Merge branch 'devel' of https://github.com/commaai/openpilot into devel-en

回傳指紋到 sentry.io
修改指紋暫存 logic
2026-06-12 05:44:14 +08:00 · 2019-08-06 15:43:06 +10:00 · 2019-08-02 09:18:07 +10:00 · 2019-08-02 09:17:14 +10:00 · 2019-08-02 08:53:24 +10:00 · 2019-08-01 11:30:03 +10:00
42 changed files with 4798 additions and 945 deletions
--- a/apk/ai.comma.plus.offroad.apk
+++ b/apk/ai.comma.plus.offroad.apk
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -78,6 +78,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    commIssue @53;
    tooDistracted @54;
    posenetInvalid @55;
+    manualSteeringRequired @56;
+    manualSteeringRequiredBlinkersOn @57;
  }
 }

--- a/common/params.py
+++ b/common/params.py
@@ -82,6 +82,31 @@ keys = {
  "TermsVersion": [TxType.PERSISTENT],
  "TrainingVersion": [TxType.PERSISTENT],
  "Version": [TxType.PERSISTENT],
+  #dragonpilot config
+  "DragonEnableDashcam": [TxType.PERSISTENT],
+  "DragonDisableDriverSafetyCheck": [TxType.PERSISTENT], # deprecated
+  "DragonEnableDriverSafetyCheck": [TxType.PERSISTENT],
+  "DragonAutoShutdownAt": [TxType.PERSISTENT],
+  "DragonTempDisableSteerOnSignal": [TxType.PERSISTENT], # deprecated
+  "DragonEnableSteeringOnSignal": [TxType.PERSISTENT],
+  "DragonDisableLogger": [TxType.PERSISTENT], # deprecated
+  "DragonEnableLogger": [TxType.PERSISTENT],
+  "DragonDisableUploader": [TxType.PERSISTENT], # deprecated
+  "DragonEnableUploader": [TxType.PERSISTENT],
+  "DragonNoctuaMode": [TxType.PERSISTENT],
+  "DragonCacheCar": [TxType.PERSISTENT],
+  "DragonCachedModel": [TxType.PERSISTENT],
+  "DragonCachedFP": [TxType.PERSISTENT],
+  "DragonCachedVIN": [TxType.PERSISTENT],
+  "DragonAllowGas": [TxType.PERSISTENT],
+  "DragonBBUI": [TxType.PERSISTENT], # deprecated
+  "DragonToyotaStockDSU": [TxType.PERSISTENT],
+  "DragonLatCtrl": [TxType.PERSISTENT],
+  "DragonUIEvent": [TxType.PERSISTENT],
+  "DragonUIMaxSpeed": [TxType.PERSISTENT],
+  "DragonUIFace": [TxType.PERSISTENT],
+  "DragonUIDev": [TxType.PERSISTENT],
+  "DragonUIDevMini": [TxType.PERSISTENT],
 }


--- a/dragonpilot/chinese-fonts/Miui-Bold.ttf
+++ b/dragonpilot/chinese-fonts/Miui-Bold.ttf
--- a/dragonpilot/chinese-fonts/Miui-Regular.ttf
+++ b/dragonpilot/chinese-fonts/Miui-Regular.ttf
--- a/dragonpilot/chinese-fonts/fonts.xml
+++ b/dragonpilot/chinese-fonts/fonts.xml
@@ -0,0 +1,371 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!--
+    NOTE: this is the newer (L) version of the system font configuration,
+    supporting richer weight selection. Some apps will expect the older
+    version, so please keep system_fonts.xml and fallback_fonts.xml in sync
+    with any changes, even though framework will only read this file.
+
+    All fonts withohut names are added to the default list. Fonts are chosen
+    based on a match: full BCP-47 language tag including script, then just
+    language, and finally order (the first font containing the glyph).
+
+    Order of appearance is also the tiebreaker for weight matching. This is
+    the reason why the 900 weights of Roboto precede the 700 weights - we
+    prefer the former when an 800 weight is requested. Since bold spans
+    effectively add 300 to the weight, this ensures that 900 is the bold
+    paired with the 500 weight, ensuring adequate contrast.
+-->
+<familyset version="22">
+    <!-- first font is default -->
+    <family name="sans-serif">
+        <font weight="100" style="normal">Roboto-Thin.ttf</font>
+        <font weight="100" style="italic">Roboto-ThinItalic.ttf</font>
+        <font weight="300" style="normal">Roboto-Light.ttf</font>
+        <font weight="300" style="italic">Roboto-LightItalic.ttf</font>
+        <font weight="400" style="normal">Roboto-Regular.ttf</font>
+        <font weight="400" style="italic">Roboto-Italic.ttf</font>
+        <font weight="500" style="normal">Roboto-Medium.ttf</font>
+        <font weight="500" style="italic">Roboto-MediumItalic.ttf</font>
+        <font weight="900" style="normal">Roboto-Black.ttf</font>
+        <font weight="900" style="italic">Roboto-BlackItalic.ttf</font>
+        <font weight="700" style="normal">Roboto-Bold.ttf</font>
+        <font weight="700" style="italic">Roboto-BoldItalic.ttf</font>
+    </family>
+
+    <!-- Note that aliases must come after the fonts they reference. -->
+    <alias name="sans-serif-thin" to="sans-serif" weight="100" />
+    <alias name="sans-serif-light" to="sans-serif" weight="300" />
+    <alias name="sans-serif-medium" to="sans-serif" weight="500" />
+    <alias name="sans-serif-black" to="sans-serif" weight="900" />
+    <alias name="arial" to="sans-serif" />
+    <alias name="helvetica" to="sans-serif" />
+    <alias name="tahoma" to="sans-serif" />
+    <alias name="verdana" to="sans-serif" />
+
+    <family name="sans-serif-condensed">
+        <font weight="300" style="normal">RobotoCondensed-Light.ttf</font>
+        <font weight="300" style="italic">RobotoCondensed-LightItalic.ttf</font>
+        <font weight="400" style="normal">RobotoCondensed-Regular.ttf</font>
+        <font weight="400" style="italic">RobotoCondensed-Italic.ttf</font>
+        <font weight="700" style="normal">RobotoCondensed-Bold.ttf</font>
+        <font weight="700" style="italic">RobotoCondensed-BoldItalic.ttf</font>
+    </family>
+    <alias name="sans-serif-condensed-light" to="sans-serif-condensed" weight="300" />
+
+    <family name="serif">
+        <font weight="400" style="normal">NotoSerif-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSerif-Bold.ttf</font>
+        <font weight="400" style="italic">NotoSerif-Italic.ttf</font>
+        <font weight="700" style="italic">NotoSerif-BoldItalic.ttf</font>
+    </family>
+    <alias name="times" to="serif" />
+    <alias name="times new roman" to="serif" />
+    <alias name="palatino" to="serif" />
+    <alias name="georgia" to="serif" />
+    <alias name="baskerville" to="serif" />
+    <alias name="goudy" to="serif" />
+    <alias name="fantasy" to="serif" />
+    <alias name="ITC Stone Serif" to="serif" />
+
+    <family name="monospace">
+        <font weight="400" style="normal">DroidSansMono.ttf</font>
+    </family>
+    <alias name="sans-serif-monospace" to="monospace" />
+    <alias name="monaco" to="monospace" />
+
+    <family name="serif-monospace">
+        <font weight="400" style="normal">CutiveMono.ttf</font>
+    </family>
+    <alias name="courier" to="serif-monospace" />
+    <alias name="courier new" to="serif-monospace" />
+
+    <family name="casual">
+        <font weight="400" style="normal">ComingSoon.ttf</font>
+    </family>
+
+    <family name="cursive">
+        <font weight="400" style="normal">DancingScript-Regular.ttf</font>
+        <font weight="700" style="normal">DancingScript-Bold.ttf</font>
+    </family>
+
+    <family name="sans-serif-smallcaps">
+        <font weight="400" style="normal">CarroisGothicSC-Regular.ttf</font>
+    </family>
+
+    <!-- fallback fonts -->
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoNaskhArabic-Regular.ttf</font>
+        <font weight="700" style="normal">NotoNaskhArabic-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoNaskhArabicUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoNaskhArabicUI-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansEthiopic-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansEthiopic-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansHebrew-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansHebrew-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansThai-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansThai-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansThaiUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansThaiUI-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansArmenian-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansArmenian-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansGeorgian-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansGeorgian-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansDevanagari-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansDevanagari-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansDevanagariUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansDevanagariUI-Bold.ttf</font>
+    </family>
+    <!-- Gujarati should come after Devanagari -->
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansGujarati-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansGujarati-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansGujaratiUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansGujaratiUI-Bold.ttf</font>
+    </family>
+    <!-- Gurmukhi should come after Devanagari -->
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansGurmukhi-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansGurmukhi-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansGurmukhiUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansGurmukhiUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansTamil-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansTamil-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansTamilUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansTamilUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansMalayalam-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansMalayalam-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansMalayalamUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansMalayalamUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansBengali-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansBengali-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansBengaliUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansBengaliUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansTelugu-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansTelugu-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansTeluguUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansTeluguUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansKannada-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansKannada-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansKannadaUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansKannadaUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansOriya-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansOriya-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansOriyaUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansOriyaUI-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSinhala-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansSinhala-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansKhmer-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansKhmer-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansKhmerUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansKhmerUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansLao-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansLao-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansLaoUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansLaoUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansMyanmar-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansMyanmar-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansMyanmarUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansMyanmarUI-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansThaana-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansThaana-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansCham-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansCham-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansBalinese-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansBamum-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansBatak-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansBuginese-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansBuhid-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansCanadianAboriginal-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansCherokee-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansCoptic-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansGlagolitic-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansHanunoo-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansJavanese-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansKayahLi-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansLepcha-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansLimbu-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansLisu-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansMandaic-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansMeeteiMayek-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansNewTaiLue-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansNKo-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansOlChiki-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansRejang-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSaurashtra-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSundanese-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSylotiNagri-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSyriacEstrangela-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansTagbanwa-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansTaiTham-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansTaiViet-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansTibetan-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansTifinagh-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansVai-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansYi-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSymbols-Regular-Subsetted.ttf</font>
+    </family>
+    <family lang="zh-Hans">
+        <font weight="400" style="normal">NotoSansSC-Regular.otf</font>
+    </family>
+    <family lang="zh-Hant">
+        <font weight="400" style="normal">NotoSansTC-Regular.otf</font>
+    </family>
+    <family lang="ja">
+        <font weight="400" style="normal">NotoSansJP-Regular.otf</font>
+    </family>
+    <family lang="ko">
+        <font weight="400" style="normal">NotoSansKR-Regular.otf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NanumGothic.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoColorEmoji.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">Miui-Regular.ttf</font>
+    </family>
+    <family lang="ja">
+        <font weight="400" style="normal">MTLmr3m.ttf</font>
+    </family>
+    <!--
+        Tai Le and Mongolian are intentionally kept last, to make sure they don't override
+        the East Asian punctuation for Chinese.
+    -->
+    <family>
+        <font weight="400" style="normal">NotoSansTaiLe-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansMongolian-Regular.ttf</font>
+    </family>
+</familyset>
--- a/dragonpilot/chinese-fonts/installer.sh
+++ b/dragonpilot/chinese-fonts/installer.sh
@@ -0,0 +1,50 @@
+#!/usr/bin/bash
+
+# Anndroid system locale, zh-TW = Traditional Chinese, zh-CN = Simplified Chinese
+lang=en
+
+update_font_reg=0
+update_font_bold=0
+remove_old_font=0
+
+# check regular font
+if [ ! -f "/system/fonts/Miui-Regular.ttf" ]; then
+    update_font_reg=1
+fi
+
+# check bold font
+if [ ! -f "/system/fonts/Miui-Bold.ttf" ]; then
+    update_font_bold=1
+fi
+
+# check droidsans font
+if ls /system/fonts/DroidSansFallback*.ttf 1> /dev/null 2>&1; then
+    remove_old_font=1
+fi
+
+if [ $update_font_reg -eq "1" ] || [ $update_font_bold -eq "1" ] || [ $remove_old_font -eq "1" ]; then
+    # sleep 5 secs in case, make sure the /system is remountable
+    sleep 5
+    mount -o remount,rw /system
+    if [ $update_font_reg -eq "1" ] || [ $update_font_bold -eq "1" ]; then
+        # download regular font
+        if [ $update_font_reg -eq "1" ]; then
+            yes | cp -rf /data/openpilot/dragonpilot/chinese-fonts/Miui-Regular.ttf /system/fonts/Miui-Regular.ttf
+        fi
+        # download bold font
+        if [ $update_font_bold -eq "1" ]; then
+            yes | cp -rf /data/openpilot/dragonpilot/chinese-fonts/Miui-Bold.ttf /system/fonts/Miui-Bold.ttf
+        fi
+        # dont new font mapping
+        yes | cp -rf /data/openpilot/dragonpilot/chinese-fonts/fonts.xml /system/etc/fonts.xml
+        chmod 644 /system/etc/fonts.xml
+        chmod 644 /system/fonts/Miui-*
+    fi
+    # remove driodsans font
+    if [ $remove_old_font -eq "1" ]; then
+        rm -fr /system/fonts/DroidSansFallback*.ttf
+    fi
+    mount -o remount,r /system
+    # change system locale
+    setprop persist.sys.locale $lang
+fi
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -12,18 +12,18 @@ fi

