re-enable allow gas, commented out somehow

Merge branch 'devel-zht' of https://github.com/dragonpilot-community/dragonpilot into devel-zht
keep chinese fonts
2026-06-19 21:12:04 +08:00 · 2020-01-31 17:35:28 +10:00 · 2020-01-31 17:30:46 +10:00 · 2020-01-31 17:23:29 +10:00 · 2020-01-31 17:22:32 +10:00 · 2020-01-31 17:18:40 +10:00
81 changed files with 6689 additions and 1283 deletions
@@ -0,0 +1,11 @@
+#!/usr/bin/bash
+
+mode=$1
+if [ $1 -eq 1 ]; then
+  printf %s "1" > /data/params/d/DragonBTG
+fi
+if [ $1 -eq 0 ]; then
+  printf %s "0" > /data/params/d/DragonBTG
+fi
+
+rm -rf /data/openpilot/selfdrive/boardd/boardd && reboot
@@ -90,6 +90,14 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    ldw @65;
    carUnrecognized @66;
    radarCommIssue @67;
+    # dragonpilot
+    manualSteeringRequired @68;
+    manualSteeringRequiredBlinkersOn @69;
+    leadCarMoving @70;
+    leadCarDetected @71;
+    preAutoLaneChangeLeft @72;
+    preAutoLaneChangeRight @73;
+    autoLaneChange @74;
  }
 }

@@ -291,6 +291,8 @@ struct ThermalData {
  memUsedPercent @19 :Int8;
  cpuPerc @20 :Int8;

+  ipAddr @22 :Text; # dragonpilot
+
  enum ThermalStatus {
    green @0;   # all processes run
    yellow @1;  # critical processes run (kill uploader), engage still allowed
@@ -754,6 +756,8 @@ struct PathPlan {
  desire @17 :Desire;
  laneChangeState @18 :LaneChangeState;
  laneChangeDirection @19 :LaneChangeDirection;
+  # dragonpilot
+  autoLCAllowed @20 :Bool;

  enum Desire {
    none @0;
@@ -6,7 +6,7 @@ import shutil
 from common.basedir import BASEDIR
 from selfdrive.swaglog import cloudlog

-android_packages = ("ai.comma.plus.offroad", "ai.comma.plus.frame")
+android_packages = ("tw.com.ainvest.outpack", "cn.dragonpilot.gpsservice", "com.autonavi.amapauto", "com.mixplorer", "com.tomtom.speedcams.android.map", "ai.comma.plus.offroad", "ai.comma.plus.frame")

 def get_installed_apks():
  dat = subprocess.check_output(["pm", "list", "packages", "-f"], encoding='utf8').strip().split("\n")
@@ -100,6 +100,70 @@ keys = {
  "Offroad_PandaFirmwareMismatch": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
  "Offroad_InvalidTime": [TxType.CLEAR_ON_MANAGER_START],
  "Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
+  #dragonpilot config
+  "DragonEnableDashcam": [TxType.PERSISTENT],
+  "DragonEnableDriverSafetyCheck": [TxType.PERSISTENT],
+  "DragonAutoShutdownAt": [TxType.PERSISTENT],
+  "DragonEnableSteeringOnSignal": [TxType.PERSISTENT],
+  "DragonEnableLogger": [TxType.PERSISTENT],
+  "DragonEnableUploader": [TxType.PERSISTENT],
+  "DragonNoctuaMode": [TxType.PERSISTENT],
+  "DragonCacheCar": [TxType.PERSISTENT],
+  "DragonCachedModel": [TxType.PERSISTENT],
+  "DragonCachedFP": [TxType.PERSISTENT],
+  "DragonCachedVIN": [TxType.PERSISTENT],
+  "DragonAllowGas": [TxType.PERSISTENT],
+  "DragonToyotaStockDSU": [TxType.PERSISTENT],
+  "DragonLatCtrl": [TxType.PERSISTENT],
+  "DragonUISpeed": [TxType.PERSISTENT],
+  "DragonUIEvent": [TxType.PERSISTENT],
+  "DragonUIMaxSpeed": [TxType.PERSISTENT],
+  "DragonUIFace": [TxType.PERSISTENT],
+  "DragonUIDev": [TxType.PERSISTENT],
+  "DragonUIDevMini": [TxType.PERSISTENT],
+  "DragonEnableTomTom": [TxType.PERSISTENT],
+  "DragonBootTomTom": [TxType.PERSISTENT],
+  "DragonRunTomTom": [TxType.PERSISTENT],
+  "DragonEnableAutonavi": [TxType.PERSISTENT],
+  "DragonBootAutonavi": [TxType.PERSISTENT],
+  "DragonRunAutonavi": [TxType.PERSISTENT],
+  "DragonEnableAegis": [TxType.PERSISTENT],
+  "DragonBootAegis": [TxType.PERSISTENT],
+  "DragonRunAegis": [TxType.PERSISTENT],
+  "DragonEnableMixplorer": [TxType.PERSISTENT],
+  "DragonRunMixplorer": [TxType.PERSISTENT],
+  "DragonSteeringMonitorTimer": [TxType.PERSISTENT],
+  "DragonCameraOffset": [TxType.PERSISTENT],
+  "DragonUIVolumeBoost": [TxType.PERSISTENT],
+  "DragonGreyPandaMode": [TxType.PERSISTENT],
+  "DragonDrivingUI": [TxType.PERSISTENT],
+  "DragonDisplaySteeringLimitAlert": [TxType.PERSISTENT],
+  "DragonChargingCtrl": [TxType.PERSISTENT],
+  "DragonCharging": [TxType.PERSISTENT],
+  "DragonDisCharging": [TxType.PERSISTENT],
+  "DragonToyotaLaneDepartureWarning": [TxType.PERSISTENT],
+  "DragonUILane": [TxType.PERSISTENT],
+  "DragonUILead": [TxType.PERSISTENT],
+  "DragonUIPath": [TxType.PERSISTENT],
+  "DragonUIBlinker": [TxType.PERSISTENT],
+  "DragonEnableDriverMonitoring": [TxType.PERSISTENT],
+  "DragonCarModel": [TxType.PERSISTENT],
+  "DragonCarVIN": [TxType.PERSISTENT],
+  "DragonEnableSlowOnCurve": [TxType.PERSISTENT],
+  "DragonEnableLeadCarMovingAlert": [TxType.PERSISTENT],
+  "DragonToyotaSnGMod": [TxType.PERSISTENT],
+  "DragonIsEON": [TxType.PERSISTENT], # deprecated
+  "DragonHWChecked": [TxType.PERSISTENT], # deprecated
+  "DragonEnableSRLearner": [TxType.PERSISTENT],
+  "DragonWazeMode": [TxType.PERSISTENT],
+  "DragonRunWaze": [TxType.PERSISTENT],
+  "DragonEnableAssistedLC": [TxType.PERSISTENT],
+  "DragonEnableAutoLC": [TxType.PERSISTENT],
+  "DragonAssistedLCMinMPH": [TxType.PERSISTENT],
+  "DragonAutoLCMinMPH": [TxType.PERSISTENT],
+  "DragonAutoLCDelay": [TxType.PERSISTENT],
+  "DragonBTG": [TxType.PERSISTENT],
+  "DragonBootHotspot": [TxType.PERSISTENT],
 }


