phone will take a long time to boot
    startup_conditions["free_space"] = msg.thermal.freeSpace > 0.02
-    startup_conditions["completed_training"] = params.get("CompletedTrainingVersion") == training_version or \
-                                               (current_branch in ['dashcam', 'dashcam-staging'])
+    startup_conditions["completed_training"] = completed_training or (current_branch in ['dashcam', 'dashcam-staging'])
    startup_conditions["not_driver_view"] = not params.get("IsDriverViewEnabled") == b"1"
    startup_conditions["not_taking_snapshot"] = not params.get("IsTakingSnapshot") == b"1"
    # if any CPU gets above 107 or the battery gets above 63, kill all processes
@@ -401,10 +402,6 @@ def thermald_thread():
    set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", (not startup_conditions["device_temp_good"]))
    should_start = all(startup_conditions.values())

-    startup_conditions["hardware_supported"] = True #health is not None and health.health.hwType not in [log.HealthData.HwType.whitePanda,
-                                                                                                   #log.HealthData.HwType.greyPanda]
-    set_offroad_alert_if_changed("Offroad_HardwareUnsupported", health is not None and not startup_conditions["hardware_supported"])
-
    if should_start:
      if not should_start_prev:
        params.delete("IsOffroad")
--- a/selfdrive/tombstoned.py
+++ b/selfdrive/tombstoned.py
@@ -21,9 +21,7 @@ def get_tombstones():

        # Loop over first 1000 directory entries
        for _, f in zip(range(1000), d):
-          if f.name.startswith("tombstone"):
-            files.append((f.path, int(f.stat().st_ctime)))
-          elif f.name.endswith(".crash") and f.stat().st_mode == 0o100640:
+          if f.name.startswith("tombstone") or f.name.endswith(".crash"):
            files.append((f.path, int(f.stat().st_ctime)))
  return files

--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -1,84 +1,30 @@
-import os
-Import('env', 'arch', 'real_arch', 'common', 'messaging', 'gpucommon', 'visionipc', 'cereal')
-
-qt_env = None
-if arch in ["x86_64", "Darwin", "larch64"]:
-  qt_env = env.Clone()
-
-  if arch == "Darwin":
-    qt_env['QTDIR'] = "/usr/local/opt/qt"
-    QT_BASE = "/usr/local/opt/qt/"
-    qt_dirs = [
-      QT_BASE + "include/",
-      QT_BASE + "include/QtWidgets",
-      QT_BASE + "include/QtGui",
-      QT_BASE + "include/QtCore",
-      QT_BASE + "include/QtDBus",
-      QT_BASE + "include/QtMultimedia",
-    ]
-    qt_env["LINKFLAGS"] += ["-F" + QT_BASE + "lib"]
-  else:
-    qt_env['QTDIR'] = "/usr"
-    qt_dirs = [
-      f"/usr/include/{real_arch}-linux-gnu/qt5",
-      f"/usr/include/{real_arch}-linux-gnu/qt5/QtWidgets",
-      f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui",
-      f"/usr/include/{real_arch}-linux-gnu/qt5/QtCore",
-      f"/usr/include/{real_arch}-linux-gnu/qt5/QtDBus",
-      f"/usr/include/{real_arch}-linux-gnu/qt5/QtMultimedia",
-      f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.5.1/QtGui",
-      f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.12.8/QtGui",
-    ]
-
-  qt_env.Tool('qt')
-  qt_env['CPPPATH'] += qt_dirs
-  qt_flags = [
-    "-D_REENTRANT",
-    "-DQT_NO_DEBUG",
-    "-DQT_WIDGETS_LIB",
-    "-DQT_GUI_LIB",
-    "-DQT_CORE_LIB"
-  ]
-  qt_env['CXXFLAGS'] += qt_flags
-
-
+Import('env', 'qt_env', 'arch', 'common', 'messaging', 'gpucommon', 'visionipc', 'cereal')

 src = ['ui.cc', 'paint.cc', 'sidebar.cc', 'paint_dp.cc', '#phonelibs/nanovg/nanovg.c']
 libs = [common, 'zmq', 'capnp', 'kj', 'm', cereal, messaging, gpucommon, visionipc]


 if qt_env is None:
-  libs += ['EGL', 'GLESv3', 'gnustl_shared', 'log', 'utils', 'gui', 'hardware',
-           'ui', 'CB', 'gsl', 'adreno_utils', 'OpenSLES', 'cutils', 'uuid', 'OpenCL']
+  libs += ['EGL', 'GLESv3', 'gnustl_shared', 'log', 'utils', 'gui', 'hardware', 'ui', 'CB', 'gsl', 'adreno_utils', 'OpenSLES', 'cutils', 'uuid', 'OpenCL']
  linkflags = ['-Wl,-rpath=/system/lib64,-rpath=/system/comma/usr/lib']

  src += ["android/ui.cc", "android/sl_sound.cc"]
  env.Program('_ui', src,
    LINKFLAGS=linkflags,
    LIBS=libs)
+
 else:
  qt_libs = ["pthread"]