 function launch {
  # apply update
-  if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
-    git reset --hard @{u} &&
-    git clean -xdf &&
-
-    # Touch all files on release2 after checkout to prevent rebuild
-    BRANCH=$(git rev-parse --abbrev-ref HEAD)
-    if [[ "$BRANCH" == "release2" ]]; then
-        touch **
-    fi
-
-    exec "${BASH_SOURCE[0]}"
-  fi
+#  if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
+#    git reset --hard @{u} &&
+#    git clean -xdf &&
+#
+#    # Touch all files on release2 after checkout to prevent rebuild
+#    BRANCH=$(git rev-parse --abbrev-ref HEAD)
+#    if [[ "$BRANCH" == "release2" ]]; then
+#        touch **
+#    fi
+#
+#    exec "${BASH_SOURCE[0]}"
+#  fi

  # no cpu rationing for now
  echo 0-3 > /dev/cpuset/background/cpus
--- a/launch_openpilot.sh
+++ b/launch_openpilot.sh
@@ -1,5 +1,6 @@
 #!/usr/bin/bash

+/usr/bin/sh /data/openpilot/dragonpilot/chinese-fonts/installer.sh &
 export PASSIVE="0"
 exec ./launch_chffrplus.sh

--- a/panda/board/safety/safety_honda.h
+++ b/panda/board/safety/safety_honda.h
@@ -17,7 +17,7 @@ bool honda_alt_brake_msg = false;
 static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {

  int addr = GET_ADDR(to_push);
-  int len = GET_LEN(to_push);
+  //int len = GET_LEN(to_push);

  // sample speed
  if (addr == 0x158) {
@@ -60,7 +60,7 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {

  // exit controls on rising edge of gas press if interceptor (0x201 w/ len = 6)
  // length check because bosch hardware also uses this id (0x201 w/ len = 8)
-  if ((addr == 0x201) && (len == 6)) {
+  if (false) {
    gas_interceptor_detected = 1;
    int gas_interceptor = GET_INTERCEPTOR(to_push);
    if ((gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
@@ -72,7 +72,7 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
  }

  // exit controls on rising edge of gas press if no interceptor
-  if (!gas_interceptor_detected) {
+  if (false) {
    if (addr == 0x17C) {
      int gas = GET_BYTE(to_push, 0);
      if (gas && !(honda_gas_prev) && long_controls_allowed) {
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -67,7 +67,7 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
  }

  // exit controls on rising edge of interceptor gas press
-  if (addr == 0x201) {
+  if (false) {
    gas_interceptor_detected = 1;
    int gas_interceptor = GET_INTERCEPTOR(to_push);
    if ((gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRESHOLD) &&
@@ -79,7 +79,7 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
  }

  // exit controls on rising edge of gas press
-  if (addr == 0x2C1) {
+  if (false) {
    int gas = GET_BYTE(to_push, 6) & 0xFF;
    if ((gas > 0) && (toyota_gas_prev == 0) && !gas_interceptor_detected && long_controls_allowed) {
      controls_allowed = 0;
--- a/phonelibs/nanovg/stb_image.h
+++ b/phonelibs/nanovg/stb_image.h
--- a/phonelibs/nanovg/stb_truetype.h
+++ b/phonelibs/nanovg/stb_truetype.h
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -6,6 +6,8 @@ from common.basedir import BASEDIR
 from common.fingerprints import eliminate_incompatible_cars, all_known_cars
 from selfdrive.swaglog import cloudlog
 import selfdrive.messaging as messaging
+import pickle
+import selfdrive.crash as crash


 def get_startup_alert(car_recognized, controller_available):
@@ -78,45 +80,55 @@ def fingerprint(logcan, sendcan, is_panda_black):
  cloudlog.warning("VIN %s", vin)
  Params().put("CarVin", vin)

-  finger = {i: {} for i in range(0, 4)}  # collect on all buses
-  candidate_cars = {i: all_known_cars() for i in [0, 1]}  # attempt fingerprint on both bus 0 and 1
-  frame = 0
-  frame_fingerprint = 10  # 0.1s
-  car_fingerprint = None
-  done = False
+  if params.get("DragonCacheCar") == "1" and params.get("DragonCachedFP") != "" and params.get("DragonCachedModel") != "":
+    car_fingerprint = pickle.loads(params.get("DragonCachedModel"))
+    finger = pickle.loads(params.get("DragonCachedFP"))
+    vin = pickle.loads(params.get("DragonCachedVIN"))
+  else:
+    finger = {i: {} for i in range(0, 4)}  # collect on all buses
+    candidate_cars = {i: all_known_cars() for i in [0, 1]}  # attempt fingerprint on both bus 0 and 1
+    frame = 0
+    frame_fingerprint = 10  # 0.1s
+    car_fingerprint = None
+    done = False

-  while not done:
-    a = messaging.recv_one(logcan)
+    while not done:
+      a = messaging.recv_one(logcan)

-    for can in a.can:
-      # need to independently try to fingerprint both bus 0 and 1 to work
-      # for the combo black_panda and honda_bosch. Ignore extended messages
-      # and VIN query response.
-      # Include bus 2 for toyotas to disambiguate cars using camera messages
-      # (ideally should be done for all cars but we can't for Honda Bosch)
+      for can in a.can:
+        # need to independently try to fingerprint both bus 0 and 1 to work
+        # for the combo black_panda and honda_bosch. Ignore extended messages
+        # and VIN query response.
+        # Include bus 2 for toyotas to disambiguate cars using camera messages
+        # (ideally should be done for all cars but we can't for Honda Bosch)
+        for b in candidate_cars:
+          if (can.src == b or (only_toyota_left(candidate_cars[b]) and can.src == 2)) and \
+             can.address < 0x800 and can.address not in [0x7df, 0x7e0, 0x7e8]:
+            finger[can.src][can.address] = len(can.dat)
+            candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])
+
+      # if we only have one car choice and the time since we got our first
+      # message has elapsed, exit
      for b in candidate_cars:
-        if (can.src == b or (only_toyota_left(candidate_cars[b]) and can.src == 2)) and \
-           can.address < 0x800 and can.address not in [0x7df, 0x7e0, 0x7e8]:
-          finger[can.src][can.address] = len(can.dat)
-          candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])
+        # 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:
+          if frame > frame_fingerprint:
+            # fingerprint done
+            car_fingerprint = candidate_cars[b][0]

-    # if we only have one car choice and the time since we got our first
-    # message has elapsed, exit
-    for b in candidate_cars:
-      # 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:
-        if frame > frame_fingerprint:
-          # fingerprint done
-          car_fingerprint = candidate_cars[b][0]
+      # bail if no cars left or we've been waiting for more than 2s
+      failed = all(len(cc) == 0 for cc in candidate_cars.itervalues()) or frame > 200
+      succeeded = car_fingerprint is not None
+      done = failed or succeeded

-    # bail if no cars left or we've been waiting for more than 2s
-    failed = all(len(cc) == 0 for cc in candidate_cars.itervalues()) or frame > 200
-    succeeded = car_fingerprint is not None
-    done = failed or succeeded
+      frame += 1

-    frame += 1
+      if succeeded:
+        params.put("DragonCachedModel", pickle.dumps(car_fingerprint))
+        params.put("DragonCachedFP", pickle.dumps(finger))
+        params.put("DragonCachedVIN", pickle.dumps(vin))

  cloudlog.warning("fingerprinted %s", car_fingerprint)
  return car_fingerprint, finger, vin
@@ -129,6 +141,12 @@ def get_car(logcan, sendcan, is_panda_black=False):
  if candidate is None:
    cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
    candidate = "mock"
+  else:
+    cloudlog.warning("car does match fingerprint: %r", fingerprints)
+    try:
+      crash.capture_warning("fingerprinted %s" % candidate)
+    except:  # fixes occasional travis errors
+      pass

  CarInterface, CarController = interfaces[candidate]
  car_params = CarInterface.get_params(candidate, fingerprints[0], vin, is_panda_black)
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -6,6 +6,8 @@ from selfdrive.car import create_gas_command
 from selfdrive.car.honda import hondacan
 from selfdrive.car.honda.values import AH, CruiseButtons, CAR
 from selfdrive.can.packer import CANPacker
+from common.params import Params
+params = Params()


 def actuator_hystereses(brake, braking, brake_steady, v_ego, car_fingerprint):
@@ -70,7 +72,7 @@ def process_hud_alert(hud_alert):

 HUDData = namedtuple("HUDData",
                     ["pcm_accel", "v_cruise", "mini_car", "car", "X4",
-                      "lanes", "beep", "chime", "fcw", "acc_alert", "steer_required"])
+                      "lanes", "beep", "chime", "fcw", "acc_alert", "steer_required", "dashed_lanes"])


 class CarController(object):
@@ -83,10 +85,21 @@ class CarController(object):
    self.packer = CANPacker(dbc_name)
    self.new_radar_config = False

+    # dragonpilot
+    self.turning_signal_timer = 0
+    self.dragon_enable_steering_on_signal = False
+    self.dragon_allow_gas = False
+    self.dragon_lat_ctrl = True
+
  def update(self, enabled, CS, frame, actuators, \
             pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel, \
             hud_v_cruise, hud_show_lanes, hud_show_car, \
             hud_alert, snd_beep, snd_chime):
+    # dragonpilot, don't check for param too often as it's a kernel call
+    if frame % 100 == 0:
+      self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
+      self.dragon_allow_gas = False if params.get("DragonAllowGas") == "0" else True
+      self.dragon_lat_ctrl = False if params.get("DragonLatCtrl") == "0" else True

    # *** apply brake hysteresis ***
    brake, self.braking, self.brake_steady = actuator_hystereses(actuators.brake, self.braking, self.brake_steady, CS.v_ego, CS.CP.carFingerprint)
@@ -121,7 +134,7 @@ class CarController(object):
    fcw_display, steer_required, acc_alert = process_hud_alert(hud_alert)

    hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), 1, hud_car,
-                  0xc1, hud_lanes, int(snd_beep), snd_chime, fcw_display, acc_alert, steer_required)
+                  0xc1, hud_lanes, int(snd_beep), snd_chime, fcw_display, acc_alert, steer_required, CS.lkMode)

    # **** process the car messages ****

@@ -141,11 +154,22 @@ class CarController(object):
    apply_brake = int(clip(self.brake_last * BRAKE_MAX, 0, BRAKE_MAX - 1))
    apply_steer = int(clip(-actuators.steer * STEER_MAX, -STEER_MAX, STEER_MAX))

-    lkas_active = enabled and not CS.steer_not_allowed
+    lkas_active = enabled and not CS.steer_not_allowed and CS.lkMode