@@ -0,0 +1,21 @@
+The MIT License
+
+Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
@@ -0,0 +1,92 @@
+This Font Software is licensed under the SIL Open Font License,
+Version 1.1.
+
+This license is copied below, and is also available with a FAQ at:
+http://scripts.sil.org/OFL
+
+-----------------------------------------------------------
+SIL OPEN FONT LICENSE Version 1.1 - 26 February 2007
+-----------------------------------------------------------
+
+PREAMBLE
+The goals of the Open Font License (OFL) are to stimulate worldwide
+development of collaborative font projects, to support the font
+creation efforts of academic and linguistic communities, and to
+provide a free and open framework in which fonts may be shared and
+improved in partnership with others.
+
+The OFL allows the licensed fonts to be used, studied, modified and
+redistributed freely as long as they are not sold by themselves. The
+fonts, including any derivative works, can be bundled, embedded,
+redistributed and/or sold with any software provided that any reserved
+names are not used by derivative works. The fonts and derivatives,
+however, cannot be released under any other type of license. The
+requirement for fonts to remain under this license does not apply to
+any document created using the fonts or their derivatives.
+
+DEFINITIONS
+"Font Software" refers to the set of files released by the Copyright
+Holder(s) under this license and clearly marked as such. This may
+include source files, build scripts and documentation.
+
+"Reserved Font Name" refers to any names specified as such after the
+copyright statement(s).
+
+"Original Version" refers to the collection of Font Software
+components as distributed by the Copyright Holder(s).
+
+"Modified Version" refers to any derivative made by adding to,
+deleting, or substituting -- in part or in whole -- any of the
+components of the Original Version, by changing formats or by porting
+the Font Software to a new environment.
+
+"Author" refers to any designer, engineer, programmer, technical
+writer or other person who contributed to the Font Software.
+
+PERMISSION & CONDITIONS
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of the Font Software, to use, study, copy, merge, embed,
+modify, redistribute, and sell modified and unmodified copies of the
+Font Software, subject to the following conditions:
+
+1) Neither the Font Software nor any of its individual components, in
+Original or Modified Versions, may be sold by itself.
+
+2) Original or Modified Versions of the Font Software may be bundled,
+redistributed and/or sold with any software, provided that each copy
+contains the above copyright notice and this license. These can be
+included either as stand-alone text files, human-readable headers or
+in the appropriate machine-readable metadata fields within text or
+binary files as long as those fields can be easily viewed by the user.
+
+3) No Modified Version of the Font Software may use the Reserved Font
+Name(s) unless explicit written permission is granted by the
+corresponding Copyright Holder. This restriction only applies to the
+primary font name as presented to the users.
+
+4) The name(s) of the Copyright Holder(s) or the Author(s) of the Font
+Software shall not be used to promote, endorse or advertise any
+Modified Version, except to acknowledge the contribution(s) of the
+Copyright Holder(s) and the Author(s) or with their explicit written
+permission.
+
+5) The Font Software, modified or unmodified, in part or in whole,
+must be distributed entirely under this license, and must not be
+distributed under any other license. The requirement for fonts to
+remain under this license does not apply to any document created using
+the Font Software.
+
+TERMINATION
+This license becomes null and void if any of the above conditions are
+not met.
+
+DISCLAIMER
+THE FONT SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT
+OF COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL THE
+COPYRIGHT HOLDER BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+INCLUDING ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL
+DAMAGES, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+FROM, OUT OF THE USE OR INABILITY TO USE THE FONT SOFTWARE OR FROM
+OTHER DEALINGS IN THE FONT SOFTWARE.
@@ -0,0 +1,372 @@
+<?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="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 lang="zh-Hans">
+        <font weight="400" style="normal">NotoSansCJKtc-Regular.otf</font>
+        <font weight="500" style="normal">NotoSansCJKtc-Medium.otf</font>
+        <font weight="700" style="normal">NotoSansCJKtc-Bold.otf</font>
+    </family>
+    <family lang="zh-Hant">
+        <font weight="400" style="normal">NotoSansCJKtc-Regular.otf</font>
+        <font weight="500" style="normal">NotoSansCJKtc-Medium.otf</font>
+        <font weight="700" style="normal">NotoSansCJKtc-Bold.otf</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>
@@ -0,0 +1,71 @@
+#!/usr/bin/bash
+
+###############################################################################
+# The MIT License
+#
+# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+#
+# Noto is a trademark of Google Inc. Noto fonts are open source.
+# All Noto fonts are published under the SIL Open Font License,
+# Version 1.1. Language data and some sample texts are from the Unicode CLDR project.
+#
+###############################################################################
+
+
+# Android system locale, zh-TW = Traditional Chinese, zh-CN = Simplified Chinese
+lang=zh-TW
+
+update_font=0
+remove_old_font=0
+
+# check regular font
+if [ ! -f "/system/fonts/NotoSansCJKtc-Regular.otf" ]; then
+    update_font=1
+fi
+
+# check miui font
+if ls /system/fonts/Miui*.ttf 1> /dev/null 2>&1; then
+    remove_old_font=1
+fi
+
+if [ $update_font -eq "1" ] || [ $remove_old_font -eq "1" ]; then
+    # sleep 3 secs in case, make sure the /system is re-mountable
+    sleep 3
+    mount -o remount,rw /system
+    if [ $update_font -eq "1" ]; then
+        # install font
+        cp -rf /data/openpilot/dragonpilot/chinese-fonts/NotoSansCJKtc-* /system/fonts/
+        # install font mapping
+        cp -rf /data/openpilot/dragonpilot/chinese-fonts/fonts.xml /system/etc/fonts.xml
+        # change permissions
+        chmod 644 /system/etc/fonts.xml
+        chmod 644 /system/fonts/NotoSansCJKtc-*
+    fi
+    # remove miui font
+    if [ $remove_old_font -eq "1" ]; then
+        rm -fr /system/fonts/Miui*.ttf
+    fi
+    mount -o remount,r /system
+    # change system locale
+fi
+
+setprop persist.sys.locale $lang
+setprop persist.sys.local $lang
@@ -31,9 +31,9 @@ FRAMEBUFFER_LIBS = -lutils -lgui -lEGL
 .PHONY: all
 all: updater

-OBJS = opensans_regular.ttf.o \
-			 opensans_semibold.ttf.o \
-			 opensans_bold.ttf.o \
+OBJS = NotoSansCJKtc-Regular.otf.o \
+			 NotoSansCJKtc-Medium.otf.o \
+			 NotoSansCJKtc-Bold.otf.o \
       ../../selfdrive/common/touch.o \
       ../../selfdrive/common/framebuffer.o \
       $(PHONELIBS)/json11/json11.o \
@@ -52,15 +52,15 @@ updater: updater.o $(OBJS)
    -lcutils -lm -llog
 	strip updater

-opensans_regular.ttf.o: ../../selfdrive/assets/fonts/opensans_regular.ttf
+NotoSansCJKtc-Regular.otf.o: ../../selfdrive/assets/fonts/NotoSansCJKtc-Regular.otf
 	@echo "[ bin2o ] $@"
 	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'

-opensans_bold.ttf.o: ../../selfdrive/assets/fonts/opensans_bold.ttf
+NotoSansCJKtc-Bold.otf.o: ../../selfdrive/assets/fonts/NotoSansCJKtc-Bold.otf
 	@echo "[ bin2o ] $@"
 	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'

-opensans_semibold.ttf.o: ../../selfdrive/assets/fonts/opensans_semibold.ttf
+NotoSansCJKtc-Medium.otf.o: ../../selfdrive/assets/fonts/NotoSansCJKtc-Medium.otf
 	@echo "[ bin2o ] $@"
 	cd '$(dir $<)' && ld -r -b binary '$(notdir $<)' -o '$(abspath $@)'

@@ -43,12 +43,12 @@ const char *manifest_url = MANIFEST_URL_EON;

 #define UPDATE_DIR "/data/neoupdate"

-extern const uint8_t bin_opensans_regular[] asm("_binary_opensans_regular_ttf_start");
-extern const uint8_t bin_opensans_regular_end[] asm("_binary_opensans_regular_ttf_end");
-extern const uint8_t bin_opensans_semibold[] asm("_binary_opensans_semibold_ttf_start");
-extern const uint8_t bin_opensans_semibold_end[] asm("_binary_opensans_semibold_ttf_end");
-extern const uint8_t bin_opensans_bold[] asm("_binary_opensans_bold_ttf_start");
-extern const uint8_t bin_opensans_bold_end[] asm("_binary_opensans_bold_ttf_end");
+extern const uint8_t bin_opensans_regular[] asm("_binary_NotoSansCJKtc_Regular_otf_start");
+extern const uint8_t bin_opensans_regular_end[] asm("_binary_NotoSansCJKtc_Regular_otf_end");
+extern const uint8_t bin_opensans_semibold[] asm("_binary_NotoSansCJKtc_Medium_otf_start");
+extern const uint8_t bin_opensans_semibold_end[] asm("_binary_NotoSansCJKtc_Medium_otf_end");
+extern const uint8_t bin_opensans_bold[] asm("_binary_NotoSansCJKtc_Bold_otf_start");
+extern const uint8_t bin_opensans_bold_end[] asm("_binary_NotoSansCJKtc_Bold_otf_end");

 namespace {

@@ -324,18 +324,18 @@ struct Updater {
  std::string stage_download(std::string url, std::string hash, std::string name) {
    std::string out_fn = UPDATE_DIR "/" + util::base_name(url);

-    set_progress("Downloading " + name + "...");
+    set_progress("下載 " + name + " 中...");
    bool r = download_file(url, out_fn);
    if (!r) {
-      set_error("failed to download " + name);
+      set_error("無法下載 " + name);
      return "";
    }

-    set_progress("Verifying " + name + "...");
+    set_progress("驗證 " + name + " 中...");
    std::string fn_hash = sha256_file(out_fn);
-    printf("got %s hash: %s\n", name.c_str(), hash.c_str());
+    printf("得到 %s hash: %s\n", name.c_str(), hash.c_str());
    if (fn_hash != hash) {
-      set_error(name + " was corrupt");
+      set_error(name + " 已損壞");
      unlink(out_fn.c_str());
      return "";
    }
@@ -359,7 +359,7 @@ struct Updater {
    }

    if (!check_space()) {
-      set_error("2GB of free space required to update");
+      set_error("您需要至少 2GB 的空間進行升級");
      return;
    }

@@ -367,7 +367,7 @@ struct Updater {

    const int EON = (access("/EON", F_OK) != -1);

-    set_progress("Finding latest version...");
+    set_progress("尋找最新的版本...");
    std::string manifest_s;
    if (EON) {
      manifest_s = download_string(curl, manifest_url);
@@ -376,12 +376,12 @@ struct Updater {
      exit(0);
    }

-    printf("manifest: %s\n", manifest_s.c_str());
+    printf("宣示說明: %s\n", manifest_s.c_str());

    std::string err;
    auto manifest = json11::Json::parse(manifest_s, err);
    if (manifest.is_null() || !err.empty()) {
-      set_error("failed to load update manifest");
+      set_error("無法載入新的宣示說明");
      return;
    }

@@ -396,7 +396,7 @@ struct Updater {
    // std::string installer_hash = manifest["installer_hash"].string_value();

    if (ota_url.empty() || ota_hash.empty()) {
-      set_error("invalid update manifest");
+      set_error("錯誤的宣示說明");
      return;
    }

@@ -408,12 +408,12 @@ struct Updater {

    std::string recovery_fn;
    if (recovery_url.empty() || recovery_hash.empty() || recovery_len == 0) {
-      set_progress("Skipping recovery flash...");
+      set_progress("跳過 recovery 更新...");
    } else {
      // only download the recovery if it differs from what's flashed
-      set_progress("Checking recovery...");
+      set_progress("檢查 recovery...");
      std::string existing_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
-      printf("existing recovery hash: %s\n", existing_recovery_hash.c_str());
+      printf("目前 recovery 的 hash: %s\n", existing_recovery_hash.c_str());

      if (existing_recovery_hash != recovery_hash) {
        recovery_fn = stage_download(recovery_url, recovery_hash, "recovery");
@@ -443,18 +443,18 @@ struct Updater {

    if (!recovery_fn.empty()) {
      // flash recovery
-      set_progress("Flashing recovery...");
+      set_progress("刷新 recovery...");

      FILE *flash_file = fopen(recovery_fn.c_str(), "rb");
      if (!flash_file) {
-        set_error("failed to flash recovery");
+        set_error("刷新 recovery 失敗");
        return;
      }

      FILE *recovery_dev = fopen(RECOVERY_DEV, "w+b");
      if (!recovery_dev) {
        fclose(flash_file);
-        set_error("failed to flash recovery");
+        set_error("刷新 recovery 失敗");
        return;
      }

@@ -469,7 +469,7 @@ struct Updater {
        if (bytes_read != bytes_written) {
          fclose(recovery_dev);
          fclose(flash_file);
-          set_error("failed to flash recovery: write failed");
+          set_error("刷新 recovery 失敗: 無法寫入");
          return;
        }
      }
@@ -477,12 +477,12 @@ struct Updater {
      fclose(recovery_dev);
      fclose(flash_file);