-  qt_modules = ["Widgets", "Gui", "Core", "DBus", "Multimedia"]
+  if arch == "Darwin":
+    qt_env["FRAMEWORKS"] += ["QtWidgets", "QtGui", "QtCore", "QtDBus", "QtMultimedia"]
+  else:
+    qt_libs += ["Qt5Widgets", "Qt5Gui", "Qt5Core", "Qt5DBus", "Qt5Multimedia"]

  if arch == "larch64":
    qt_libs += ["GLESv2", "wayland-client"]
-  elif arch != "Darwin":
+  else:
    qt_libs += ["GL"]

-  if arch == "Darwin":
-    qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
-  else:
-    qt_libs += [f"Qt5{m}" for m in qt_modules]
-
-  qt_src = ["qt/ui.cc", "qt/window.cc", "qt/qt_sound.cc", "qt//offroad/keyboard.cc", "qt/offroad/input_field.cc", "qt/offroad/settings.cc", "qt/offroad/onboarding.cc", "qt/offroad/wifi.cc", "qt/offroad/wifiManager.cc"] + src
+  qt_src = ["qt/ui.cc", "qt/window.cc", "qt/settings.cc", "qt/qt_sound.cc"] + src
  qt_env.Program("_ui", qt_src, LIBS=qt_libs + libs)
-
-  # spinner and text window
-  qt_env.Program("qt/text", ["qt/text.cc"], LIBS=qt_libs + libs)
-  qt_env.Program("qt/spinner", ["qt/spinner.cc"], LIBS=qt_libs + libs)
-
-  # setup and installer
-  if "BUILD_SETUP" in os.environ:
-    qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc"], LIBS=qt_libs + libs + ['curl'])
-    qt_env.Program("qt/setup/installer", ["qt/setup/installer.cc"], LIBS=qt_libs + libs)
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -6,7 +6,6 @@
 #include "common/util.h"
 #include <algorithm>

-
 #define NANOVG_GLES3_IMPLEMENTATION
 #include "nanovg_gl.h"
 #include "nanovg_gl_utils.h"
@@ -57,7 +56,6 @@ bool car_space_to_full_frame(const UIState *s, float in_x, float in_y, float in_
  return *out_x >= 0 && *out_x <= s->fb_w && *out_y >= 0 && *out_y <= s->fb_h;
 }

-
 static void ui_draw_text(NVGcontext *vg, float x, float y, const char* string, float size, NVGcolor color, int font){
  nvgFontFaceId(vg, font);
  nvgFontSize(vg, size);
@@ -262,9 +260,7 @@ static void ui_draw_world(UIState *s) {
  const UIScene *scene = &s->scene;

  nvgSave(s->vg);
-
-  // Don't draw on top of sidebar
-  nvgScissor(s->vg, scene->viz_rect.x, scene->viz_rect.y, scene->viz_rect.w, scene->viz_rect.h);
+  nvgScissor(s->vg, s->video_rect.x, s->video_rect.y, s->video_rect.w, s->video_rect.h);