    # Send CAN commands.
    can_sends = []

+    # dragonpilot
+    if enabled and (CS.left_blinker_on > 0 or CS.right_blinker_on > 0) and self.dragon_enable_steering_on_signal:
+      self.turning_signal_timer = 100
+
+    if self.turning_signal_timer > 0:
+      self.turning_signal_timer -= 1
+      lkas_active = False
+
+    if not self.dragon_lat_ctrl:
+      lkas_active = False
+
    # Send steering command.
    idx = frame % 4
    can_sends.append(hondacan.create_steering_control(self.packer, apply_steer,
@@ -169,6 +193,16 @@ class CarController(object):
        idx = frame // 2
        ts = frame * DT_CTRL
        pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts)
+        # DragonAllowGas
+        # if we detect gas pedal pressed, we do not want OP to apply gas or brake
+        # gasPressed code from interface.py
+        if not CS.CP.enableGasInterceptor:
+          gasPressed = CS.pedal_gas > 0
+        else:
+          gasPressed = CS.user_gas_pressed
+        if self.dragon_allow_gas and gasPressed:
+          apply_brake = 0
+          apply_gas = 0
        can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
          pcm_override, pcm_cancel_cmd, hud.chime, hud.fcw, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
        self.apply_brake_last = apply_brake
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -199,6 +199,8 @@ class CarState(object):
                         K=[[0.12287673], [0.29666309]])
    self.v_ego = 0.0

+    self.lkMode = True
+
  def update(self, cp, cp_cam):

    # car params
@@ -269,6 +271,13 @@ class CarState(object):
    self.angle_steers = cp.vl["STEERING_SENSORS"]['STEER_ANGLE']
    self.angle_steers_rate = cp.vl["STEERING_SENSORS"]['STEER_ANGLE_RATE']

+    # when user presses LKAS button on steering wheel
+    if self.cruise_setting == 1:
+      if cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"] == 0:
+        if self.lkMode:
+          self.lkMode = False
+        else:
+          self.lkMode = True
    self.cruise_setting = cp.vl["SCM_BUTTONS"]['CRUISE_SETTING']
    self.cruise_buttons = cp.vl["SCM_BUTTONS"]['CRUISE_BUTTONS']

--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -83,6 +83,7 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx,
    'SET_ME_X48': 0x48,
    'STEERING_REQUIRED': hud.steer_required,
    'SOLID_LANES': hud.lanes,
+    'DASHED_LANES': hud.dashed_lanes,
    'BEEP': hud.beep,
  }
  commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values, idx))
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -12,6 +12,8 @@ from selfdrive.car.honda.carstate import CarState, get_can_parser, get_cam_can_p
 from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, AUDIO_HUD, VISUAL_HUD, CAMERA_MSGS
 from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness
 from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING
+from common.params import Params
+params = Params()

 A_ACC_MAX = max(_A_CRUISE_MAX_V_FOLLOWING)

@@ -96,6 +98,11 @@ class CarInterface(object):
    else:
      self.compute_gb = compute_gb_honda

+    # dragonpilot
+    self.dragon_enable_steering_on_signal = False
+    self.dragon_allow_gas = False
+    self.ts_last_check = 0.
+
  @staticmethod
  def calc_accel_override(a_ego, a_target, v_ego, v_target):

@@ -360,6 +367,13 @@ class CarInterface(object):

  # returns a car.CarState
  def update(self, c, can_strings):
+    # dragonpilot, don't check for param too often as it's a kernel call
+    ts = sec_since_boot()
+    if ts - self.ts_last_check > 1.:
+      self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
+      self.dragon_allow_gas = False if params.get("DragonAllowGas") == "0" else True
+      self.ts_last_check = ts
+
    # ******************* do can recv *******************
    self.cp.update_strings(int(sec_since_boot() * 1e9), can_strings)
    self.cp_cam.update_strings(int(sec_since_boot() * 1e9), can_strings)
@@ -473,7 +487,11 @@ class CarInterface(object):
    # wait 1.0s before throwing the alert to avoid it popping when you turn off the car
    if self.cp_cam.can_invalid_cnt >= 100 and self.CS.CP.carFingerprint not in HONDA_BOSCH and self.CP.enableCamera:
      events.append(create_event('invalidGiraffeHonda', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
-    if self.CS.steer_error:
+    if not self.CS.lkMode:
+      events.append(create_event('manualSteeringRequired', [ET.WARNING]))
+    elif self.CS.lkMode and (self.CS.left_blinker_on or self.CS.right_blinker_on) and self.dragon_enable_steering_on_signal:
+      events.append(create_event('manualSteeringRequiredBlinkersOn', [ET.WARNING]))
+    elif self.CS.steer_error:
      events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
    elif self.CS.steer_warning:
      events.append(create_event('steerTempUnavailable', [ET.WARNING]))
@@ -499,13 +517,18 @@ class CarInterface(object):
    if self.CP.enableCruise and ret.vEgo < self.CP.minEnableSpeed:
      events.append(create_event('speedTooLow', [ET.NO_ENTRY]))

-    # disable on pedals rising edge or when brake is pressed and speed isn't zero
-    if (ret.gasPressed and not self.gas_pressed_prev) or \
-       (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
-      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
+    # DragonAllowGas
+    if not self.dragon_allow_gas:
+      # disable on pedals rising edge or when brake is pressed and speed isn't zero
+      if (ret.gasPressed and not self.gas_pressed_prev) or \
+         (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
+        events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))

-    if ret.gasPressed:
-      events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
+      if ret.gasPressed:
+        events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
+    else:
+      if ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001):
+        events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))

    # it can happen that car cruise disables while comma system is enabled: need to
    # keep braking if needed or if the speed is very low
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -84,7 +84,7 @@ FINGERPRINTS = {
    148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 432: 7, 441: 5, 446: 3, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
  }],
  CAR.ACCORDH: [{
-    148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 525: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1600: 5, 1601: 8, 1652: 8
+    148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 450: 8, 464: 8, 477: 8, 479: 8, 495: 8, 525: 8, 545: 6, 662: 4, 773: 7, 777: 8, 780: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 927: 8, 929: 8, 1302: 8, 1416: 5, 1600: 5, 1601: 8, 1652: 8
  }],
  CAR.ACURA_ILX: [{
    57: 3, 145: 8, 228: 5, 304: 8, 316: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 7, 419: 8, 420: 8, 422: 8, 428: 8, 432: 7, 464: 8, 476: 4, 490: 8, 506: 8, 512: 6, 513: 6, 542: 7, 545: 4, 597: 8, 660: 8, 773: 7, 777: 8, 780: 8, 800: 8, 804: 8, 808: 8, 819: 7, 821: 5, 829: 5, 882: 2, 884: 7, 887: 8, 888: 8, 892: 8, 923: 2, 929: 4, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1030: 5, 1034: 5, 1036: 8, 1039: 8, 1057: 5, 1064: 7, 1108: 8, 1365: 5,
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -8,6 +8,9 @@ from selfdrive.car.toyota.toyotacan import make_can_msg, create_video_target,\
                                           create_fcw_command
 from selfdrive.car.toyota.values import ECU, STATIC_MSGS, TSS2_CAR
 from selfdrive.can.packer import CANPacker
+from common.params import Params
+params = Params()
+

 VisualAlert = car.CarControl.HUDControl.VisualAlert
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
@@ -123,9 +126,20 @@ class CarController(object):

    self.packer = CANPacker(dbc_name)

+    # dragonpilot
+    self.turning_signal_timer = 0
+    self.dragon_enable_steering_on_signal = False
+    self.dragon_allow_gas = False
+    self.dragon_lat_ctrl = True
+
  def update(self, enabled, CS, frame, actuators,
             pcm_cancel_cmd, hud_alert, audible_alert, forwarding_camera,
             left_line, right_line, lead, left_lane_depart, right_lane_depart):
+    # dragonpilot, don't check for param too often as it's a kernel call
+    if frame % 100 == 0:
+      self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
+      self.dragon_allow_gas = False if params.get("DragonAllowGas") == "0" else True
+      self.dragon_lat_ctrl = False if params.get("DragonLatCtrl") == "0" else True

    # *** compute control surfaces ***

@@ -197,6 +211,28 @@ class CarController(object):

    can_sends = []

+    # dragonpilot
+    if enabled and (CS.left_blinker_on or CS.right_blinker_on) and self.dragon_enable_steering_on_signal:
+      self.turning_signal_timer = 100
+
+    if self.turning_signal_timer > 0:
+      self.turning_signal_timer -= 1
+      apply_steer_req = 0
+
+    if not self.dragon_lat_ctrl:
+      apply_steer_req = 0
+
+    if CS.v_ego > 12.5 and not enabled:
+      if right_lane_depart and not CS.right_blinker_on:
+        apply_steer = self.last_steer + 3
+        apply_steer = min(apply_steer , 800)
+        apply_steer_req = 1
+
+      if left_lane_depart and not CS.left_blinker_on:
+        apply_steer = self.last_steer - 3
+        apply_steer = max(apply_steer , -800)
+        apply_steer_req = 1
+
    #*** control msgs ***
    #print("steer {0} {1} {2} {3}".format(apply_steer, min_lim, max_lim, CS.steer_torque_motor)

@@ -215,6 +251,19 @@ class CarController(object):
    elif ECU.APGS in self.fake_ecus:
      can_sends.append(create_ipas_steer_command(self.packer, 0, 0, True))

+    # DragonAllowGas
+    # if we detect gas pedal pressed, we do not want OP to apply gas or brake
+    # gasPressed code from interface.py
+    if CS.CP.enableGasInterceptor:
+      # use interceptor values to disengage on pedal press
+      gasPressed = CS.pedal_gas > 15
+    else:
+      gasPressed = CS.pedal_gas > 0
+
+    if self.dragon_allow_gas and gasPressed:
+      apply_accel = 0
+      apply_gas = 0
+
    # accel cmd comes from DSU, but we can spam can to cancel the system even if we are using lat only control
    if (frame % 3 == 0 and ECU.DSU in self.fake_ecus) or (pcm_cancel_cmd and ECU.CAM in self.fake_ecus):
      lead = lead or CS.v_ego < 12.    # at low speed we always assume the lead is present do ACC can be engaged
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -5,6 +5,10 @@ from selfdrive.can.parser import CANParser
 from selfdrive.config import Conversions as CV
 from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, TSS2_CAR, NO_DSU_CAR

+from common.realtime import sec_since_boot
+from common.params import Params
+params = Params()
+
 def parse_gear_shifter(gear, vals):

  val_to_capnp = {'P': 'park', 'R': 'reverse', 'N': 'neutral',
@@ -109,7 +113,16 @@ class CarState(object):
                         K=[[0.12287673], [0.29666309]])
    self.v_ego = 0.0

+    self.dragon_toyota_stock_dsu = False
+    self.ts_last_check = 0.
+
  def update(self, cp):
+    # dragonpilot, don't check for param too often as it's a kernel call
+    ts = sec_since_boot()
+    if ts - self.ts_last_check > 1.:
+      self.dragon_toyota_stock_dsu = False if params.get("DragonToyotaStockDSU") == "0" else True
+      self.ts_last_check = ts
+
    # update prevs, update must run once per loop
    self.prev_left_blinker_on = self.left_blinker_on
    self.prev_right_blinker_on = self.right_blinker_on
@@ -182,3 +195,13 @@ class CarState(object):
      self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0
    else:
      self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
+
+    if self.dragon_toyota_stock_dsu and self.generic_toggle and self.main_on:
+      enable_acc = True
+      if not self.gear_shifter == 'drive' or not self.seatbelt or not self.door_all_closed:
+        enable_acc = False
+      self.pcm_acc_active = enable_acc
+      if self.standstill:
+        self.pcm_acc_status = 7
+      else:
+        self.pcm_acc_status = 1
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -8,6 +8,8 @@ from selfdrive.car.toyota.carstate import CarState, get_can_parser, get_cam_can_
 from selfdrive.car.toyota.values import ECU, check_ecu_msgs, CAR, NO_STOP_TIMER_CAR
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness
 from selfdrive.swaglog import cloudlog
+from common.params import Params
+params = Params()

 class CarInterface(object):
  def __init__(self, CP, CarController):
@@ -31,6 +33,12 @@ class CarInterface(object):
    if CarController is not None:
      self.CC = CarController(self.cp.dbc_name, CP.carFingerprint, CP.enableCamera, CP.enableDsu, CP.enableApgs)

+    # dragonpilot
+    self.dragon_toyota_stock_dsu = False
+    self.dragon_enable_steering_on_signal = False
+    self.dragon_allow_gas = False
+    self.ts_last_check = 0.
+
  @staticmethod
  def compute_gb(accel, speed):
    return float(accel) / 3.0
@@ -247,6 +255,14 @@ class CarInterface(object):