-      set_progress("Verifying flash...");
+      set_progress("驗證新的 recovery...");
      std::string new_recovery_hash = sha256_file(RECOVERY_DEV, recovery_len);
-      printf("new recovery hash: %s\n", new_recovery_hash.c_str());
+      printf("新的 recovery hash: %s\n", new_recovery_hash.c_str());

      if (new_recovery_hash != recovery_hash) {
-        set_error("recovery flash corrupted");
+        set_error("刷新 recovery 失敗");
        return;
      }

@@ -491,13 +491,13 @@ struct Updater {
    // write arguments to recovery
    FILE *cmd_file = fopen(RECOVERY_COMMAND, "wb");
    if (!cmd_file) {
-      set_error("failed to reboot into recovery");
+      set_error("無法重啟至 recovery");
      return;
    }
    fprintf(cmd_file, "--update_package=%s\n", ota_fn.c_str());
    fclose(cmd_file);

-    set_progress("Rebooting");
+    set_progress("重新啟動");

    // remove the continue.sh so we come back into the setup.
    // maybe we should go directly into the installer, but what if we don't come back with internet? :/
@@ -564,9 +564,9 @@ struct Updater {
  }

  void draw_battery_screen() {
-    low_battery_title = "Low Battery";
-    low_battery_text = "Please connect EON to your charger. Update will continue once EON battery reaches 35%.";
-    low_battery_context = "Current battery charge: " + battery_cap_text + "%";
+    low_battery_title = "電量過低";
+    low_battery_text = "請將您的 EON 充電。當電量達到 35% 時系統將會繼續更新。";
+    low_battery_context = "目前的電量為: " + battery_cap_text + "%";

    nvgFillColor(vg, nvgRGBA(255,255,255,255));
    nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
@@ -603,7 +603,7 @@ struct Updater {
      int powerprompt_y = 312;
      nvgFontFace(vg, "opensans_regular");
      nvgFontSize(vg, 64.0f);
-      nvgText(vg, fb_w/2, 740, "Ensure EON is connected to power.", NULL);
+      nvgText(vg, fb_w/2, 740, "請確保您的 EON 已接上充電器。", NULL);

      NVGpaint paint = nvgBoxGradient(
          vg, progress_x + 1, progress_y + 1,
@@ -637,10 +637,10 @@ struct Updater {

    switch (state) {
    case CONFIRMATION:
-      draw_ack_screen("An update to NEOS is required.",
-                      "Your device will now be reset and upgraded. You may want to connect to wifi as download is around 1 GB. Existing data on device should not be lost.",
-                      "Continue",
-                      "Connect to WiFi");
+      draw_ack_screen("NEOS 需要更新。",
+                      "您的設備將在點擊繼續後開始更新。\n更新檔約為 1GB 我們建議您先連接至無線網路。\n設備上現有的檔案不會丟失。",
+                      "繼續",
+                      "連線至無線網路");
      break;
    case LOW_BATTERY:
      draw_battery_screen();
@@ -649,7 +649,7 @@ struct Updater {
      draw_progress_screen();
      break;
    case ERROR:
-      draw_ack_screen("There was an error", (error_text).c_str(), NULL, "Reboot");
+      draw_ack_screen("發生錯誤", (error_text).c_str(), NULL, "重新啟動");
      break;
    }

@@ -1,5 +1,6 @@
 #!/usr/bin/bash

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

@@ -373,7 +373,7 @@ BO_ 705 GAS_PEDAL: 8 XXX
 SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX

 BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
- SG_ STEER_TORQUE_EPS : 47|16@0- (0.77,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (1.30,0) [-20000|20000] "" XXX
 SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
 SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
@@ -0,0 +1,389 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+
+CM_ "Imported file _toyota_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX DSU HCU EPS IPAS CGW
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+
+BO_ 353 DSU_SPEED: 8 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
+
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 740 STEERING_LKA: 5 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 742 LEAD_INFO: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
+ SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
+ SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
+
+BO_ 835 ACC_CONTROL: 8 DSU
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+ SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
+ SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
+ SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
+BO_ 921 PCM_CRUISE_SM: 8 XXX
+ SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
+ SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1041 ACC_HUD: 8 DSU
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1553 UI_SEETING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
+
+CM_ "lexus_is_hybrid_2017_pt.dbc starts here"
+
+
+
+BO_ 581 GAS_PEDAL: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (1.00,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+BO_ 1009 PCM_CRUISE_ISH: 8 XXX
+ SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
+ SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+
+BO_ 1599 LIGHT_STALK_ISH: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";
@@ -125,7 +125,7 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
      int gas_interceptor = GET_INTERCEPTOR(to_push);
      if ((gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
          (gas_interceptor_prev <= HONDA_GAS_INTERCEPTOR_THRESHOLD)) {
-        controls_allowed = 0;
+        controls_allowed = 1;
      }
      gas_interceptor_prev = gas_interceptor;
    }
@@ -135,7 +135,7 @@ static int honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
      if (addr == 0x17C) {
        int gas = GET_BYTE(to_push, 0);
        if (gas && !honda_gas_prev) {
-          controls_allowed = 0;
+          controls_allowed = 1;
        }
        honda_gas_prev = gas;
      }
@@ -194,8 +194,9 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {

  // disallow actuator commands if gas or brake (with vehicle moving) are pressed
  // and the the latching controls_allowed flag is True
-  int pedal_pressed = honda_gas_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
-                      (honda_brake_pressed_prev && honda_moving);
+  //int pedal_pressed = honda_gas_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
+  //                    (honda_brake_pressed_prev && honda_moving);
+  int pedal_pressed = honda_brake_pressed_prev && honda_moving;
  bool current_controls_allowed = controls_allowed && !(pedal_pressed);

  // BRAKE: safety check
@@ -85,7 +85,7 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
      // 5th bit is CRUISE_ACTIVE
      int cruise_engaged = GET_BYTE(to_push, 0) & 0x20;
      if (!cruise_engaged) {
-        controls_allowed = 0;
+        controls_allowed = 1;
      }
      if (cruise_engaged && !toyota_cruise_engaged_last) {
        controls_allowed = 1;
@@ -99,7 +99,7 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
      int gas_interceptor = GET_INTERCEPTOR(to_push);
      if ((gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRESHOLD) &&
          (gas_interceptor_prev <= TOYOTA_GAS_INTERCEPTOR_THRESHOLD)) {
-        controls_allowed = 0;
+        controls_allowed = 1;
      }
      gas_interceptor_prev = gas_interceptor;
    }
@@ -108,7 +108,7 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
    if (addr == 0x2C1) {
      int gas = GET_BYTE(to_push, 6) & 0xFF;
      if ((gas > 0) && (toyota_gas_prev == 0) && !gas_interceptor_detected) {
-        controls_allowed = 0;
+        controls_allowed = 1;
      }
      toyota_gas_prev = gas;
    }
@@ -0,0 +1,7 @@
+#!/usr/bin/bash
+
+export LD_LIBRARY_PATH=/data/data/com.termux/files/usr/lib
+export HOME=/data/data/com.termux/files/home
+export PATH=/usr/local/bin:/data/data/com.termux/files/usr/bin:/data/data/com.termux/files/usr/sbin:/data/data/com.termux/files/usr/bin/applets:/bin:/sbin:/vendor/bin:/system/sbin:/system/bin:/system/xbin:/data/data/com.termux/files/usr/bin/git
+
+cd /data/openpilot && git reset --hard && git pull && reboot
@@ -1,5 +1,11 @@
 Import('env', 'common', 'messaging')

+# dragonpilot - Add read DragonBTG value
+if FindFile('DragonBTG', '/data/params/d') != None:
+  with open('/data/params/d/DragonBTG') as f:
+    if (int(f.read())) == 1:
+      env.Append(CCFLAGS='-DDragonBTG')
+
 env.Program('boardd.cc', LIBS=['usb-1.0', common, messaging, 'pthread', 'zmq', 'capnp', 'kj'])
 env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])

@@ -84,6 +84,7 @@ void pigeon_init();
 void *pigeon_thread(void *crap);

 void *safety_setter_thread(void *s) {
+  #ifndef DragonBTG
  // diagnostic only is the default, needed for VIN query
  pthread_mutex_lock(&usb_lock);
  libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel::ELM327), 0, NULL, 0, TIMEOUT);
@@ -109,6 +110,7 @@ void *safety_setter_thread(void *s) {
  pthread_mutex_lock(&usb_lock);
  libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel::NO_OUTPUT), 0, NULL, 0, TIMEOUT);
  pthread_mutex_unlock(&usb_lock);
+  #endif

  char *value;
  size_t value_sz = 0;
@@ -372,13 +374,14 @@ void can_health(PubSocket *publisher) {
  }

  voltage_f = VOLTAGE_K * (health.voltage / 1000.0) + (1.0 - VOLTAGE_K) * voltage_f;  // LPF
-
+  #ifndef DragonBTG
  // Make sure CAN buses are live: safety_setter_thread does not work if Panda CAN are silent and there is only one other CAN node
  if (health.safety_model == (uint8_t)(cereal::CarParams::SafetyModel::SILENT)) {
    pthread_mutex_lock(&usb_lock);
    libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel::NO_OUTPUT), 0, NULL, 0, TIMEOUT);
    pthread_mutex_unlock(&usb_lock);
  }
+  #endif

  bool ignition = ((health.ignition_line != 0) || (health.ignition_can != 0));

@@ -416,12 +419,14 @@ void can_health(PubSocket *publisher) {
    libusb_control_transfer(dev_handle, 0xc0, 0xe7, 1, 0, NULL, 0, TIMEOUT);
    pthread_mutex_unlock(&usb_lock);
  }
+  #ifndef DragonBTG
  // set safety mode to NO_OUTPUT when car is off. ELM327 is an alternative if we want to leverage athenad/connect
  if (!ignition && (health.safety_model != (uint8_t)(cereal::CarParams::SafetyModel::NO_OUTPUT))) {
    pthread_mutex_lock(&usb_lock);
    libusb_control_transfer(dev_handle, 0x40, 0xdc, (uint16_t)(cereal::CarParams::SafetyModel::NO_OUTPUT), 0, NULL, 0, TIMEOUT);
    pthread_mutex_unlock(&usb_lock);
  }
+  #endif
 #endif