  // Apply transformation such that video pixel coordinates match video
  // 1) Put (0, 0) in the middle of the video
--- a/selfdrive/ui/qt/offroad/input_field.cc
+++ b/selfdrive/ui/qt/offroad/input_field.cc
@@ -1,56 +0,0 @@
-#include <QEvent>
-#include <QVBoxLayout>
-#include <QLineEdit>
-#include <QLabel>
-#include <QPushButton>
-
-#include "input_field.hpp"
-#include "keyboard.hpp"
-
-InputField::InputField(QWidget *parent): QWidget(parent) {
-  l = new QVBoxLayout();
-  QHBoxLayout *r = new QHBoxLayout();
-  label = new QLabel(this);
-  label->setText("password");
-  r->addWidget(label);
-  QPushButton* cancel = new QPushButton("cancel");
-  QObject::connect(cancel, SIGNAL(released()), this, SLOT(emitEmpty()));  
-  cancel->setFixedHeight(150);
-  cancel->setFixedWidth(300);
-  r->addWidget(cancel);
-  l->addLayout(r);
-  l->addSpacing(80);
-
-  line = new QLineEdit("");
-  l->addWidget(line);
-  l->addSpacing(200);
-
-  k = new Keyboard(this);
-  QObject::connect(k, SIGNAL(emitButton(QString)), this, SLOT(getText(QString)));
-  l->addWidget(k);
-  setLayout(l);
-}
-
-void InputField::emitEmpty(){
-  emitText("");
-  line->setText("");
-}
-void InputField::getText(QString s){
-  if(!QString::compare(s,"⌫")){
-    line->backspace();
-  }
-
-  if(!QString::compare(s,"⏎")){
-    emitText(line->text());
-    line->setText("");
-  }
-
-  QVector<QString> control_buttons {"⇧", "↑", "ABC", "⏎", "#+=", "⌫", "123"};
-  for(QString c :control_buttons){
-    if(!QString::compare(s, c)){
-      return;
-    }
-  }
-  line->insert(s.left(1));
-}
-
--- a/selfdrive/ui/qt/offroad/input_field.hpp
+++ b/selfdrive/ui/qt/offroad/input_field.hpp
@@ -1,29 +0,0 @@
-#pragma once
-
-#include <QWidget>
-#include <QLineEdit>
-#include <QVBoxLayout>
-#include <QStackedLayout>
-#include <QLabel>
-
-#include "keyboard.hpp"
-
-class InputField : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit InputField(QWidget* parent = 0);
-  QLabel *label;
-  
-private:
-  QLineEdit *line;
-  Keyboard *k;
-  QVBoxLayout *l;
-
-public slots:
-  void emitEmpty();
-  void getText(QString s);
-
-signals:
-  void emitText(QString s);
-};
--- a/selfdrive/ui/qt/offroad/keyboard.cc
+++ b/selfdrive/ui/qt/offroad/keyboard.cc
@@ -1,120 +0,0 @@
-#include <QDebug>
-#include <QVBoxLayout>
-#include <QHBoxLayout>
-#include <QPushButton>
-#include <QButtonGroup>
-#include <QStackedLayout>
-
-#include "keyboard.hpp"
-
-KeyboardLayout::KeyboardLayout(QWidget* parent, std::vector<QVector<QString>> layout) : QWidget(parent) {
-  QVBoxLayout* vlayout = new QVBoxLayout;
-  QButtonGroup* btn_group = new QButtonGroup(this);
-
-  QObject::connect(btn_group, SIGNAL(buttonClicked(QAbstractButton*)), parent, SLOT(handleButton(QAbstractButton*)));
-
-  int i = 0;
-  for(auto s : layout){
-    QHBoxLayout *hlayout = new QHBoxLayout;
-
-    if (i == 1){
-      hlayout->addSpacing(50);
-    }
-
-    for(QString p : s){
-      QPushButton* btn = new QPushButton(p);
-      btn->setFixedHeight(100);
-
-      if (p == QString("  ")){
-        btn->setFixedWidth(1024);
-      }
-
-      btn_group->addButton(btn);
-      hlayout->addSpacing(5);
-      hlayout->addWidget(btn);
-    }
-
-    if (i == 1){
-      hlayout->addSpacing(50);
-    }
-
-    vlayout->addLayout(hlayout);
-    i++;
-  }
-
-  setLayout(vlayout);
-}
-
-Keyboard::Keyboard(QWidget *parent) : QWidget(parent) {
-  main_layout = new QStackedLayout;
-
-  // lowercase
-  std::vector<QVector<QString>> lowercase = {
-    {"q","w","e","r","t","y","u","i","o","p"},
-    {"a","s","d","f","g","h","j","k","l"},
-    {"⇧","z","x","c","v","b","n","m","⌫"},
-    {"123","  ","⏎"},
-  };
-  main_layout->addWidget(new KeyboardLayout(this, lowercase));
-
-  // uppercase
-  std::vector<QVector<QString>> uppercase = {
-    {"Q","W","E","R","T","Y","U","I","O","P"},
-    {"A","S","D","F","G","H","J","K","L"},
-    {"↑","Z","X","C","V","B","N","M","⌫"},
-    {"123","  ","⏎"},
-  };
-  main_layout->addWidget(new KeyboardLayout(this, uppercase));
-
-  // 1234567890
-  std::vector<QVector<QString>> numbers = {
-    {"1","2","3","4","5","6","7","8","9","0"},
-    {"-","/",":",";","(",")","$","&&","@","\""},