  # returns a car.CarState
  def update(self, c, can_strings):
+    # dragonpilot, don't check for param too often as it's a kernel call
+    ts = sec_since_boot()
+    if ts - self.ts_last_check > 1.:
+      self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
+      self.dragon_allow_gas = False if params.get("DragonAllowGas") == "0" else True
+      self.dragon_toyota_stock_dsu = False if params.get("DragonToyotaStockDSU") == "0" else True
+      self.ts_last_check = ts
+
    # ******************* do can recv *******************
    self.cp.update_strings(int(sec_since_boot() * 1e9), can_strings)

@@ -348,7 +364,9 @@ class CarInterface(object):
      events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
    if ret.gearShifter == 'reverse' and self.CP.enableDsu:
      events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
-    if self.CS.steer_error:
+    if (self.CS.left_blinker_on or self.CS.right_blinker_on) and self.dragon_enable_steering_on_signal:
+      events.append(create_event('manualSteeringRequiredBlinkersOn', [ET.WARNING]))
+    elif self.CS.steer_error:
      events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
    if self.CS.low_speed_lockout and self.CP.enableDsu:
      events.append(create_event('lowSpeedLockout', [ET.NO_ENTRY, ET.PERMANENT]))
@@ -367,13 +385,19 @@ class CarInterface(object):
    elif not ret.cruiseState.enabled:
      events.append(create_event('pcmDisable', [ET.USER_DISABLE]))

-    # disable on pedals rising edge or when brake is pressed and speed isn't zero
-    if (ret.gasPressed and not self.gas_pressed_prev) or \
-       (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
-      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
+    if not self.dragon_toyota_stock_dsu:
+      # DragonAllowGas
+      if not self.dragon_allow_gas:
+        # disable on pedals rising edge or when brake is pressed and speed isn't zero
+        if (ret.gasPressed and not self.gas_pressed_prev) or \
+           (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
+          events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))

-    if ret.gasPressed:
-      events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
+        if ret.gasPressed:
+          events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
+      else:
+        if ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001):
+          events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))

    ret.events = events

--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -491,7 +491,17 @@ def controlsd_thread(gctx=None):

  prof = Profiler(False)  # off by default

+  # dragonpilot
+  ts_last_check = 0.
+  dragon_toyota_stock_dsu = False
+
  while True:
+    # dragonpilot, don't check for param too often as it's a kernel call
+    ts = sec_since_boot()
+    if ts - ts_last_check > 1.:
+      dragon_toyota_stock_dsu = False if params.get("DragonToyotaStockDSU") == "0" else True
+      ts_last_check = ts
+
    start_time = sec_since_boot()
    prof.checkpoint("Ratekeeper", ignore=True)

@@ -519,9 +529,10 @@ def controlsd_thread(gctx=None):
    if not CS.canValid:
      events.append(create_event('canError', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))

-    # Only allow engagement with brake pressed when stopped behind another stopped car
-    if CS.brakePressed and sm['plan'].vTargetFuture >= STARTING_TARGET_SPEED and not CP.radarOffCan and CS.vEgo < 0.3:
-      events.append(create_event('noTarget', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
+    if not dragon_toyota_stock_dsu:
+      # Only allow engagement with brake pressed when stopped behind another stopped car
+      if CS.brakePressed and sm['plan'].vTargetFuture >= STARTING_TARGET_SPEED and not CP.radarOffCan and CS.vEgo < 0.3:
+        events.append(create_event('noTarget', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))

    if not read_only:
      # update control state
--- a/selfdrive/controls/lib/alerts.py
+++ b/selfdrive/controls/lib/alerts.py
@@ -1,3 +1,5 @@
+# This Python file uses the following encoding: utf-8
+# -*- coding: utf-8 -*-
 from cereal import car, log

 # Priority
@@ -680,4 +682,18 @@ ALERTS = [
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOWEST, VisualAlert.steerRequired, AudibleAlert.none, .0, .0, .1),
+
+  Alert(
+    "manualSteeringRequired",
+    "STEERING REQUIRED: Lane Keeping OFF",
+    "",
+    AlertStatus.normal, AlertSize.small,
+    Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),
+
+  Alert(
+    "manualSteeringRequiredBlinkersOn",
+    "STEERING REQUIRED: Blinkers ON",
+    "",
+    AlertStatus.normal, AlertSize.small,
+    Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),
 ]
--- a/selfdrive/controls/lib/driver_monitor.py
+++ b/selfdrive/controls/lib/driver_monitor.py
@@ -2,6 +2,8 @@ import numpy as np
 from common.realtime import sec_since_boot, DT_CTRL, DT_DMON
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from common.filter_simple import FirstOrderFilter
+from common.params import Params
+params = Params()

 _AWARENESS_TIME = 180        # 3 minutes limit without user touching steering wheels make the car enter a terminal status
 _AWARENESS_PRE_TIME = 20.    # a first alert is issued 20s before expiration
@@ -72,6 +74,10 @@ class DriverStatus():
    self.terminal_alert_cnt = 0
    self._set_timers()

+    # dragonpilot
+    self.dp_last_check = 0.
+    self.dragon_enable_driver_safety_check = True
+
  def _reset_filters(self):
    self.driver_distraction_filter.x = 0.
    self.variance_filter.x = 0.
@@ -131,6 +137,11 @@ class DriverStatus():


  def update(self, events, driver_engaged, ctrl_active, standstill):
+    # don't check for param too often as it's a kernel call
+    ts = sec_since_boot()
+    if ts - self.dp_last_check > 1.:
+      self.dragon_enable_driver_safety_check = False if params.get("DragonEnableDriverSafetyCheck") == "0" else True
+      self.dp_last_check = ts

    driver_engaged |= (self.driver_distraction_filter.x < 0.37 and self.monitor_on)
    awareness_prev = self.awareness
@@ -156,8 +167,7 @@ class DriverStatus():
    elif self.awareness <= self.threshold_pre:
      # pre green alert
      alert = 'preDriverDistracted' if self.monitor_on else 'preDriverUnresponsive'
-
-    if alert is not None:
+    if alert is not None and self.dragon_enable_driver_safety_check:
      events.append(create_event(alert, [ET.WARNING]))

    return events
--- a/selfdrive/controls/lib/model_parser.py
+++ b/selfdrive/controls/lib/model_parser.py
@@ -14,9 +14,9 @@ class ModelParser(object):
    self.lead_dist, self.lead_prob, self.lead_var = 0, 0, 1
    self._path_pinv = compute_path_pinv()

-    self.lane_width_estimate = 3.7
+    self.lane_width_estimate = 3.5
    self.lane_width_certainty = 1.0
-    self.lane_width = 3.7
+    self.lane_width = 3.5
    self.l_prob = 0.
    self.r_prob = 0.
    self.x_points = np.arange(50)
--- a/selfdrive/crash.py
+++ b/selfdrive/crash.py
@@ -1,8 +1,9 @@
 """Install exception handler for process crash."""
 import os
 import sys
+import json
+#from subprocess import check_output
 import threading
-import capnp
 from selfdrive.version import version, dirty

 from selfdrive.swaglog import cloudlog
@@ -19,13 +20,42 @@ if os.getenv("NOLOG") or os.getenv("NOCRASH"):
 else:
  from raven import Client
  from raven.transport.http import HTTPTransport
-  client = Client('https://1994756b5e6f41cf939a4c65de45f4f2:cefebaf3a8aa40d182609785f7189bd7@app.getsentry.com/77924',
-                  install_sys_hook=False, transport=HTTPTransport, release=version, tags={'dirty': dirty})
+
+  error_tags = {'dirty': dirty, 'username': 'char_error'}
+
+  try:
+    with open("/data/data/ai.comma.plus.offroad/files/persistStore/persist-auth", "r") as f:
+      auth = json.loads(f.read())
+    auth = json.loads(auth['commaUser'])
+    tags = ['username', 'email']
+    for tag in tags:
+      try:
+        error_tags[tag] = ''.join(char for char in auth[tag].decode('utf-8', 'ignore') if char.isalnum())
+      except:
+        pass
+  except:
+    pass
+
+  logging_data = {"branch": "/data/params/d/GitBranch", "commit": "/data/params/d/GitCommit", "remote": "/data/params/d/GitRemote"}
+
+  for key in logging_data:
+    try:
+      with open(logging_data[key], "r") as f:
+        error_tags[key] = str(f.read())
+    except:
+      error_tags[key] = "unknown"
+
+  client = Client('https://980a0cba712a4c3593c33c78a12446e1:fecab286bcaf4dba8b04f7cff0188e2d@sentry.io/1488600',
+                  install_sys_hook=False, transport=HTTPTransport, release=version, tags=error_tags)
+
+  def capture_warning(warning_string):
+    client.captureMessage(warning_string, level='warning')
+
+  def capture_info(info_string):
+    client.captureMessage(info_string, level='info')

  def capture_exception(*args, **kwargs):
-    exc_info = sys.exc_info()
-    if not exc_info[0] is capnp.lib.capnp.KjException:
-      client.captureException(*args, **kwargs)
+    client.captureException(*args, **kwargs)
    cloudlog.error("crash", exc_info=kwargs.get('exc_info', 1))