  // clear VIN, CarParams, and set new safety on car start
@@ -830,6 +835,11 @@ void *pigeon_thread(void *crap) {
    if (pigeon_needs_init) {
      pigeon_needs_init = false;
      pigeon_init();
+      #ifdef DragonBTG
+      pthread_mutex_lock(&usb_lock);
+      libusb_control_transfer(dev_handle, 0x40, 0xdc, 2, 100, NULL, 0, TIMEOUT);
+      pthread_mutex_unlock(&usb_lock);
+      #endif
    }
    int alen = 0;
    while (alen < 0xfc0) {
@@ -864,6 +874,9 @@ void *pigeon_thread(void *crap) {
 int main() {
  int err;
  LOGW("starting boardd");
+  #ifdef DragonBTG
+  LOGW("boardd is running in DragonBTG mode");
+  #endif

  // set process priority
  err = set_realtime_priority(4);
@@ -1,5 +1,5 @@
 import os
-from common.params import Params
+from common.params import Params, put_nonblocking
 from common.basedir import BASEDIR
 from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_known_cars
 from selfdrive.car.vin import get_vin, VIN_UNKNOWN
@@ -7,6 +7,7 @@ from selfdrive.car.fw_versions import get_fw_versions
 from selfdrive.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint
+import pickle

 def get_startup_alert(car_recognized, controller_available):
  alert = 'startup'
@@ -76,6 +77,17 @@ def fingerprint(logcan, sendcan, has_relay):
  car_fingerprint = None
  done = False

+  params = Params()
+  dragon_cache_car = params.get("DragonCacheCar", encoding='utf8')
+  dragon_cached_fp = params.get("DragonCachedFP")
+  dragon_cached_model = params.get("DragonCachedModel")
+
+  if dragon_cache_car == "1" and dragon_cached_fp != "" and dragon_cached_model != "":
+    car_fingerprint = pickle.loads(dragon_cached_model)
+    finger = pickle.loads(dragon_cached_fp)
+    vin = pickle.loads(params.get("DragonCachedVIN"))
+    done = True
+
  while not done:
    a = messaging.get_one_can(logcan)

@@ -110,6 +122,13 @@ def fingerprint(logcan, sendcan, has_relay):

    frame += 1

+    if succeeded:
+      put_nonblocking("DragonCachedModel", pickle.dumps(car_fingerprint))
+      put_nonblocking("DragonCachedFP", pickle.dumps(finger))
+      put_nonblocking("DragonCachedVIN", pickle.dumps(vin))
+      put_nonblocking("DragonCarModel", car_fingerprint)
+      put_nonblocking("DragonCarVIN", vin)
+
  cloudlog.warning("fingerprinted %s", car_fingerprint)
  return car_fingerprint, finger, vin, car_fw

@@ -7,6 +7,8 @@ from selfdrive.car import create_gas_command
 from selfdrive.car.honda import hondacan
 from selfdrive.car.honda.values import CruiseButtons, CAR, VISUAL_HUD
 from opendbc.can.packer import CANPacker
+from common.params import Params
+params = Params()

 VisualAlert = car.CarControl.HUDControl.VisualAlert

@@ -72,7 +74,7 @@ def process_hud_alert(hud_alert):

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


 class CarController():
@@ -90,9 +92,20 @@ class CarController():
        print("EPS FW MODIFIED!")
        self.eps_modified = True

+    # 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):
+    # dragonpilot, don't check for param too often as it's a kernel call
+    if frame % 500 == 0:
+      self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
+      self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
+      self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True

    # *** apply brake hysteresis ***
    brake, self.braking, self.brake_steady = actuator_hystereses(actuators.brake, self.braking, self.brake_steady, CS.v_ego, CS.CP.carFingerprint)
@@ -122,7 +135,7 @@ class CarController():
    fcw_display, steer_required, acc_alert = process_hud_alert(hud_alert)

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

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

@@ -150,11 +163,22 @@ class CarController():
      elif apply_steer < -0xA00:
        apply_steer = (apply_steer + 0xA00) / 2 - 0xA00

-    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,
@@ -159,6 +159,8 @@ def get_can_signals(CP):
    signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0))
    checks.append(("GAS_SENSOR", 50))

+  checks = []
+
  return signals, checks


@@ -225,6 +227,8 @@ class CarState():
                         K=[[0.12287673], [0.29666309]])
    self.v_ego = 0.0

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

    # car params
@@ -296,6 +300,13 @@ class CarState():
    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']

@@ -73,6 +73,7 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx,
    'STEERING_REQUIRED': hud.steer_required,
    'SOLID_LANES': hud.lanes,
    'BEEP': 0,
+    'DASHED_LANES': hud.dashed_lanes,
  }
  commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values, idx))

@@ -2,7 +2,7 @@
 import numpy as np
 from cereal import car
 from common.numpy_fast import clip, interp
-from common.realtime import DT_CTRL
+from common.realtime import DT_CTRL, sec_since_boot
 from selfdrive.swaglog import cloudlog
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET, get_events
@@ -12,6 +12,8 @@ from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, ECU, ECU
 from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
 from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING
 from selfdrive.car.interfaces import CarInterfaceBase
+from common.params import Params
+params = Params()

 A_ACC_MAX = max(_A_CRUISE_MAX_V_FOLLOWING)

@@ -98,6 +100,12 @@ class CarInterface(CarInterfaceBase):
    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.
+    self.dragon_lat_ctrl = True
+
  @staticmethod
  def calc_accel_override(a_ego, a_target, v_ego, v_target):

@@ -376,6 +384,14 @@ class CarInterface(CarInterfaceBase):

  # returns a car.CarState
  def update(self, c, can_strings):
+    # dragonpilot, don't check for param too often as it's a kernel call
+    ts = sec_since_boot()
+    if ts - self.ts_last_check > 5.:
+      self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else True
+      self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
+      self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+      self.ts_last_check = ts
+
    # ******************* do can recv *******************
    self.cp.update_strings(can_strings)
    self.cp_cam.update_strings(can_strings)
@@ -490,7 +506,11 @@ class CarInterface(CarInterfaceBase):

    # events
    events = []
-    if self.CS.steer_error:
+    if not self.CS.lkMode or not self.dragon_lat_ctrl:
+        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]))
@@ -516,13 +536,18 @@ class CarInterface(CarInterfaceBase):
    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
@@ -54,6 +54,13 @@ FINGERPRINTS = {
  }],
  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
+  },
+  {
+    # Honda Inspire Hybrid
+    148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 387: 8, 388: 8, 399: 7, 408: 6, 419: 8, 420: 8, 427: 3, 432: 7, 441: 5, 450: 8, 464: 8, 475: 8, 477: 8, 479: 8, 481: 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,
@@ -91,6 +98,10 @@ FINGERPRINTS = {
  }],
  CAR.ODYSSEY_CHN: [{
    57: 3, 145: 8, 316: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 7, 401: 8, 404: 4, 411: 5, 420: 8, 422: 8, 423: 2, 426: 8, 432: 7, 450: 8, 464: 8, 490: 8, 506: 8, 507: 1, 512: 6, 513: 6, 597: 8, 610: 8, 611: 8, 612: 8, 617: 8, 660: 8, 661: 4, 773: 7, 780: 8, 804: 8, 808: 8, 829: 5, 862: 8, 884: 7, 892: 8, 923: 2, 929: 8, 1030: 5, 1137: 8, 1302: 8, 1348: 5, 1361: 5, 1365: 5, 1600: 5, 1601: 8, 1639: 8
+  },
+  # Odyssey from Shell
+  {
+    57: 3, 145: 8, 316: 8, 342: 6, 344: 8, 380: 8, 398: 3, 399: 7, 401: 8, 408: 6, 411: 5, 415: 6, 420: 8, 422: 8, 423: 2, 426: 8, 432: 7, 450: 8, 464: 8, 490: 8, 507: 1, 597: 8, 610: 8, 611: 8, 612: 8, 617: 8, 660: 8, 661: 4, 773: 7, 804: 8, 808: 8, 884: 7, 892: 8, 923: 2, 929: 8, 1030: 5, 1137: 8, 1302: 8, 1348: 5, 1361: 5, 1365: 5, 1639: 8
  }],
  # 2017 Pilot Touring AND 2016 Pilot EX-L w/ Added Comma Pedal Support (512L & 513L)
  CAR.PILOT: [{
@@ -6,6 +6,8 @@ from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_comma
                                           create_acc_cancel_command, create_fcw_command
 from selfdrive.car.toyota.values import CAR, ECU, STATIC_MSGS, SteerLimitParams
 from opendbc.can.packer import CANPacker
+from common.params import Params
+params = Params()

 VisualAlert = car.CarControl.HUDControl.VisualAlert

@@ -107,9 +109,25 @@ class CarController():

    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
+    self.dragon_lane_departure_warning = True
+    self.dragon_toyota_sng_mod = False
+
  def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
             left_line, right_line, lead, left_lane_depart, right_lane_depart):

+    # dragonpilot, don't check for param too often as it's a kernel call
+    if frame % 500 == 0:
+      self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
+      # self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
+      self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+      self.dragon_lane_departure_warning = False if params.get("DragonToyotaLaneDepartureWarning", encoding='utf8') == "0" else True
+      self.dragon_toyota_sng_mod = True if params.get("DragonToyotaSnGMod", encoding='utf8') == "1" else False
+
    # *** compute control surfaces ***

    # gas and brake
@@ -136,7 +154,7 @@ class CarController():
      self.last_fault_frame = frame

    # Cut steering for 2s after fault
-    if not enabled or (frame - self.last_fault_frame < 200):
+    if not enabled: # or (frame - self.last_fault_frame < 200):
      apply_steer = 0
      apply_steer_req = 0
    else:
@@ -167,7 +185,7 @@ class CarController():
      pcm_cancel_cmd = 1

    # on entering standstill, send standstill request
-    if CS.standstill and not self.last_standstill:
+    if not self.dragon_toyota_sng_mod and CS.standstill and not self.last_standstill:
      self.standstill_req = True
    if CS.pcm_acc_status != 8:
      # pcm entered standstill or it's disabled
@@ -180,6 +198,28 @@ class CarController():