-    {"#+=",".",",","?","!","`","⌫"},
-    {"ABC","  ","⏎"},
-  };
-  main_layout->addWidget(new KeyboardLayout(this, numbers));
-
-  // Special characters
-  std::vector<QVector<QString>> specials = {
-    {"[","]","{","}","#","%","^","*","+","="},
-    {"_","\\","|","~","<",">","€","£","¥"," "},
-    {"123",".",",","?","!","`","⌫"},
-    {"ABC","  ","⏎"},
-  };
-  main_layout->addWidget(new KeyboardLayout(this, specials));
-
-  setLayout(main_layout);
-  main_layout->setCurrentIndex(0);
-
-  setStyleSheet(R"(
-    QPushButton { font-size: 40px }
-    * {
-      background-color: #99777777;
-    }
-  )");
-}
-
-
-void Keyboard::handleButton(QAbstractButton* m_button){
-  QString id = m_button->text();
-  if(!QString::compare(m_button->text(),"↑")||!QString::compare(m_button->text(),"ABC")){
-    main_layout->setCurrentIndex(0);
-  }
-   if(!QString::compare(m_button->text(),"⇧")){
-    main_layout->setCurrentIndex(1);
-  }
-  if(!QString::compare(m_button->text(),"123")){
-    main_layout->setCurrentIndex(2);
-  }
-  if(!QString::compare(m_button->text(),"#+=")){
-    main_layout->setCurrentIndex(3);
-  }
-  if(!QString::compare(m_button->text(),"⏎")){
-    main_layout->setCurrentIndex(0);
-  }
-  if("A" <= id && id <= "Z"){
-    main_layout->setCurrentIndex(0);
-  }
-  emit emitButton(m_button->text());
-}
--- a/selfdrive/ui/qt/offroad/keyboard.hpp
+++ b/selfdrive/ui/qt/offroad/keyboard.hpp
@@ -1,31 +0,0 @@
-#pragma once
-
-#include <vector>
-
-#include <QString>
-#include <QWidget>
-#include <QStackedLayout>
-#include <QAbstractButton>
-
-class KeyboardLayout : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit KeyboardLayout(QWidget *parent, std::vector<QVector<QString>> layout);
-};
-
-class Keyboard : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit Keyboard(QWidget *parent = 0);
-
-private:
-  QStackedLayout* main_layout;
-
-private slots:
-  void handleButton(QAbstractButton* m_button);
-
-signals:
-  void emitButton(QString s);
-};
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
toyboxZ	3a95f1e6f6	fix dynamicGas profile change does not take effect	2020-12-13 11:47:04 +08:00
Rick Lan	51f934cc13	Merge branch 'devel-i18n' of https://github.com/dragonpilot-community/dragonpilot into devel-i18n	2020-12-01 09:25:01 +10:00
Rick Lan	108da3b04d	dragonpilot 0.7.10.1 ======================== * HYUNDAI_GENESIS uses INDI controller. (Thanks to @donfyffe) * HYUNDAI_GENESIS added Cruise button event and lkMode feature. (Thanks to @donfyffe) * Support 2018 Taiwan Hyundai IONIQ + smart MDPS (dp_hkg_smart_mdps) (Thanks to @andy741217) * Use openpilot v0.8 model. (Thanks to @eisenheim) * Added optimizations from pre-0.8. * Added dp_honda_eps_mod setting to enable higher torque (eps mod required). (Thanks to @Wuxl_369) * Fixed issue with white/grey panda support for VW (Thanks to @lirudy) * GENESIS_G70 Optimisation (Thanks to @sebastian4k) * HYUNDAI_GENESIS Optimisation (Thanks to @donfyffe) * Added Dynamic Gas Lite. (Thanks to @toyboxZ) * Added Honda inspire, accord, crv SnG optimisation from afa fork. (Thanks to @menwenliang) * Added dp_toyota_lowest_cruise_override_vego. (Thanks to @toyboxZ)	2020-12-01 09:22:08 +10:00
Rick Lan	10d5cbd69b	attempt to fix lead_distance bug	2020-11-30 21:40:50 +10:00
dragonpilot	501f08c879	Merge pull request #71 from toyboxZ2/devel-i18n use vEgo override cruise speed for toyota at min speed	2020-11-28 10:54:29 +10:00
dragonpilot	a6bde72e7e	Merge pull request #70 from menwenliang/devel-i18n Devel i18n	2020-11-28 10:29:50 +10:00
sadmen	2694a36829	modify bug	2020-11-27 20:04:42 +08:00
toyboxZ2	bbbccead30	use vEgo override cruise speed for toyota at min speed	2020-11-26 23:52:28 +08:00
menwenliang	b499ada25e	去除部分打印和恢复原有部分dp参数	2020-11-26 16:15:45 +08:00
menwenliang	b48364fa14	add better reset	2020-11-26 13:06:29 +08:00
dragonpilot	7265f321b9	Merge pull request #68 from toyboxZ2/devel-i18n add ShaneSmiskol's DynamicGas feature	2020-11-21 18:49:31 +10:00
Comma Device	71946e8e0e	add ShaneSmiskol's DynamicGas feature	2020-11-21 15:19:34 +08:00
Rick Lan	a8f732edb4	dragonpilot 0.7.10	2020-11-04 09:18:42 +10:00