  def bind_user(**kwargs):
--- a/selfdrive/dragonpilot/init.py
+++ b/selfdrive/dragonpilot/init.py
--- a/selfdrive/dragonpilot/dashcamd/init.py
+++ b/selfdrive/dragonpilot/dashcamd/init.py
--- a/selfdrive/dragonpilot/dashcamd/dashcamd.py
+++ b/selfdrive/dragonpilot/dashcamd/dashcamd.py
@@ -0,0 +1,70 @@
+#!/usr/bin/env python2.7
+#
+# courtesy of pjlao307 (https://github.com/pjlao307/)
+# this is just his original implementation but
+# in openpilot service form so it's always on
+#
+# with the highest bit rates, the video is approx. 0.5MB per second
+# the default value is set to 2.56Mbps = 0.32MB per second
+#
+import os
+import time
+import datetime
+import zmq
+import selfdrive.messaging as messaging
+from selfdrive.services import service_list
+from common.params import Params
+params = Params()
+
+dashcam_videos = '/sdcard/dashcam/'
+duration = 60 # max is 180
+bit_rates = 2560000 # max is 4000000
+max_size_per_file = bit_rates/8*duration # 2.56Mbps / 8 * 60 = 19.2MB per 60 seconds
+max_storage = max_size_per_file/duration*60*60*6 # 6 hours worth of footage (around 7gb)
+freespace_limit = 0.15 # we start cleaning up footage when freespace is below 15%
+
+def main(gctx=None):
+  if not os.path.exists(dashcam_videos):
+    os.makedirs(dashcam_videos)
+
+  poller = zmq.Poller()
+  sock = messaging.sub_sock(service_list['thermal'].port, poller)
+  poller.poll(timeout=1000)
+
+  while 1:
+    if params.get("DragonEnableDashcam") == "1":
+      now = datetime.datetime.now()
+      file_name = now.strftime("%Y-%m-%d_%H-%M-%S")
+      os.system("screenrecord --bit-rate %s --time-limit %s %s%s.mp4 &" % (bit_rates, duration, dashcam_videos, file_name))
+
+      used_spaces = get_used_spaces()
+      last_used_spaces = used_spaces
+
+      # we should clean up files here if use too much spaces
+      # when used spaces greater than max available storage
+      # or when free space is less than 10%
+
+      # get health of board, log this in "thermal"
+      msg = messaging.recv_sock(sock, wait=True)
+      if used_spaces >= max_storage or (msg is not None and msg.thermal.freeSpace < freespace_limit):
+        # get all the files in the dashcam_videos path
+        files = [f for f in sorted(os.listdir(dashcam_videos)) if os.path.isfile(dashcam_videos + f)]
+        for file in files:
+          msg = messaging.recv_sock(sock, wait=True)
+          # delete file one by one and once it has enough space for 1 video, we stop deleting
+          if used_spaces - last_used_spaces < max_size_per_file or msg.thermal.freeSpace < freespace_limit:
+            os.system("rm -fr %s" % (dashcam_videos + file))
+            last_used_spaces = get_used_spaces()
+          else:
+            break
+      # we start the process 1 second before screenrecord ended
+      # to make sure there are no missing footage
+      time.sleep(duration-1)
+    else:
+      time.sleep(1)
+
+def get_used_spaces():
+  return sum(os.path.getsize(dashcam_videos + f) for f in os.listdir(dashcam_videos) if os.path.isfile(dashcam_videos + f))
+
+if __name__ == "__main__":
+  main()
--- a/selfdrive/dragonpilot/dragonconf/init.py
+++ b/selfdrive/dragonpilot/dragonconf/init.py
@@ -0,0 +1,69 @@
+#!/usr/bin/env python2.7
+from common.params import Params
+
+default_conf = {
+  'DragonEnableDashcam': '1',
+  'DragonDisableDriverSafetyCheck': '0', # deprecated
+  'DragonEnableDriverSafetyCheck': '1',
+  'DragonAutoShutdownAt': '30', # in minute
+  'DragonTempDisableSteerOnSignal': '0', # deprecated
+  'DragonEnableSteeringOnSignal': '0',
+  'DragonDisableLogger': '0', # deprecated
+  'DragonEnableLogger': '1',
+  'DragonDisableUploader': '0', # deprecated
+  'DragonEnableUploader': '1',
+  'DragonNoctuaMode': '0',
+  'DragonCacheCar': '0',
+  'DragonCachedModel': '', # for cache car
+  'DragonCachedFP': '', # for cache car
+  'DragonCachedVIN': '', # for cache car
+  'DragonAllowGas': '0',
+  'DragonBBUI': '0', # deprecated
+  'DragonToyotaStockDSU': '0',
+  'DragonLatCtrl': '1',
+  'DragonUIEvent': '0',
+  'DragonUIMaxSpeed': '0',
+  'DragonUIFace': '0',
+  'DragonUIDev': '0',
+  'DragonUIDevMini': '1',
+}
+
+deprecated_conf = {
+  'DragonDisableDriverSafetyCheck': 'DragonEnableDriverSafetyCheck',
+  'DragonTempDisableSteerOnSignal': 'DragonEnableSteeringOnSignal',
+  'DragonDisableLogger': 'DragonEnableLogger',
+  'DragonDisableUploader': 'DragonEnableUploader',
+  'DragonBBUI': 'DragonUIDev',
+}
+
+deprecated_conf_invert = {
+  'DragonDisableDriverSafetyCheck': True,
+  'DragonTempDisableSteerOnSignal': False,
+  'DragonDisableLogger': True,
+  'DragonDisableUploader': True,
+  'DragonBBUI': False
+}
+
+def dragonpilot_set_params(params):
+  # remove deprecated params
+  for old, new in deprecated_conf.items():
+    if params.get(old) is not None:
+      if new is not None:
+        old_val = str(params.get(old))
+        new_val = old_val
+        # invert the value if true
+        if old in deprecated_conf_invert and deprecated_conf_invert[old] is True:
+          new_val = "1" if old_val == "0" else "0"
+        params.put(new, new_val)
+      params.delete(old)
+
+  # set params
+  for key, val in default_conf.items():
+    if params.get(key) is None and key not in deprecated_conf:
+      params.put(key, str(val))
+
+if __name__ == "__main__":
+  params = Params()
+  params.manager_start()
+
+  dragonpilot_set_params(params)
--- a/selfdrive/dragonpilot/mediaplayer/libnative-lib.so
+++ b/selfdrive/dragonpilot/mediaplayer/libnative-lib.so
--- a/selfdrive/dragonpilot/mediaplayer/mediaplayer
+++ b/selfdrive/dragonpilot/mediaplayer/mediaplayer
--- a/selfdrive/dragonpilot/safeguardd/init.py
+++ b/selfdrive/dragonpilot/safeguardd/init.py
--- a/selfdrive/dragonpilot/safeguardd/error.wav
+++ b/selfdrive/dragonpilot/safeguardd/error.wav
--- a/selfdrive/dragonpilot/safeguardd/safeguardd.py
+++ b/selfdrive/dragonpilot/safeguardd/safeguardd.py
@@ -0,0 +1,47 @@
+#!/usr/bin/env python2.7
+#
+# I had a few incidents where OP suddenly stopped while cruising.
+# This script is used to detect such event
+#
+
+import os
+import subprocess
+
+import zmq
+from selfdrive.services import service_list
+import selfdrive.messaging as messaging
+
+mediaplayer = '/data/openpilot/selfdrive/dragonpilot/mediaplayer/'
+
+def main(gctx=None):
+
+  poller = zmq.Poller()
+  sock = messaging.sub_sock(service_list['controlsState'].port, poller)
+  poller.poll(timeout=1000)
+
+  last_v_ego = 0.
+  last_active = False
+
+  env = dict(os.environ)
+  env['LD_LIBRARY_PATH'] = mediaplayer
+
+  while 1:
+
+    v_ego = 0
+    active = False
+    controls_state = messaging.recv_sock(sock, wait=True)
+
+    if controls_state is not None:
+      v_ego = controls_state.controlsState.vEgo
+      active = controls_state.controlsState.active
+
+      # we are driving and all of sudden we dont have any speed at all
+      # we better warn the driver before it's too late
+      if last_active and last_v_ego >= 5 and v_ego == 0:
+        subprocess.Popen([mediaplayer + 'mediaplayer', '/data/openpilot/selfdrive/dragonpilot/safeguardd/error.wav'], shell = False, stdin=None, stdout=None, stderr=None, env = env, close_fds=True)
+
+    last_active = active
+    last_v_ego = v_ego
+
+if __name__ == "__main__":
+  main()
--- a/selfdrive/dragonpilot/shutdownd/init.py
+++ b/selfdrive/dragonpilot/shutdownd/init.py
--- a/selfdrive/dragonpilot/shutdownd/shutdownd.py
+++ b/selfdrive/dragonpilot/shutdownd/shutdownd.py
@@ -0,0 +1,39 @@
+#!/usr/bin/env python2.7
+
+import os
+import time
+from common.params import Params
+params = Params()
+
+def main(gctx=None):
+
+  shutdown_count = 0
+  autoShutdownAt = get_shutdown_val()
+
+  while 1:
+    with open("/sys/class/power_supply/usb/present") as f:
+      usb_online = bool(int(f.read()))
+
+    if not usb_online:
+      shutdown_count += 1
+    else:
+      shutdown_count = 0
+
+    if autoShutdownAt is None:
+      autoShutdownAt = get_shutdown_val()
+    else:
+      if shutdown_count >= autoShutdownAt > 0:
+        os.system('LD_LIBRARY_PATH="" svc power shutdown')
+
+    time.sleep(1)
+
+def get_shutdown_val():
+  val = params.get("DragonAutoShutdownAt")
+  if val is None:
+    return None
+  else:
+    return int(val)*60 # convert to seconds
+
+
+if __name__ == "__main__":
+  main()
--- a/selfdrive/manager.py
+++ b/selfdrive/manager.py
@@ -10,6 +10,8 @@ from common.basedir import BASEDIR
 sys.path.append(os.path.join(BASEDIR, "pyextra"))
 os.environ['BASEDIR'] = BASEDIR

+from selfdrive.dragonpilot.dragonconf import dragonpilot_set_params
+
 def unblock_stdout():
  # get a non-blocking stdout
  child_pid, child_pty = os.forkpty()
@@ -117,6 +119,8 @@ managed_processes = {
  "sensord": ("selfdrive/sensord", ["./start_sensord.py"]),
  "gpsd": ("selfdrive/sensord", ["./start_gpsd.py"]),
  "updated": "selfdrive.updated",
+  "dashcamd": "selfdrive.dragonpilot.dashcamd.dashcamd",
+  "shutdownd": "selfdrive.dragonpilot.shutdownd.shutdownd",
 }
 daemon_processes = {
  "athenad": "selfdrive.athena.athenad",
@@ -144,6 +148,7 @@ persistent_processes = [
  'uploader',
  'ui',
  'updated',
+  'shutdownd',
 ]

 car_started_processes = [
@@ -159,6 +164,7 @@ car_started_processes = [
  'ubloxd',
  'gpsd',
  'deleter',
+  'dashcamd',
 ]

 def register_managed_process(name, desc, car_started=False):
@@ -573,6 +579,8 @@ def main():
  if params.get("LimitSetSpeedNeural") is None:
    params.put("LimitSetSpeedNeural", "0")

+  dragonpilot_set_params(params)
+
  # is this chffrplus?
  if os.getenv("PASSIVE") is not None:
    params.put("Passive", str(int(os.getenv("PASSIVE"))))
@@ -584,10 +592,18 @@ def main():
  if os.getenv("PREPAREONLY") is not None:
    spinner_proc = None
  else:
-    spinner_text = "chffrplus" if params.get("Passive")=="1" else "openpilot"
+    spinner_text = "chffrplus" if params.get("Passive")=="1" else "dragonpilot"
    spinner_proc = subprocess.Popen(["./spinner", "loading %s"%spinner_text],
      cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
      close_fds=True)
+
+  if params.get("DragonEnableLogger") == "0":
+    del managed_processes['loggerd']
+    del managed_processes['tombstoned']
+
+  if params.get("DragonEnableUploader") == "0":
+    del managed_processes['uploader']
+
  try:
    manager_update()
    manager_init()
--- a/selfdrive/thermald.py
+++ b/selfdrive/thermald.py
@@ -11,6 +11,7 @@ from common.params import Params
 from common.realtime import sec_since_boot, DT_TRML
 from common.numpy_fast import clip
 from common.filter_simple import FirstOrderFilter
+params = Params()

 ThermalStatus = log.ThermalData.ThermalStatus
 CURRENT_TAU = 15.   # 15s time constant
@@ -82,6 +83,9 @@ _TEMP_THRS_L = [42.5, 57.5, 72.5, 10000]
 _FAN_SPEEDS = [0, 16384, 32768, 65535]
 # max fan speed only allowed if battery is hot
 _BAT_TEMP_THERSHOLD = 45.
+if params.get('DragonNoctuaMode') == "1":
+  _FAN_SPEEDS = [65535, 65535, 65535, 65535]
+  _BAT_TEMP_THERSHOLD = 20.


 def handle_fan(max_cpu_temp, bat_temp, fan_speed):
@@ -146,8 +150,6 @@ def thermald_thread():
  charging_disabled = False
  os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled')

-  params = Params()
-
  while 1:
    health = messaging.recv_sock(health_sock, wait=True)
    location = messaging.recv_sock(location_sock)
--- a/selfdrive/tombstoned.py
+++ b/selfdrive/tombstoned.py
@@ -104,7 +104,7 @@ def report_tombstone(fn, client):
 def main(gctx=None):
  initial_tombstones = set(get_tombstones())

-  client = Client('https://d3b175702f62402c91ade04d1c547e68:b20d68c813c74f63a7cdf9c4039d8f56@sentry.io/157615',
+  client = Client('https://980a0cba712a4c3593c33c78a12446e1:fecab286bcaf4dba8b04f7cff0188e2d@sentry.io/1488600',
                  install_sys_hook=False, transport=HTTPTransport, release=version, tags={'dirty': dirty}, string_max_length=10000)

  client.user_context({'id': os.environ.get('DONGLE_ID')})
--- a/selfdrive/ui/ui.c
+++ b/selfdrive/ui/ui.c
@@ -35,6 +35,7 @@