    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)

@@ -203,7 +243,7 @@ class CarController():
      lead = lead or CS.v_ego < 12.    # at low speed we always assume the lead is present do ACC can be engaged

      # Lexus IS uses a different cancellation message
-      if pcm_cancel_cmd and CS.CP.carFingerprint == CAR.LEXUS_IS:
+      if pcm_cancel_cmd and CS.CP.carFingerprint in [CAR.LEXUS_IS, CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
        can_sends.append(create_acc_cancel_command(self.packer))
      elif CS.CP.openpilotLongitudinalControl:
        can_sends.append(create_accel_command(self.packer, apply_accel, pcm_cancel_cmd, self.standstill_req, lead))
@@ -232,8 +272,16 @@ class CarController():
    if pcm_cancel_cmd:
      send_ui = True

+    # dragonpilot, lane depart warning mod
+    if self.dragon_lane_departure_warning:
+      dragon_left_lane_depart = left_lane_depart
+      dragon_right_lane_depart = right_lane_depart
+    else:
+      dragon_left_lane_depart = False
+      dragon_right_lane_depart = False
+
    if (frame % 100 == 0 or send_ui) and ECU.CAM in self.fake_ecus:
-      can_sends.append(create_ui_command(self.packer, steer, pcm_cancel_cmd, left_line, right_line, left_lane_depart, right_lane_depart))
+      can_sends.append(create_ui_command(self.packer, steer, pcm_cancel_cmd, left_line, right_line, dragon_left_lane_depart, dragon_right_lane_depart))

    if frame % 100 == 0 and ECU.DSU in self.fake_ecus:
      can_sends.append(create_fcw_command(self.packer, fcw))
@@ -8,6 +8,10 @@ from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, TSS2_CAR, NO_

 GearShifter = car.CarState.GearShifter

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

  val_to_capnp = {'P': GearShifter.park, 'R': GearShifter.reverse, 'N': GearShifter.neutral,
@@ -25,7 +29,6 @@ def get_can_parser(CP):
    ("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
    ("GEAR", "GEAR_PACKET", 0),
    ("BRAKE_PRESSED", "BRAKE_MODULE", 0),
-    ("GAS_PEDAL", "GAS_PEDAL", 0),
    ("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
    ("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
    ("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
@@ -46,12 +49,9 @@ def get_can_parser(CP):
    ("LKA_STATE", "EPS_STATUS", 0),
    ("IPAS_STATE", "EPS_STATUS", 1),
    ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
-    ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
  ]

  checks = [
-    ("BRAKE_MODULE", 40),
-    ("GAS_PEDAL", 33),
    ("WHEEL_SPEEDS", 80),
    ("STEER_ANGLE_SENSOR", 80),
    ("PCM_CRUISE", 33),
@@ -59,6 +59,26 @@ def get_can_parser(CP):
    ("EPS_STATUS", 25),
  ]

+  if CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
+    signals.append(("GAS_PEDAL", "GAS_PEDAL_ALT", 0))
+    signals.append(("MAIN_ON", "PCM_CRUISE_ALT", 0))
+    signals.append(("SET_SPEED", "PCM_CRUISE_ALT", 0))
+    signals.append(("AUTO_HIGH_BEAM", "LIGHT_STALK_ISH", 0))
+    checks += [
+      ("BRAKE_MODULE", 50),
+      ("GAS_PEDAL_ALT", 50),
+      ("PCM_CRUISE_ALT", 1),
+    ]
+  else:
+    signals += [
+      ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
+      ("GAS_PEDAL", "GAS_PEDAL", 0),
+    ]
+    checks += [
+      ("BRAKE_MODULE", 40),
+      ("GAS_PEDAL", 33),
+    ]
+
  if CP.carFingerprint == CAR.LEXUS_IS:
    signals.append(("MAIN_ON", "DSU_CRUISE", 0))
    signals.append(("SET_SPEED", "DSU_CRUISE", 0))
@@ -69,7 +89,7 @@ def get_can_parser(CP):
    signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0))
    checks.append(("PCM_CRUISE_2", 33))

-  if CP.carFingerprint in NO_DSU_CAR:
+  if CP.carFingerprint in NO_DSU_CAR or CP.carFingerprint == CAR.LEXUS_ISH:
    signals += [("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0)]

  if CP.carFingerprint == CAR.PRIUS:
@@ -81,6 +101,8 @@ def get_can_parser(CP):
    signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0))
    checks.append(("GAS_SENSOR", 50))

+  checks = []
+
  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)


@@ -118,7 +140,17 @@ class CarState():
                         K=[[0.12287673], [0.29666309]])
    self.v_ego = 0.0

+    # dragonpilot
+    self.dragon_toyota_stock_dsu = False
+    self.ts_last_check = 0.
+
  def update(self, cp, cp_cam):
+    # dragonpilot, don't check for param too often as it's a kernel call
+    ts = sec_since_boot()
+    if ts - self.ts_last_check > 5.:
+      self.dragon_toyota_stock_dsu = True if params.get("DragonToyotaStockDSU", encoding='utf8') == "1" else False
+      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
@@ -130,6 +162,8 @@ class CarState():
    self.brake_pressed = cp.vl["BRAKE_MODULE"]['BRAKE_PRESSED']
    if self.CP.enableGasInterceptor:
      self.pedal_gas = (cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS'] + cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS2']) / 2.
+    elif self.CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
+      self.pedal_gas = cp.vl["GAS_PEDAL_ALT"]['GAS_PEDAL']
    else:
      self.pedal_gas = cp.vl["GAS_PEDAL"]['GAS_PEDAL']
    self.car_gas = self.pedal_gas
@@ -154,7 +188,7 @@ class CarState():

    if self.CP.carFingerprint in TSS2_CAR:
      self.angle_steers = cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE']
-    elif self.CP.carFingerprint in NO_DSU_CAR:
+    elif self.CP.carFingerprint in NO_DSU_CAR or self.CP.carFingerprint == CAR.LEXUS_ISH:
      # cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE'] is zeroed to where the steering angle is at start.
      # need to apply an offset as soon as the steering angle measurements are both received
      self.angle_steers = cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE'] - self.angle_offset
@@ -169,6 +203,8 @@ class CarState():
    self.gear_shifter = parse_gear_shifter(can_gear, self.shifter_values)
    if self.CP.carFingerprint == CAR.LEXUS_IS:
      self.main_on = cp.vl["DSU_CRUISE"]['MAIN_ON']
+    elif self.CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
+      self.main_on = cp.vl["PCM_CRUISE_ALT"]['MAIN_ON']
    else:
      self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
    self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
@@ -188,15 +224,34 @@ class CarState():
    if self.CP.carFingerprint == CAR.LEXUS_IS:
      self.v_cruise_pcm = cp.vl["DSU_CRUISE"]['SET_SPEED']
      self.low_speed_lockout = False
+    elif self.CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
+      self.v_cruise_pcm = cp.vl["PCM_CRUISE_ALT"]['SET_SPEED']
+      self.low_speed_lockout = False
    else:
      self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
      self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
-    self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
+    if self.CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
+      # Lexus ISH does not have curise status value (always 0), so we use curise_active value instead
+      self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE']
+    else:
+      self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
    self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
    self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
    if self.CP.carFingerprint == CAR.PRIUS:
      self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0
+    elif self.CP.carFingerprint in [CAR.LEXUS_ISH, CAR.LEXUS_GSH]:
+      self.generic_toggle = bool(cp.vl["LIGHT_STALK_ISH"]['AUTO_HIGH_BEAM'])
    else:
      self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])

    self.stock_aeb = bool(cp_cam.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_cam.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
+
+    if self.dragon_toyota_stock_dsu and self.generic_toggle and self.main_on:
+      enable_acc = True
+      if not self.gear_shifter == GearShifter.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
@@ -8,6 +8,9 @@ from selfdrive.car.toyota.values import ECU, ECU_FINGERPRINT, CAR, NO_STOP_TIMER
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
 from selfdrive.swaglog import cloudlog
 from selfdrive.car.interfaces import CarInterfaceBase
+from common.realtime import sec_since_boot
+from common.params import Params
+params = Params()

 ButtonType = car.CarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
@@ -32,6 +35,13 @@ class CarInterface(CarInterfaceBase):
    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.
+    self.dragon_lat_ctrl = True
+
  @staticmethod
  def compute_gb(accel, speed):
    return float(accel) / 3.0
@@ -113,7 +123,7 @@ class CarInterface(CarInterfaceBase):
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
      ret.lateralTuning.pid.kf = 0.00003   # full torque for 20 deg at 80mph means 0.00007818594

-    elif candidate == CAR.LEXUS_RXH:
+    elif candidate in [CAR.LEXUS_RXH, CAR.LEXUS_RX]:
      stop_and_go = True
      ret.safetyParam = 73
      ret.wheelbase = 2.79
@@ -223,6 +233,26 @@ class CarInterface(CarInterfaceBase):
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
      ret.lateralTuning.pid.kf = 0.00007

+    elif candidate == CAR.LEXUS_ISH:
+        stop_and_go = True # set to true because it's a hybrid
+        ret.safetyParam = 130
+        ret.wheelbase = 2.79908
+        ret.steerRatio = 13.3
+        tire_stiffness_factor = 0.444
+        ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
+        ret.lateralTuning.pid.kf = 0.00006
+
+    elif candidate == CAR.LEXUS_GSH:
+      stop_and_go = True # set to true because it's a hybrid
+      ret.safetyParam = 77
+      ret.wheelbase = 2.84988
+      ret.steerRatio = 13.3
+      tire_stiffness_factor = 0.444
+      ret.mass = 4112 * CV.LB_TO_KG + STD_CARGO_KG
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
+      ret.lateralTuning.pid.kf = 0.00006
+
    ret.steerRateCost = 1.
    ret.centerToFront = ret.wheelbase * 0.44

@@ -285,6 +315,15 @@ class CarInterface(CarInterfaceBase):

  # returns a car.CarState
  def update(self, c, can_strings):
+    # dragonpilot, don't check for param too often as it's a kernel call
+    ts = sec_since_boot()
+    if ts - self.ts_last_check > 5.:
+      self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
+      self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
+      self.dragon_toyota_stock_dsu = True if params.get("DragonToyotaStockDSU", encoding='utf8') == "1" else False
+      self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+      self.ts_last_check = ts
+
    # ******************* do can recv *******************
    self.cp.update_strings(can_strings)
    self.cp_cam.update_strings(can_strings)
@@ -386,7 +425,11 @@ class CarInterface(CarInterfaceBase):
      events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
    if ret.gearShifter == GearShifter.reverse and self.CP.openpilotLongitudinalControl:
      events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
-    if self.CS.steer_error:
+    if not self.dragon_lat_ctrl:
+      events.append(create_event('manualSteeringRequired', [ET.WARNING]))
+    elif (self.CS.left_blinker_on or self.CS.right_blinker_on) and self.dragon_enable_steering_on_signal:
+      events.append(create_event('manualSteeringRequiredBlinkersOn', [ET.WARNING]))
+    elif self.CS.steer_error:
      events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
    if self.CS.low_speed_lockout and self.CP.openpilotLongitudinalControl:
      events.append(create_event('lowSpeedLockout', [ET.NO_ENTRY, ET.PERMANENT]))
@@ -405,13 +448,19 @@ class CarInterface(CarInterfaceBase):
    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

@@ -30,6 +30,9 @@ class CAR:
  SIENNA = "TOYOTA SIENNA XLE 2018"
  LEXUS_IS = "LEXUS IS300 2018"
  LEXUS_CTH = "LEXUS CT 200H 2018"
+  LEXUS_ISH = "LEXUS IS300h 2017"
+  LEXUS_GSH = "LEXUS GS450h 2017"
+  LEXUS_RX = "LEXUS RX 2018"


 class ECU:
@@ -40,24 +43,24 @@ class ECU:

 # addr: (ecu, cars, bus, 1/freq*100, vl)
 STATIC_MSGS = [
-  (0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, b'\xf4\x01\x90\x83\x00\x37'),
+  (0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX), 1,   3, b'\xf4\x01\x90\x83\x00\x37'),
  (0x128, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH), 1,   3, b'\x03\x00\x20\x00\x00\x52'),
-  (0x141, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 1,   2, b'\x00\x00\x00\x46'),
-  (0x160, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
-  (0x161, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   7, b'\x00\x1e\x00\x00\x00\x80\x07'),
+  (0x141, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 1,   2, b'\x00\x00\x00\x46'),
+  (0x160, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
+  (0x161, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX), 1,   7, b'\x00\x1e\x00\x00\x00\x80\x07'),
  (0X161, ECU.DSU, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH), 1,  7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
-  (0x283, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
-  (0x2E6, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
-  (0x2E7, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
-  (0x33E, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,  20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
-  (0x344, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
-  (0x365, ECU.DSU, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
+  (0x283, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
+  (0x2E6, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_RX), 0,   3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
+  (0x2E7, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_RX), 0,   3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
+  (0x33E, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_RX), 0,  20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
+  (0x344, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
+  (0x365, ECU.DSU, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.HIGHLANDERH, CAR.LEXUS_RX), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
  (0x365, ECU.DSU, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 0,  20, b'\x00\x00\x00\x80\xfc\x00\x08'),
-  (0x366, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
+  (0x366, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.HIGHLANDERH, CAR.LEXUS_RX), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
  (0x366, ECU.DSU, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 0,  20, b'\x00\x72\x07\xff\x09\xfe\x00'),
-  (0x470, ECU.DSU, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'),
+  (0x470, ECU.DSU, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_RX), 1, 100, b'\x00\x00\x02\x7a'),
  (0x470, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH), 1,  100, b'\x00\x00\x01\x79'),
-  (0x4CB, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
+  (0x4CB, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_RX), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),

  (0x292, ECU.APGS, (CAR.PRIUS), 0,   3, b'\x00\x00\x00\x00\x00\x00\x00\x9e'),
  (0x32E, ECU.APGS, (CAR.PRIUS), 0,  20, b'\x00\x00\x00\x00\x00\x00\x00\x00'),
@@ -90,6 +93,10 @@ FINGERPRINTS = {
  # with ipas
    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 512: 6, 513: 6, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 814: 8, 824: 2, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2,898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
  },
+  {
+    # Taiwan Prius 4.5
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 512: 6, 513: 6, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 740: 5, 742: 8, 743: 8, 764: 8, 800: 8, 810: 2, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1872: 8, 1880: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+  },
  #2019 LE
  {
    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
@@ -165,6 +172,10 @@ FINGERPRINTS = {
    36: 8, 37: 8, 170: 8, 180: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 550: 8, 552: 4, 562: 6, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 905: 8, 911: 1, 916: 2, 921: 8, 933: 6, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 1005: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1200: 8, 1201: 8, 1202: 8, 1203: 8, 1206: 8, 1227: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1558: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
  }],
  CAR.RAV4_TSS2: [
+  # Taiwan 2019 RAV4 from Max Duan / CloudJ
+  {
+    36: 8, 37: 8, 114: 5, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 565: 8, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 810: 2, 812: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 896: 8, 898: 8, 913: 8, 921: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1696: 8, 1745: 8, 1775: 8, 1779: 8
+  },
  # LE
  {
    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 355: 5, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 565: 8, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1076: 8, 1077: 8,1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553:8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
@@ -172,11 +183,27 @@ FINGERPRINTS = {
  # XLE, Limited, and AWD
  {
    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 565: 8, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1696: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
+  },
+  # Taiwan 2019 RAV4H from Max Duan
+  {
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 810: 2, 812: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 896: 8, 898: 8, 913: 8, 921: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1063: 8, 1071: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1696: 8, 1745: 8, 1775: 8, 1779: 8
  }],
  CAR.COROLLA_TSS2: [
  # hatch 2019+ and sedan 2020+
  {
    36: 8, 37: 8, 114: 5, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1809: 8, 1816: 8, 1817: 8, 1840: 8, 1848: 8, 1904: 8, 1912: 8, 1940: 8, 1941: 8, 1948: 8, 1949: 8, 1952: 8, 1960: 8, 1981: 8, 1986: 8, 1990: 8, 1994: 8, 1998: 8, 2004: 8
+  },
+  {
+    # 2019 Taiwan Altis
+    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 885: 8, 896: 8, 898: 8, 918: 7, 921: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1082: 8, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1745: 8, 1775: 8, 1779: 8
+  },
+  {
+    # 2019 Chinese Levin (Petrol) from Shell
+    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 355: 5, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 810: 2, 812: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 885: 8, 896: 8, 898: 8, 921: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1600: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8, 1984: 8, 1992: 8, 2002: 8
+  },
+  {
+    # 2019 Chinese Corolla (Petrol) from Shell
+    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 355: 5, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 810: 2, 812: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 885: 8, 896: 8, 898: 8, 921: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1600: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8, 1808: 8, 1816: 8, 1904: 8, 1912: 8
  }],
  CAR.COROLLAH_TSS2: [
  # 2019 Taiwan Altis Hybrid
@@ -188,7 +215,12 @@ FINGERPRINTS = {
    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 810: 2, 812: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 885: 8, 896: 8, 898: 8, 921: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1600: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8
  }
  ],
-  CAR.LEXUS_ES_TSS2: [{
+  CAR.LEXUS_ES_TSS2: [
+  {
+    # 2019 Lexus ES200 from Shell
+    36: 8, 37: 8, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 355: 5, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1775: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+  },
+  {
    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 824: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1696: 8, 1775: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8
  }],
  CAR.LEXUS_ESH_TSS2: [
@@ -207,14 +239,28 @@ FINGERPRINTS = {
  # IS300 2018
  {
    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 400: 6, 426: 6, 452: 8, 464: 8, 466: 8, 467: 5, 544: 4, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 800: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1009: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1590: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1648: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  },
+  }],
+  CAR.LEXUS_ISH: [
  # IS300H 2017
  {
    36: 8, 37: 8, 170: 8, 180: 8, 295: 8, 296: 8, 400: 6, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 7, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1009: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
  }],
  CAR.LEXUS_CTH: [{
+    # Taiwan CT200h FP from CloudJ
+    36: 8, 37: 8, 170: 8, 180: 8, 288: 8, 426: 6, 452: 8, 466: 8, 467: 8, 548: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 810: 2, 832: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 900: 6, 902: 6, 905: 8, 911: 8, 916: 1, 918: 7, 921: 8, 933: 8, 944: 6, 945: 8, 950: 8, 951: 8, 953: 3, 955: 4, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1057: 8, 1059: 1, 1076: 8, 1077: 8, 1112: 8, 1114: 8, 1116: 8, 1160: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1190: 8, 1191: 8, 1192: 8, 1227: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1558: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1664: 8, 1728: 8, 1779: 8
+  },
+  {
    36: 8, 37: 8, 170: 8, 180: 8, 288: 8, 426: 6, 452: 8, 466: 8, 467: 8, 548: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 810: 2, 832: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 1, 921: 8, 933: 8, 944: 6, 945: 8, 950: 8, 951: 8, 953: 3, 955: 4, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1057: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1116: 8, 1160: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1190: 8, 1191: 8, 1192: 8, 1227: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1558: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  }]
+  }],
+  CAR.LEXUS_GSH: [
+  # GS450H 2017
+  {
+    36: 8, 37: 8, 38: 8, 42: 8, 44: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 548: 8, 550: 2, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 744: 8, 800: 8, 810: 2, 812: 3, 832: 8, 836: 8, 845: 5, 849: 4, 864: 1, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 2, 917: 4, 918: 7, 919: 1, 921: 7, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1009: 8, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1057: 8, 1059: 1, 1112: 8, 1114: 8, 1116: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1188: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1193: 8, 1195: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1200: 8, 1201: 8, 1206: 8, 1208: 8, 1226: 8, 1227: 8, 1235: 8, 1237: 8, 1250: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1599: 8, 1664: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+  }],
+  # RX300 China
+  CAR.LEXUS_RX: [{
+    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 742: 8, 743: 8, 744: 8, 800: 8, 810: 2, 812: 3, 830: 7, 835: 8, 836: 8, 845: 5, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+  }],
 }