 #include "cereal/gen/c/log.capnp.h"
 #include "slplay.h"
+#include <time.h>

 #define STATUS_STOPPED 0
 #define STATUS_DISENGAGED 1
@@ -68,6 +69,7 @@ const int viz_w = vwp_w-(bdr_s*2);
 const int header_h = 420;
 const int footer_h = 280;
 const int footer_y = vwp_h-bdr_s-footer_h;
+const int bdr_is = 30;

 const int UI_FREQ = 30;   // Hz

@@ -163,6 +165,11 @@ typedef struct UIScene {
  bool gps_planner_active;

  bool is_playing_alert;
+
+  // for minimal UI
+  float angleSteersDes;
+  float angleSteers;
+
 } UIScene;

 typedef struct {
@@ -195,6 +202,8 @@ typedef struct UIState {
  int font_sans_regular;
  int font_sans_semibold;
  int font_sans_bold;
+  int font_miui_regular;
+  int font_miui_bold;
  int img_wheel;
  int img_turn;
  int img_face;
@@ -284,6 +293,22 @@ typedef struct UIState {
  model_path_vertices_data model_path_vertices[MODEL_LANE_PATH_CNT * 2];

  track_vertices_data track_vertices[2];
+
+  // dragonpilot
+  int dragon_ui_event_timeout;
+  int dragon_ui_maxspeed_timeout;
+  int dragon_ui_face_timeout;
+  int dragon_ui_dev_timeout;
+  int dragon_ui_dev_mini_timeout;
+  int dragon_enable_dashcam_timeout;
+
+  bool dragon_ui_event;
+  bool dragon_ui_maxspeed;
+  bool dragon_ui_face;
+  bool dragon_ui_dev;
+  bool dragon_ui_dev_mini;
+  bool dragon_enable_dashcam;
+
 } UIState;

 static int last_brightness = -1;
@@ -510,6 +535,10 @@ static void ui_init(UIState *s) {
  assert(s->font_sans_semibold >= 0);
  s->font_sans_bold = nvgCreateFont(s->vg, "sans-bold", "../assets/OpenSans-Bold.ttf");
  assert(s->font_sans_bold >= 0);
+  s->font_miui_regular = nvgCreateFont(s->vg, "miui-regular", "/system/fonts/Miui-Regular.ttf");
+  assert(s->font_miui_regular >= 0);
+  s->font_miui_bold = nvgCreateFont(s->vg, "miui-bold", "/system/fonts/Miui-Bold.ttf");
+  assert(s->font_miui_bold >= 0);

  assert(s->img_wheel >= 0);
  s->img_wheel = nvgCreateImage(s->vg, "../assets/img_chffr_wheel.png", 1);
@@ -649,11 +678,27 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
  read_param_bool(&s->is_metric, "IsMetric");
  read_param_bool(&s->longitudinal_control, "LongitudinalControl");
  read_param_bool(&s->limit_set_speed, "LimitSetSpeed");
+  // dragonpilot
+  read_param_bool(&s->dragon_ui_event, "DragonUIEvent");
+  read_param_bool(&s->dragon_ui_maxspeed, "DragonUIMaxSpeed");
+  read_param_bool(&s->dragon_ui_face, "DragonUIFace");
+  read_param_bool(&s->dragon_ui_dev, "DragonUIDev");
+  read_param_bool(&s->dragon_ui_dev_mini, "DragonUIDevMini");
+  read_param_bool(&s->dragon_enable_dashcam, "DragonEnableDashcam");
+

  // Set offsets so params don't get read at the same time
  s->longitudinal_control_timeout = UI_FREQ / 3;
  s->is_metric_timeout = UI_FREQ / 2;
  s->limit_set_speed_timeout = UI_FREQ;
+
+  // dragonpilot, 1 sec
+  s->dragon_ui_event_timeout = 100;
+  s->dragon_ui_maxspeed_timeout = 100;
+  s->dragon_ui_face_timeout = 100;
+  s->dragon_ui_dev_timeout = 100;
+  s->dragon_ui_dev_mini_timeout = 100;
+  s->dragon_enable_dashcam_timeout = 100;
 }

 static void ui_draw_transformed_box(UIState *s, uint32_t color) {
@@ -1394,13 +1439,297 @@ static void ui_draw_vision_header(UIState *s) {
  nvgRect(s->vg, ui_viz_rx, box_y, ui_viz_rw, header_h);
  nvgFill(s->vg);

-  ui_draw_vision_maxspeed(s);
+  if (s->dragon_ui_maxspeed) {
+    ui_draw_vision_maxspeed(s);
+  }

 #ifdef SHOW_SPEEDLIMIT
  ui_draw_vision_speedlimit(s);
 #endif
  ui_draw_vision_speed(s);
-  ui_draw_vision_event(s);
+  if (s->dragon_ui_event) {
+    ui_draw_vision_event(s);
+  }
+}
+
+static void ui_draw_infobar(UIState *s) {
+  // timestamp from pjlao307 dashcam (https://github.com/pjlao307)
+  int rect_w = 1440; // 1920 * 0.75
+  int rect_h = 50;
+  int rect_x = (1920-rect_w)/2;
+  int rect_y = (1080-rect_h-50);
+  int sidebar_offset = 0;
+  bool hasSidebar = !s->scene.uilayout_sidebarcollapsed;
+  if (hasSidebar) {
+    sidebar_offset = 100;
+  }
+
+
+  // Get local time to display
+  char infobar[68];
+  time_t t = time(NULL);
+  struct tm tm = *localtime(&t);
+
+  if (s->dragon_ui_dev_mini) {
+      char rel_steer[9];
+      snprintf(rel_steer, sizeof(rel_steer), "%s%05.1f°", s->scene.angleSteers < 0? "-" : "+", fabs(s->scene.angleSteers));
+
+      char des_steer[9];
+      if (s->scene.engaged) {
+        snprintf(des_steer, sizeof(des_steer), "%s%05.1f°", s->scene.angleSteersDes < 0? "-" : "+", fabs(s->scene.angleSteersDes));
+      } else {
+        snprintf(des_steer, sizeof(des_steer), "%7s", "N/A");
+      }
+
+
+      char lead_dist[8];
+      if (s->scene.lead_status) {
+        snprintf(lead_dist, sizeof(lead_dist), "%06.2fm", s->scene.lead_d_rel);
+      } else {
+        snprintf(lead_dist, sizeof(lead_dist), "%7s", "N/A");
+      }
+
+
+      snprintf(
+        infobar,
+        sizeof(infobar),
+        "%04d/%02d/%02d %02d:%02d:%02d | REL: %s | DES: %s | DIST: %s",
+        tm.tm_year + 1900,
+        tm.tm_mon + 1,
+        tm.tm_mday,
+        tm.tm_hour,
+        tm.tm_min,
+        tm.tm_sec,
+        rel_steer,
+        des_steer,
+        lead_dist
+      );
+  } else {
+      snprintf(
+        infobar,
+        sizeof(infobar),
+        "%04d/%02d/%02d %02d:%02d:%02d",
+        tm.tm_year + 1900,
+        tm.tm_mon + 1,
+        tm.tm_mday,
+        tm.tm_hour,
+        tm.tm_min,
+        tm.tm_sec
+      );
+  }
+
+  nvgBeginPath(s->vg);
+  nvgRoundedRect(s->vg, rect_x + sidebar_offset, rect_y, rect_w, rect_h, 15);
+  nvgFillColor(s->vg, nvgRGBA(0, 0, 0, 100));
+  nvgFill(s->vg);
+
+  nvgFontSize(s->vg, 40);
+  nvgFontFace(s->vg, "courbd");
+  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 175));
+  nvgText(s->vg, rect_x + 720 + sidebar_offset, rect_y + 35, infobar, NULL);
+}
+
+//BB START: functions added for the display of various items
+static int bb_ui_draw_measure(UIState *s,  const char* bb_value, const char* bb_uom, const char* bb_label,
+    int bb_x, int bb_y, int bb_uom_dx,
+    NVGcolor bb_valueColor, NVGcolor bb_labelColor, NVGcolor bb_uomColor,
+    int bb_valueFontSize, int bb_labelFontSize, int bb_uomFontSize ) {
+  const UIScene *scene = &s->scene;
+  nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
+  int dx = 0;
+  if (strlen(bb_uom) > 0) {
+    dx = (int)(bb_uomFontSize*2.5/2);
+  }
+  //print value
+  nvgFontFace(s->vg, "sans-semibold");
+  nvgFontSize(s->vg, bb_valueFontSize*2.5);
+  nvgFillColor(s->vg, bb_valueColor);
+  nvgText(s->vg, bb_x-dx/2, bb_y+ (int)(bb_valueFontSize*2.5)+5, bb_value, NULL);
+  //print label
+  nvgFontFace(s->vg, "sans-regular");
+  nvgFontSize(s->vg, bb_labelFontSize*2.5);
+  nvgFillColor(s->vg, bb_labelColor);
+  nvgText(s->vg, bb_x, bb_y + (int)(bb_valueFontSize*2.5)+5 + (int)(bb_labelFontSize*2.5)+5, bb_label, NULL);
+  //print uom
+  if (strlen(bb_uom) > 0) {
+    nvgSave(s->vg);
+    int rx =bb_x + bb_uom_dx + bb_valueFontSize -3;
+    int ry = bb_y + (int)(bb_valueFontSize*2.5/2)+25;
+    nvgTranslate(s->vg,rx,ry);
+    nvgRotate(s->vg, -1.5708); //-90deg in radians
+    nvgFontFace(s->vg, "sans-regular");
+    nvgFontSize(s->vg, (int)(bb_uomFontSize*2.5));
+    nvgFillColor(s->vg, bb_uomColor);
+    nvgText(s->vg, 0, 0, bb_uom, NULL);
+    nvgRestore(s->vg);
+  }
+  return (int)((bb_valueFontSize + bb_labelFontSize)*2.5) + 5;
+}
+
+static void bb_ui_draw_measures_left(UIState *s, int bb_x, int bb_y, int bb_w ) {
+  const UIScene *scene = &s->scene;
+  int bb_rx = bb_x + (int)(bb_w/2);
+  int bb_ry = bb_y;
+  int bb_h = 5;
+  NVGcolor lab_color = nvgRGBA(255, 255, 255, 200);
+  NVGcolor uom_color = nvgRGBA(255, 255, 255, 200);
+  int value_fontSize=30;
+  int label_fontSize=15;
+  int uom_fontSize = 15;
+  int bb_uom_dx =  (int)(bb_w /2 - uom_fontSize*2.5) ;
+
+  //add visual radar relative distance
+  if (true) {
+    char val_str[16];
+    char uom_str[6];
+    NVGcolor val_color = nvgRGBA(255, 255, 255, 200);
+    if (scene->lead_status) {
+      //show RED if less than 5 meters
+      //show orange if less than 15 meters
+      if((int)(scene->lead_d_rel) < 15) {
+        val_color = nvgRGBA(255, 188, 3, 200);
+      }
+      if((int)(scene->lead_d_rel) < 5) {
+        val_color = nvgRGBA(255, 0, 0, 200);
+      }
+      // lead car relative distance is always in meters
+      snprintf(val_str, sizeof(val_str), "%d", (int)scene->lead_d_rel);
+    } else {
+       snprintf(val_str, sizeof(val_str), "-");
+    }
+    snprintf(uom_str, sizeof(uom_str), "m   ");
+    bb_h +=bb_ui_draw_measure(s,  val_str, uom_str, "REL DIST",
+        bb_rx, bb_ry, bb_uom_dx,
+        val_color, lab_color, uom_color,
+        value_fontSize, label_fontSize, uom_fontSize );
+    bb_ry = bb_y + bb_h;
+  }
+
+  //add visual radar relative speed
+  if (true) {
+    char val_str[16];
+    char uom_str[6];
+    NVGcolor val_color = nvgRGBA(255, 255, 255, 200);
+    if (scene->lead_status) {
+      //show Orange if negative speed (approaching)
+      //show Orange if negative speed faster than 5mph (approaching fast)
+      if((int)(scene->lead_v_rel) < 0) {
+        val_color = nvgRGBA(255, 188, 3, 200);
+      }
+      if((int)(scene->lead_v_rel) < -5) {
+        val_color = nvgRGBA(255, 0, 0, 200);
+      }
+      // lead car relative speed is always in meters
+      if (s->is_metric) {
+         snprintf(val_str, sizeof(val_str), "%d", (int)(scene->lead_v_rel * 3.6 + 0.5));
+      } else {
+         snprintf(val_str, sizeof(val_str), "%d", (int)(scene->lead_v_rel * 2.2374144 + 0.5));
+      }
+    } else {
+       snprintf(val_str, sizeof(val_str), "-");
+    }
+    if (s->is_metric) {
+      snprintf(uom_str, sizeof(uom_str), "km/h");;
+    } else {
+      snprintf(uom_str, sizeof(uom_str), "mph");
+    }
+    bb_h +=bb_ui_draw_measure(s,  val_str, uom_str, "REL SPEED",
+        bb_rx, bb_ry, bb_uom_dx,
+        val_color, lab_color, uom_color,
+        value_fontSize, label_fontSize, uom_fontSize );
+    bb_ry = bb_y + bb_h;
+  }
+
+  //finally draw the frame
+  bb_h += 20;
+  nvgBeginPath(s->vg);
+    nvgRoundedRect(s->vg, bb_x, bb_y, bb_w, bb_h, 20);
+    nvgStrokeColor(s->vg, nvgRGBA(255,255,255,80));
+    nvgStrokeWidth(s->vg, 6);
+    nvgStroke(s->vg);
+}
+
+static void bb_ui_draw_measures_right(UIState *s, int bb_x, int bb_y, int bb_w ) {
+  const UIScene *scene = &s->scene;
+  int bb_rx = bb_x + (int)(bb_w/2);
+  int bb_ry = bb_y;
+  int bb_h = 5;
+  NVGcolor lab_color = nvgRGBA(255, 255, 255, 200);
+  NVGcolor uom_color = nvgRGBA(255, 255, 255, 200);
+  int value_fontSize=30;
+  int label_fontSize=15;
+  int uom_fontSize = 15;
+  int bb_uom_dx =  (int)(bb_w /2 - uom_fontSize*2.5) ;
+
+  //add  steering angle
+  if (true) {
+    char val_str[16];
+    char uom_str[6];
+    NVGcolor val_color = nvgRGBA(255, 255, 255, 200);
+      //show Orange if more than 6 degrees
+      //show red if  more than 12 degrees
+      if(((int)(scene->angleSteers) < -6) || ((int)(scene->angleSteers) > 6)) {
+        val_color = nvgRGBA(255, 188, 3, 200);
+      }
+      if(((int)(scene->angleSteers) < -12) || ((int)(scene->angleSteers) > 12)) {
+        val_color = nvgRGBA(255, 0, 0, 200);
+      }
+      // steering is in degrees
+      snprintf(val_str, sizeof(val_str), "%.0f°",(scene->angleSteers));
+
+      snprintf(uom_str, sizeof(uom_str), "");
+    bb_h +=bb_ui_draw_measure(s,  val_str, uom_str, "REAL STEER",
+      bb_rx, bb_ry, bb_uom_dx,
+      val_color, lab_color, uom_color,
+      value_fontSize, label_fontSize, uom_fontSize );
+    bb_ry = bb_y + bb_h;
+  }
+
+  //add  desired steering angle
+  if (true) {
+    char val_str[16];
+    char uom_str[6];
+    NVGcolor val_color = nvgRGBA(255, 255, 255, 200);
+    //show Orange if more than 6 degrees
+    //show red if  more than 12 degrees
+    if(((int)(scene->angleSteersDes) < -6) || ((int)(scene->angleSteersDes) > 6)) {
+      val_color = nvgRGBA(255, 188, 3, 200);
+    }
+    if(((int)(scene->angleSteersDes) < -12) || ((int)(scene->angleSteersDes) > 12)) {
+      val_color = nvgRGBA(255, 0, 0, 200);
+    }
+    // steering is in degrees
+    snprintf(val_str, sizeof(val_str), "%.0f°",(scene->angleSteersDes));
+
+    snprintf(uom_str, sizeof(uom_str), "");
+    bb_h +=bb_ui_draw_measure(s,  val_str, uom_str, "DESIR STEER",
+      bb_rx, bb_ry, bb_uom_dx,
+      val_color, lab_color, uom_color,
+      value_fontSize, label_fontSize, uom_fontSize );
+    bb_ry = bb_y + bb_h;
+  }
+
+  //finally draw the frame
+  bb_h += 20;
+  nvgBeginPath(s->vg);
+    nvgRoundedRect(s->vg, bb_x, bb_y, bb_w, bb_h, 20);
+    nvgStrokeColor(s->vg, nvgRGBA(255,255,255,80));
+    nvgStrokeWidth(s->vg, 6);
+    nvgStroke(s->vg);
+}
+
+static void ui_draw_bbui(UIState *s) {
+    const UIScene *scene = &s->scene;
+    const int bb_dml_w = 180;
+    const int bb_dml_x = (scene->ui_viz_rx + (bdr_is * 2));
+    const int bb_dml_y = (box_y + (bdr_is * 1.5)) + 220;
+
+    const int bb_dmr_w = 180;
+    const int bb_dmr_x = scene->ui_viz_rx + scene->ui_viz_rw - bb_dmr_w - (bdr_is * 2);
+    const int bb_dmr_y = (box_y + (bdr_is * 1.5)) + 220;
+
+    bb_ui_draw_measures_right(s, bb_dml_x, bb_dml_y, bb_dml_w);
+    bb_ui_draw_measures_left(s, bb_dmr_x, bb_dmr_y, bb_dmr_w);
 }