 FW_VERSIONS = {
@@ -266,6 +312,9 @@ DBC = {
  CAR.SIENNA: dbc_dict('toyota_sienna_xle_2018_pt_generated', 'toyota_adas'),
  CAR.LEXUS_IS: dbc_dict('lexus_is_2018_pt_generated', 'toyota_adas'),
  CAR.LEXUS_CTH: dbc_dict('lexus_ct200h_2018_pt_generated', 'toyota_adas'),
+  CAR.LEXUS_ISH: dbc_dict('lexus_is_2018_pt_generated', 'toyota_adas'),
+  CAR.LEXUS_GSH: dbc_dict('lexus_is_2018_pt_generated', 'toyota_adas'),
+  CAR.LEXUS_RX: dbc_dict('lexus_rx_hybrid_2017_pt_generated', 'toyota_adas'),
 }

 NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]
@@ -41,11 +41,20 @@ LaneChangeDirection = log.PathPlan.LaneChangeDirection
 def add_lane_change_event(events, path_plan):
  if path_plan.laneChangeState == LaneChangeState.preLaneChange:
    if path_plan.laneChangeDirection == LaneChangeDirection.left:
-      events.append(create_event('preLaneChangeLeft', [ET.WARNING]))
+      event_name = 'preLaneChangeLeft'
+      if path_plan.autoLCAllowed:
+        event_name = 'preAutoLaneChangeLeft'
+      events.append(create_event(event_name, [ET.WARNING]))
    else:
-      events.append(create_event('preLaneChangeRight', [ET.WARNING]))
+      event_name = 'preLaneChangeRight'
+      if path_plan.autoLCAllowed:
+        event_name = 'preAutoLaneChangeRight'
+      events.append(create_event(event_name, [ET.WARNING]))
  elif path_plan.laneChangeState in [LaneChangeState.laneChangeStarting, LaneChangeState.laneChangeFinishing]:
-      events.append(create_event('laneChange', [ET.WARNING]))
+    event_name = 'laneChange'
+    if path_plan.autoLCAllowed:
+      event_name = 'autoLaneChange'
+    events.append(create_event(event_name, [ET.WARNING]))


 def isActive(state):
@@ -145,8 +154,8 @@ def data_sample(CI, CC, sm, can_sock, driver_status, state, mismatch_counter, ca
  if sm.updated['driverMonitoring']:
    driver_status.get_pose(sm['driverMonitoring'], cal_rpy, CS.vEgo, enabled)

-  if driver_status.terminal_alert_cnt >= MAX_TERMINAL_ALERTS or driver_status.terminal_time >= MAX_TERMINAL_DURATION:
-    events.append(create_event("tooDistracted", [ET.NO_ENTRY]))
+  #if driver_status.terminal_alert_cnt >= MAX_TERMINAL_ALERTS or driver_status.terminal_time >= MAX_TERMINAL_DURATION:
+  #  events.append(create_event("tooDistracted", [ET.NO_ENTRY]))

  return CS, events, cal_perc, mismatch_counter, can_error_counter

@@ -239,7 +248,7 @@ def state_transition(frame, CS, CP, state, events, soft_disable_timer, v_cruise_


 def state_control(frame, rcv_frame, plan, path_plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
-                  AM, rk, driver_status, LaC, LoC, read_only, is_metric, cal_perc, last_blinker_frame):
+                  AM, rk, driver_status, LaC, LoC, read_only, is_metric, cal_perc, last_blinker_frame, dragon_lat_control, dragon_display_steering_limit_alert, dragon_lead_car_moving_alert):
  """Given the state, this function returns an actuators packet"""

  actuators = car.CarControl.Actuators.new_message()
@@ -269,6 +278,11 @@ def state_control(frame, rcv_frame, plan, path_plan, CS, CP, state, events, v_cr
  # State specific actions

  if state in [State.preEnabled, State.disabled]:
+    if dragon_lead_car_moving_alert:
+      for e in get_events(events, [ET.WARNING]):
+        extra_text = ""
+        if e in ["leadCarDetected", "leadCarMoving"]:
+          AM.add(frame, e, enabled, extra_text_2=extra_text)
    LaC.reset()
    LoC.reset(v_pid=CS.vEgo)

@@ -296,13 +310,14 @@ def state_control(frame, rcv_frame, plan, path_plan, CS, CP, state, events, v_cr
  actuators.steer, actuators.steerAngle, lac_log = LaC.update(active, CS.vEgo, CS.steeringAngle, CS.steeringRate, CS.steeringTorqueEps, CS.steeringPressed, CS.steeringRateLimited, CP, path_plan)

  # Send a "steering required alert" if saturation count has reached the limit
-  if lac_log.saturated and not CS.steeringPressed:
-    # Check if we deviated from the path
-    left_deviation = actuators.steer > 0 and path_plan.dPoly[3] > 0.1
-    right_deviation = actuators.steer < 0 and path_plan.dPoly[3] < -0.1
+  if dragon_display_steering_limit_alert:
+    if dragon_lat_control and lac_log.saturated and not CS.steeringPressed:
+      # Check if we deviated from the path
+      left_deviation = actuators.steer > 0 and path_plan.dPoly[3] > 0.1
+      right_deviation = actuators.steer < 0 and path_plan.dPoly[3] < -0.1

-    if left_deviation or right_deviation:
-      AM.add(frame, "steerSaturated", enabled)
+      if left_deviation or right_deviation:
+        AM.add(frame, "steerSaturated", enabled)

  # Parse permanent warnings to display constantly
  for e in get_events(events, [ET.PERMANENT]):
@@ -551,11 +566,28 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
  # controlsd is driven by can recv, expected at 100Hz
  rk = Ratekeeper(100, print_delay_threshold=None)

-  internet_needed = params.get("Offroad_ConnectivityNeeded", encoding='utf8') is not None
+  # internet_needed = params.get("Offroad_ConnectivityNeeded", encoding='utf8') is not None

  prof = Profiler(False)  # off by default

+  # dragonpilot
+  ts_last_check = 0.
+  dragon_toyota_stock_dsu = False
+  dragon_lat_control = True
+  dragon_display_steering_limit_alert = True
+  dragon_stopped_has_lead_count = 0
+  dragon_lead_car_moving_alert = 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 > 5.:
+      dragon_toyota_stock_dsu = True if params.get("DragonToyotaStockDSU", encoding='utf8') == "1" else False
+      dragon_lat_control = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+      dragon_display_steering_limit_alert = False if params.get("DragonDisplaySteeringLimitAlert", encoding='utf8') == "0" else True
+      dragon_lead_car_moving_alert = True if params.get("DragonEnableLeadCarMovingAlert", encoding='utf8') == "1" else False
+      ts_last_check = ts
+
    start_time = sec_since_boot()
    prof.checkpoint("Ratekeeper", ignore=True)

@@ -581,19 +613,42 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
    if sm['plan'].radarCanError:
      events.append(create_event('radarCanError', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
    if not CS.canValid:
-      events.append(create_event('canError', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
+      if dragon_toyota_stock_dsu:
+        events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
+      else:
+        events.append(create_event('canError', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
    if not sounds_available:
      events.append(create_event('soundsUnavailable', [ET.NO_ENTRY, ET.PERMANENT]))
-    if internet_needed:
-      events.append(create_event('internetConnectivityNeeded', [ET.NO_ENTRY, ET.PERMANENT]))
+    #if internet_needed:
+    #  events.append(create_event('internetConnectivityNeeded', [ET.NO_ENTRY, ET.PERMANENT]))
    if community_feature_disallowed:
      events.append(create_event('communityFeatureDisallowed', [ET.PERMANENT]))
    if read_only and not passive:
      events.append(create_event('carUnrecognized', [ET.PERMANENT]))

-    # 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 dragon_lead_car_moving_alert:
+      # when car has a lead and is standstill and lead is barely moving, we start counting
+      if not CP.radarOffCan and sm['plan'].hasLead and CS.vEgo <= 0.01 and 0.3 >= abs(sm['plan'].vTarget) >= 0:
+        dragon_stopped_has_lead_count += 1
+      else:
+        dragon_stopped_has_lead_count = 0
+
+      # when we detect lead car over a sec and the lead car is started moving, we are ready to send alerts
+      # once the condition is triggered, we want to keep the trigger
+      if dragon_stopped_has_lead_count >= 100:
+        if abs(sm['plan'].vTargetFuture) >= 0.1:
+          events.append(create_event('leadCarMoving', [ET.WARNING]))
+        else:
+          events.append(create_event('leadCarDetected', [ET.WARNING]))
+
+      # we remove alert once our car is moving
+      if CS.vEgo > 0.:
+        dragon_stopped_has_lead_count = 0

    if not read_only:
      # update control state
@@ -604,7 +659,7 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
    # Compute actuators (runs PID loops and lateral MPC)
    actuators, v_cruise_kph, driver_status, v_acc, a_acc, lac_log, last_blinker_frame = \
      state_control(sm.frame, sm.rcv_frame, sm['plan'], sm['pathPlan'], CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk,
-                    driver_status, LaC, LoC, read_only, is_metric, cal_perc, last_blinker_frame)
+                    driver_status, LaC, LoC, read_only, is_metric, cal_perc, last_blinker_frame, dragon_lat_control, dragon_display_steering_limit_alert, dragon_lead_car_moving_alert)

    prof.checkpoint("State Control")

@@ -1,3 +1,5 @@
+# This Python file uses the following encoding: utf-8
+# -*- coding: utf-8 -*-
 from cereal import car, log

 # Priority
@@ -75,155 +77,155 @@ ALERTS = [

  Alert(
      "fcw",
-      "BRAKE!",
-      "Risk of Collision",
+      "剎車!",
+      "有碰撞的風險",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.chimeWarningRepeat, 1., 2., 2.),

  Alert(
      "fcwStock",
-      "BRAKE!",
-      "Risk of Collision",
+      "馬上剎車！",
+      "有碰撞風險",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.fcw, AudibleAlert.none, 1., 2., 2.),  # no EON chime for stock FCW

  Alert(
      "steerSaturated",
-      "TAKE CONTROL",
-      "Turn Exceeds Steering Limit",
+      "接管控制",
+      "彎道超過方向盤轉向限制",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 2., 3.),

  Alert(
      "steerTempUnavailable",
-      "TAKE CONTROL",
-      "Steering Temporarily Unavailable",
+      "接管控制",
+      "轉向控制暫時失效",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning1, .4, 2., 3.),