 static void ui_draw_vision_footer(UIState *s) {
@@ -1411,11 +1740,19 @@ static void ui_draw_vision_footer(UIState *s) {
  nvgBeginPath(s->vg);
  nvgRect(s->vg, ui_viz_rx, footer_y, ui_viz_rw, footer_h);

-  ui_draw_vision_face(s);
+  if (s->dragon_ui_face) {
+    ui_draw_vision_face(s);
+  }

 #ifdef SHOW_SPEEDLIMIT
  ui_draw_vision_map(s);
 #endif
+  if (s->dragon_ui_dev) {
+    ui_draw_bbui(s);
+  }
+  if (s->dragon_ui_dev_mini || s->dragon_enable_dashcam) {
+    ui_draw_infobar(s);
+  }
 }

 static void ui_draw_vision_alert(UIState *s, int va_size, int va_color,
@@ -1450,23 +1787,23 @@ static void ui_draw_vision_alert(UIState *s, int va_size, int va_color,
  nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);

  if (va_size == ALERTSIZE_SMALL) {
-    nvgFontFace(s->vg, "sans-semibold");
+    nvgFontFace(s->vg, "miui-bold");
    nvgFontSize(s->vg, 40*2.5);
    nvgText(s->vg, alr_x+alr_w/2, alr_y+alr_h/2+15, va_text1, NULL);
  } else if (va_size== ALERTSIZE_MID) {
-    nvgFontFace(s->vg, "sans-bold");
+    nvgFontFace(s->vg, "miui-bold");
    nvgFontSize(s->vg, 48*2.5);
    nvgText(s->vg, alr_x+alr_w/2, alr_y+alr_h/2-45, va_text1, NULL);
-    nvgFontFace(s->vg, "sans-regular");
+    nvgFontFace(s->vg, "miui-regular");
    nvgFontSize(s->vg, 36*2.5);
    nvgText(s->vg, alr_x+alr_w/2, alr_y+alr_h/2+75, va_text2, NULL);
  } else if (va_size== ALERTSIZE_FULL) {
    nvgFontSize(s->vg, (longAlert1?72:96)*2.5);
-    nvgFontFace(s->vg, "sans-bold");
+    nvgFontFace(s->vg, "miui-bold");
    nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_MIDDLE);
    nvgTextBox(s->vg, alr_x, alr_y+(longAlert1?360:420), alr_w-60, va_text1, NULL);
    nvgFontSize(s->vg, 48*2.5);
-    nvgFontFace(s->vg, "sans-regular");
+    nvgFontFace(s->vg, "miui-regular");
    nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BOTTOM);
    nvgTextBox(s->vg, alr_x, alr_h-(longAlert1?300:360), alr_w-60, va_text2, NULL);
  }
@@ -1633,6 +1970,9 @@ void handle_message(UIState *s, void *which) {

    s->scene.decel_for_model = datad.decelForModel;

+    s->scene.angleSteers = datad.angleSteers;
+    s->scene.angleSteersDes = datad.angleSteersDes;
+
    if (datad.alertSound.str && datad.alertSound.str[0] != '\0' && strcmp(s->alert_type, datad.alertType.str) != 0) {
      char* error = NULL;
      if (s->alert_sound[0] != '\0') {
@@ -2312,6 +2652,13 @@ int main(int argc, char* argv[]) {
    read_param_bool_timeout(&s->longitudinal_control, "LongitudinalControl", &s->longitudinal_control_timeout);
    read_param_bool_timeout(&s->limit_set_speed, "LimitSetSpeed", &s->limit_set_speed_timeout);
    read_param_float_timeout(&s->speed_lim_off, "SpeedLimitOffset", &s->limit_set_speed_timeout);
+    // dragonpilot
+    read_param_bool_timeout(&s->dragon_ui_event, "DragonUIEvent", &s->dragon_ui_event_timeout);
+    read_param_bool_timeout(&s->dragon_ui_maxspeed, "DragonUIMaxSpeed", &s->dragon_ui_maxspeed_timeout);
+    read_param_bool_timeout(&s->dragon_ui_face, "DragonUIFace", &s->dragon_ui_face_timeout);
+    read_param_bool_timeout(&s->dragon_ui_dev, "DragonUIDev", &s->dragon_ui_dev_timeout);
+    read_param_bool_timeout(&s->dragon_ui_dev_mini, "DragonUIDevMini", &s->dragon_ui_dev_mini_timeout);
+    read_param_bool_timeout(&s->dragon_enable_dashcam, "DragonEnableDashcam", &s->dragon_enable_dashcam_timeout);

    pthread_mutex_unlock(&s->lock);
Author	SHA1	Message	Date
dragonpilot	2861467183	Merge branch 'devel' of https://github.com/commaai/openpilot into devel-en	2019-08-06 15:43:06 +10:00
Dragonpilot	d478d6a931	回傳指紋到 sentry.io	2019-08-02 09:18:07 +10:00
Dragonpilot	dc77655e2a	修改指紋暫存 logic	2019-08-02 09:17:14 +10:00
Dragonpilot	f5d88c5813	嘗試更新指紋暫存	2019-08-02 08:53:24 +10:00
Dragonpilot	043d2e9f36	Merge branch 'devel-en' of https://github.com/dragonpilot-community/dragonpilot into devel-en	2019-08-01 11:30:03 +10:00
Dragonpilot	3f78957ccc	更新 APK	2019-08-01 11:29:38 +10:00
Dragonpilot	8bcb9331fd	加入 UI 設定	2019-08-01 11:28:59 +10:00
Dragonpilot	af3234f1d7	加回指紋暫存	2019-08-01 09:25:46 +10:00
Dragonpilot	e2ff61da9b	Revert "移除指紋暫存" This reverts commit `11229fc9c0`. Conflicts: apk/ai.comma.plus.offroad.apk	2019-08-01 09:14:19 +10:00
dragonpilot	80e87ee0ae	dragon_toyota_stock_dsu 模式下只在適當的情況下 pcm_acc_active 才設成 True	2019-07-31 22:34:29 +10:00
dragonpilot	bcb3f6077c	原廠 LKAS 只在關閉下觸發，不然會有 steering error	2019-07-31 22:31:52 +10:00
Dragonpilot	87679a75b8	更新 APK	2019-07-31 15:44:27 +10:00
Dragonpilot	c6c41f1a29	加入 Lat 控制開關，Toyota/Lexus 原廠 LKAS 模式	2019-07-31 15:27:16 +10:00
Dragonpilot	5d57078474	更新 APK	2019-07-31 11:25:35 +10:00
Dragonpilot	11229fc9c0	移除指紋暫存	2019-07-31 11:25:15 +10:00
Dragonpilot	1727b59882	Merge branch 'devel' of https://github.com/commaai/openpilot into devel-en # Conflicts: # apk/ai.comma.plus.offroad.apk # selfdrive/car/car_helpers.py	2019-07-31 11:02:42 +10:00
Dragonpilot	0ecaf72ed4	優化 params.get 讀取次數，最快每秒讀一次	2019-07-29 15:03:53 +10:00
Dragonpilot	3300143b1b	fix logic	2019-07-29 14:09:39 +10:00
Dragonpilot	902413200a	更新 APK	2019-07-29 13:57:30 +10:00
Dragonpilot	ce57ac073b	加入 Toyota/Lexus 原廠 DSU 模式	2019-07-29 13:26:30 +10:00
Dragonpilot	91bf49bdd4	Merge branch 'devel-en' of https://github.com/dragonpilot-community/dragonpilot into devel-en	2019-07-29 10:39:19 +10:00
Dragonpilot	017cbbfa51	更新 crash.py 讓它能回傳更多訊息	2019-07-29 10:39:06 +10:00
dragonpilot	8773fbf7d9	Merge branch 'devel-en' of https://github.com/dragonpilot-community/dragonpilot into devel-en	2019-07-28 10:22:20 +10:00
Rick Lan	8d4ff30c60	comment out unused var (causing panda flash error?)	2019-07-28 10:17:31 +10:00
Dragonpilot	be2ba93ca0	更新 APK	2019-07-26 15:02:00 +10:00
Dragonpilot	48425a1fc1	更新變數名	2019-07-26 14:50:45 +10:00
Dragonpilot	84c8790192	Merge branch 'devel-en' of https://github.com/dragonpilot-community/dragonpilot into devel-en	2019-07-26 12:01:48 +10:00
Dragonpilot	25681a31e5	Merge branch 'devel' of https://github.com/commaai/openpilot into devel-en	2019-07-26 12:01:06 +10:00
dragonpilot	c9270bfa2f	更新 APK	2019-07-25 22:22:06 +10:00
dragonpilot	0a7d2f4343	更新 APK	2019-07-25 21:59:11 +10:00
dragonpilot	dc6107dac3	Merge pull request #7 from eFiniLan/dp-bbui 加入 BBUI	2019-07-25 21:40:59 +10:00
Rick Lan	5eacdcee9d	Merge branch 'devel-en' of https://github.com/dragonpilot-community/dragonpilot into dp-bbui # Conflicts: # common/params.py # selfdrive/dragonpilot/dragonconf/__init__.py	2019-07-25 21:13:59 +10:00
Rick Lan	978839a861	finalise BBUI	2019-07-25 21:03:47 +10:00
Rick Lan	fbc243aa94	bbui mod	2019-07-25 17:27:58 +10:00
dragonpilot	194d4d7f71	Make it always write new cache fp	2019-07-24 00:28:31 +10:00
Dragonpilot	5b596aec6f	加入 DragonAllowGas 功能	2019-07-23 15:51:45 +10:00
Dragonpilot	09533fee0c	加入 DragonAllowGas 功能	2019-07-23 15:40:30 +10:00
Dragonpilot	6ee6161d23	取消自動更新	2019-07-23 12:10:46 +10:00
Dragonpilot	4e16a1454d	更新 APK	2019-07-23 12:07:34 +10:00
Dragonpilot	d0bdd513cd	更新 APK	2019-07-23 10:56:10 +10:00
Dragonpilot	54b920eb79	Merge branch 'devel' of https://github.com/commaai/openpilot into devel-en # Conflicts: # apk/ai.comma.plus.offroad.apk # cereal/car.capnp # selfdrive/car/car_helpers.py # selfdrive/car/toyota/interface.py # selfdrive/controls/lib/driver_monitor.py # selfdrive/manager.py	2019-07-23 10:55:28 +10:00
Dragonpilot	e453e79bc8	fix missing variables	2019-07-22 16:37:41 +10:00
Dragonpilot	b02e848395	Merge branch 'devel' of https://github.com/commaai/openpilot into devel-en	2019-07-22 16:10:24 +10:00
Dragonpilot	ed9d5615ba	更新 APK	2019-07-22 16:10:06 +10:00
Dragonpilot	8264fd8b93	Merge branch 'devel-disable-uploader' into devel-en	2019-07-22 15:39:01 +10:00
Dragonpilot	532e7710f3	加入取消上傳comma ai記錄功能	2019-07-22 15:28:43 +10:00
Dragonpilot	62bd6cee67	Revert "把accordh 的指紋往上移" This reverts commit `e8af5d6364`.	2019-07-16 15:43:35 +10:00
Dragonpilot	e8af5d6364	把accordh 的指紋往上移	2019-07-16 15:22:52 +10:00
Dragonpilot	386ec39885	更新 ACCORDH 指紋，支援 2019 版	2019-07-16 14:28:20 +10:00
Dragonpilot	2a99c660c3	移除 safeguardd 服務	2019-07-16 11:26:59 +10:00
Dragonpilot	15cb2f05c7	更新 APK	2019-07-15 11:42:24 +10:00
Dragonpilot	3595162d1a	Merge branch 'devel-en' of https://github.com/dragonpilot/dragonpilot-dev into devel-en # Conflicts: # apk/ai.comma.plus.offroad.apk	2019-07-15 11:18:37 +10:00
Dragonpilot	8e97f70b92	更新 APK	2019-07-15 11:17:23 +10:00
dragonpilot	a9a35894ad	加入 pickle.loads 讀取暫存資料	2019-07-13 22:45:34 +10:00
dragonpilot	c3a1a438d8	Merge branch 'devel' of https://github.com/commaai/openpilot into devel-en # Conflicts: # selfdrive/controls/lib/model_parser.py	2019-07-13 22:37:57 +10:00
dragonpilot	99da7077ab	更新APK	2019-07-12 20:56:17 +10:00
dragonpilot	3d941253a5	修正暫存指紋錯誤	2019-07-12 20:22:23 +10:00
Dragonpilot	0d41146fa8	更新 APK	2019-07-12 13:54:24 +10:00
Dragonpilot	7f04682b4c	更新 APK	2019-07-12 13:22:59 +10:00
Dragonpilot	a6545b1604	方向燈取消方向盤控制開啟時顯示提示訊息	2019-07-12 12:08:16 +10:00
dragonpilot	2db4cb0e8c	Merge pull request #5 from eFiniLan/dragonpilot-cache-fp 加入暫存指紋功能	2019-07-12 09:47:38 +10:00
dragonpilot	26d0b8d4ee	Merge pull request #4 from eFiniLan/dragonpilot-dev-lkmod 加入 honda 的 Lane Keeping 模式開關	2019-07-12 09:47:07 +10:00
Rick Lan	323660961f	更新參數名	2019-07-12 09:35:05 +10:00
Rick Lan	88966b488a	將數值分開儲存	2019-07-12 09:16:49 +10:00
Rick Lan	41fc9c55a0	use pickle instead of repr	2019-07-11 16:30:06 +10:00
Rick Lan	8c2b3d5e37	Merge branch 'dragonpilot-dev-en' of https://github.com/dragonpilot/dragonpilot into dragonpilot-cache-fp # Conflicts: # common/params.py # selfdrive/dragonpilot/dragonconf/__init__.py	2019-07-11 16:28:52 +10:00
Rick Lan	22fc7e9dae	make car fingerprint cacheable	2019-07-11 15:40:12 +10:00
Rick Lan	9f53e446d9	remove unnecessary changes	2019-07-11 11:21:46 +10:00
Dragonpilot	7e0ba31ceb	Merge branch 'devel' into dragonpilot-dev-en	2019-07-11 10:52:24 +10:00
Rick Lan	fe46b24be5	add alerts for lkmode	2019-07-11 10:16:46 +10:00
Rick Lan	a9e94ef9bb	add alerts for lkmode	2019-07-11 10:11:16 +10:00
Rick Lan	c9db3ef937	Merge branch 'dragonpilot-dev' of https://github.com/dragonpilot/dragonpilot into dragonpilot-dev-lkmod	2019-07-11 09:35:00 +10:00
Rick Lan	9a3dc91b35	修正打方向燈取消方向盤控制結束後產生的錯誤	2019-07-11 09:14:26 +10:00
Rick Lan	c5e71d2f37	更新 APK	2019-07-10 16:26:35 +10:00
Rick Lan	61ce864e28	修正Noctua模式	2019-07-10 15:26:14 +10:00
Rick Lan	36d0a70b69	修正Noctua模式	2019-07-10 15:22:25 +10:00
Rick Lan	20a2007d10	加入Noctua模式	2019-07-10 15:11:09 +10:00
Rick Lan	64701acb68	修正關閉記錄功能	2019-07-10 14:10:53 +10:00
Rick Lan	17922bd096	加入關閉記錄選項	2019-07-10 11:25:44 +10:00
Rick Lan	5eda5fc81b	lkmod from honda	2019-07-04 15:02:27 +10:00
Rick Lan	71e65750d1	Merge branch 'dragonpilot-dev' of https://github.com/dragonpilot/dragonpilot into dragonpilot-dev	2019-07-03 15:21:35 +10:00
dragonpilot	2ce741275b	Merge pull request #1 from eFiniLan/dragonpilot-dev Dragonpilot 客制功能	2019-07-03 14:04:24 +10:00
Rick Lan	8cb09e1329	啟動畫面文字改為 dragonpilot	2019-07-03 13:50:00 +10:00
Rick Lan	17f21c5b6f	Revert "啟動畫面文字改成 dragonpilot" This reverts commit `0992311f`	2019-07-03 13:49:18 +10:00
Rick Lan	0992311f83	啟動畫面文字改成 dragonpilot	2019-07-03 13:48:32 +10:00
Rick Lan	a42fea2041	調整UI 顯示 N/A 時使用的字數	2019-07-03 13:44:07 +10:00
Rick Lan	4aaf4f437b	加入 dragonpilot offroad apk	2019-07-03 13:41:43 +10:00
Rick Lan	610bb58845	修正錯誤	2019-07-03 13:35:08 +10:00
Rick Lan	4c77b9162e	當轉向燈暫停方向控制功能開啟時，我們在方向燈關閉後一秒取回控制	2019-07-03 13:27:37 +10:00
Rick Lan	cd096d1c2e	Merge branch 'dragonpilot-dev' of https://github.com/eFiniLan/openpilot into dragonpilot-dev	2019-07-03 12:43:21 +10:00
Rick Lan	11a7b2d9bf	修正 dashcamd 和 safetyguard 邏輯	2019-07-03 12:41:53 +10:00
Rick Lan	7fa09edc03	修正 dashcamd 和 safeguardd 無法啟動的錯誤	2019-07-02 22:50:24 +10:00
Rick Lan	13ae651f46	更改 safetycheck 預設值	2019-07-02 16:25:46 +10:00
Rick Lan	c345bb1d8f	dragonconf 改至 apk	2019-07-02 16:19:22 +10:00
Rick Lan	a2b00731cb	修正參數名，將自動關機設定單位換成分鐘，修正dragonconf logic	2019-07-02 16:17:01 +10:00
Rick Lan	d36b78e273	重新命名變數，apk 不支援 underscore	2019-07-02 12:57:22 +10:00
Rick Lan	6ab7c27d9b	remove unneeded changes	2019-07-02 11:21:56 +10:00
Rick Lan	a90c3bc8be	remove unneeded changes	2019-07-02 11:18:21 +10:00
Rick Lan	8b3c922cf0	remove unneeded changes	2019-07-02 11:15:51 +10:00
Rick Lan	d460e0e735	revert safety_toyota.h change	2019-07-02 11:11:37 +10:00
Rick Lan	a52b947ce2	移除油門不取消 OP 選項	2019-07-02 11:04:36 +10:00
Rick Lan	c75137b262	Merge branch 'devel' of https://github.com/commaai/openpilot into dragonpilot-dev # Conflicts: # panda/board/safety/safety_toyota.h # selfdrive/car/honda/interface.py # selfdrive/controls/lib/model_parser.py # selfdrive/ui/ui.c	2019-07-02 10:13:33 +10:00
Rick Lan	6fd3f9bad8	修正 toyota d_allowGasOnOP，移除 panda 檢測 gas/brake	2019-07-02 10:02:52 +10:00
Rick Lan	00c48f0ba3	將 dragonconf 移至系統的 params, 方便將來移植到 APK	2019-06-28 15:22:34 +10:00
Rick Lan	f78b6fdd17	加入油門不取消 OP 選項	2019-06-27 15:11:18 +10:00
Rick Lan	7c537ee201	加入轉向燈暫時取消 OP 方向盤控制選項	2019-06-27 15:11:18 +10:00
Rick Lan	e2d77db22a	加入 minimal UI	2019-06-27 15:11:18 +10:00
Rick Lan	bf5e361b26	加入斷電自動關機功能	2019-06-27 15:11:18 +10:00
Rick Lan	a7ad4488b9	加入安全檢測功能 (提示駕駛以防止 OP 在使用中突然斷開 USB)	2019-06-27 15:11:18 +10:00
Rick Lan	f7fbcfe59d	加入 mediaplayer (播放音效)	2019-06-27 15:11:18 +10:00
Rick Lan	1efed2ed00	加入完全取消駕駛監控選項	2019-06-27 15:11:18 +10:00
Rick Lan	15c43ad722	調降模型路寬至 3.5m	2019-06-27 13:33:15 +10:00
Rick Lan	5fcbfcc359	加入 dashcam (行車記錄)	2019-06-27 13:30:33 +10:00
Rick Lan	672d80735f	加入 dragonconf 讀取 /data/dragonpilot.json 設定	2019-06-27 13:27:58 +10:00
Rick Lan	2f5e35035d	讓 UI 能夠顯示中文	2019-06-27 12:00:52 +10:00
Rick Lan	1aafc5b0ef	自動安裝中文字型	2019-06-27 11:56:49 +10:00
Rick Lan	9f66b533e2	修改 sentry.io 相關程式碼 * 提供更多的資訊 * 將錯誤轉發至 dragonpilot 帳號	2019-06-27 11:36:32 +10:00