  Alert(
      "steerTempUnavailableMute",
-      "TAKE CONTROL",
-      "Steering Temporarily Unavailable",
+      "接管控制",
+      "轉向控制暫時失效",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .2, .2, .2),

  Alert(
      "preDriverDistracted",
-      "KEEP EYES ON ROAD: User Appears Distracted",
+      "注意路況：駕駛分心",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),

  Alert(
      "promptDriverDistracted",
-      "KEEP EYES ON ROAD",
-      "User Appears Distracted",
+      "注意路況",
+      "駕駛分心",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),

  Alert(
      "driverDistracted",
-      "DISENGAGE IMMEDIATELY",
-      "User Was Distracted",
+      "立即解除",
+      "駕駛分心",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),

  Alert(
      "preDriverUnresponsive",
-      "TOUCH STEERING WHEEL: No Face Detected",
+      "請觸碰方向盤：無駕駛監控",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),

  Alert(
      "promptDriverUnresponsive",
-      "TOUCH STEERING WHEEL",
-      "User Is Unresponsive",
+      "觸碰方向盤",
+      "駕駛沒有反應",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),

  Alert(
      "driverUnresponsive",
-      "DISENGAGE IMMEDIATELY",
-      "User Was Unresponsive",
+      "立即解除",
+      "駕駛沒有反應",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),

  Alert(
      "driverMonitorOff",
-      "DRIVER MONITOR IS UNAVAILABLE",
-      "Accuracy Is Low",
+      "駕駛監控暫時停用",
+      "監控準確率：低",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .4, 0., 4.),

  Alert(
      "driverMonitorOn",
-      "DRIVER MONITOR IS AVAILABLE",
-      "Accuracy Is High",
+      "駕駛監控已啟用",
+      "監控準確率：高",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .4, 0., 4.),

  Alert(
      "geofence",
      "DISENGAGEMENT REQUIRED",
-      "Not in Geofenced Area",
+      "不在地理圍欄區域之內",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),

  Alert(
      "startup",
-      "Be ready to take over at any time",
-      "Always keep hands on wheel and eyes on road",
+      "隨時準備好接管",
+      "請您將手放在方向盤上並持續注意路況",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),

  Alert(
      "startupNoControl",
-      "Dashcam mode",
-      "Always keep hands on wheel and eyes on road",
+      "行車記錄模式",
+      "請您將手放在方向盤上並持續注意路況",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),

  Alert(
      "startupNoCar",
-      "Dashcam mode with unsupported car",
-      "Always keep hands on wheel and eyes on road",
+      "行車記錄模式 (尚未支援車種)",
+      "請您將手放在方向盤上並持續注意路況",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),

  Alert(
      "ethicalDilemma",
-      "TAKE CONTROL IMMEDIATELY",
+      "即刻接管控制",
      "Ethical Dilemma Detected",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 3.),

  Alert(
      "steerTempUnavailableNoEntry",
-      "openpilot Unavailable",
-      "Steering Temporarily Unavailable",
+      "無法使用 dragonpilot",
+      "轉向控制暫時失效",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),

  Alert(
      "manualRestart",
-      "TAKE CONTROL",
-      "Resume Driving Manually",
+      "接管控制",
+      "請自行恢復駕駛",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "resumeRequired",
-      "STOPPED",
-      "Press Resume to Move",
+      "已停止",
+      "請按 RES 繼續",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "belowSteerSpeed",
-      "TAKE CONTROL",
-      "Steer Unavailable Below ",
+      "接管控制",
+      "轉向控制暫時失效，車速低於 ",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.none, 0., 0.4, .3),

@@ -235,539 +237,539 @@ ALERTS = [
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, .1, .1),
  Alert(
      "preLaneChangeLeft",
-      "Steer Left to Start Lane Change",
-      "Monitor Other Vehicles",
+      "請往左打方向盤切換車道",
+      "請注意其它車輛",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),

  Alert(
      "preLaneChangeRight",
-      "Steer Right to Start Lane Change",
-      "Monitor Other Vehicles",
+      "請往右打方向盤切換車道",
+      "請注意其它車輛",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),

  Alert(
      "laneChange",
-      "Changing Lane",
-      "Monitor Other Vehicles",
+      "切換車道中",
+      "請注意其它車輛",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1),

  Alert(
      "posenetInvalid",
-      "TAKE CONTROL",
-      "Vision Model Output Uncertain",
+      "接管控制",
+      "視覺模型輸出不明確",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning1, .4, 2., 3.),

  # Non-entry only alerts
  Alert(
      "wrongCarModeNoEntry",
-      "openpilot Unavailable",
-      "Main Switch Off",
+      "無法使用 dragonpilot",
+      "主開關關閉",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),

  Alert(
      "dataNeededNoEntry",
-      "openpilot Unavailable",
-      "Data Needed for Calibration. Upload Drive, Try Again",
+      "無法使用 dragonpilot",
+      "需要更多的數據來協助校準，請將行車記錄上傳後再試",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),

  Alert(
      "outOfSpaceNoEntry",
-      "openpilot Unavailable",
-      "Out of Storage Space",
+      "無法使用 dragonpilot",
+      "儲存空間不足",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),

  Alert(
      "pedalPressedNoEntry",
-      "openpilot Unavailable",
+      "無法使用 dragonpilot",
      "Pedal Pressed During Attempt",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, "brakePressed", AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "speedTooLowNoEntry",
-      "openpilot Unavailable",
-      "Speed Too Low",
+      "無法使用 dragonpilot",
+      "車速過慢",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "brakeHoldNoEntry",
-      "openpilot Unavailable",
-      "Brake Hold Active",
+      "無法使用 dragonpilot",
+      "駐車煞車已啟用",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "parkBrakeNoEntry",
-      "openpilot Unavailable",
-      "Park Brake Engaged",
+      "無法使用 dragonpilot",
+      "電子駐車已啟動",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "lowSpeedLockoutNoEntry",
-      "openpilot Unavailable",
-      "Cruise Fault: Restart the Car",
+      "無法使用 dragonpilot",
+      "巡航系統錯誤：請重新發動車子",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "lowBatteryNoEntry",
-      "openpilot Unavailable",
-      "Low Battery",
+      "無法使用 dragonpilot",
+      "電池電量過低",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "sensorDataInvalidNoEntry",
-      "openpilot Unavailable",
-      "No Data from EON Sensors",
+      "無法使用 dragonpilot",
+      "沒有收到任何來自 EON 傳感器的資料",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "soundsUnavailableNoEntry",
-      "openpilot Unavailable",
-      "Speaker not found",
+      "無法使用 dragonpilot",
+      "找不到音效裝置",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "tooDistractedNoEntry",
-      "openpilot Unavailable",
-      "Distraction Level Too High",
+      "無法使用 dragonpilot",
+      "駕駛分心次數過高",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  # Cancellation alerts causing soft disabling
  Alert(
      "overheat",
-      "TAKE CONTROL IMMEDIATELY",
-      "System Overheated",
+      "即刻接管控制",
+      "系統過熱",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "wrongGear",
-      "TAKE CONTROL IMMEDIATELY",
-      "Gear not D",
+      "即刻接管控制",
+      "檔位不在 D 檔",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "calibrationInvalid",
-      "TAKE CONTROL IMMEDIATELY",
-      "Calibration Invalid: Reposition EON and Recalibrate",
+      "即刻接管控制",
+      "校準無效：請將 EON 放於新的位置並重新校準",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "calibrationIncomplete",
-      "TAKE CONTROL IMMEDIATELY",
-      "Calibration in Progress",
+      "即刻接管控制",
+      "正在校準相機中",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "doorOpen",
-      "TAKE CONTROL IMMEDIATELY",
-      "Door Open",
+      "即刻接管控制",
+      "車門開啟",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "seatbeltNotLatched",
-      "TAKE CONTROL IMMEDIATELY",
-      "Seatbelt Unlatched",
+      "即刻接管控制",
+      "安全帶未繫",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "espDisabled",
-      "TAKE CONTROL IMMEDIATELY",
-      "ESP Off",
+      "即刻接管控制",
+      "ESP 關閉",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "lowBattery",
-      "TAKE CONTROL IMMEDIATELY",
-      "Low Battery",
+      "即刻接管控制",
+      "電池電量過低",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "commIssue",
-      "TAKE CONTROL IMMEDIATELY",
-      "Communication Issue between Processes",
+      "即刻接管控制",
+      "雷達訊號錯誤：請重新發動車子",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "radarCommIssue",
-      "TAKE CONTROL IMMEDIATELY",
-      "Radar Communication Issue",
+      "即刻接管控制",
+      "雷達通訊出現問題",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "radarCanError",
-      "TAKE CONTROL IMMEDIATELY",
-      "Radar Error: Restart the Car",
+      "即刻接管控制",
+      "雷達訊號錯誤：請重新發動車子",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "radarFault",
-      "TAKE CONTROL IMMEDIATELY",
-      "Radar Error: Restart the Car",
+      "即刻接管控制",
+      "AI 模型錯誤：請檢查網路連線",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),


  Alert(
      "lowMemory",
-      "TAKE CONTROL IMMEDIATELY",
-      "Low Memory: Reboot Your EON",
+      "即刻接管控制",
+      "記憶體不足：請重啟您的 EON",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  # Cancellation alerts causing immediate disabling
  Alert(
      "controlsFailed",
-      "TAKE CONTROL IMMEDIATELY",
-      "Controls Failed",
+      "即刻接管控制",
+      "控制發生錯誤",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),

  Alert(
      "controlsMismatch",
-      "TAKE CONTROL IMMEDIATELY",
-      "Controls Mismatch",
+      "即刻接管控制",
+      "控制不匹配",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),

  Alert(
      "canError",
-      "TAKE CONTROL IMMEDIATELY",
-      "CAN Error: Check Connections",
+      "即刻接管控制",
+      "CAN 訊號錯誤：請檢查接線",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),

  Alert(
      "steerUnavailable",
-      "TAKE CONTROL IMMEDIATELY",
-      "LKAS Fault: Restart the Car",
+      "即刻接管控制",
+      "LKAS 錯誤：請重新發動車子",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),

  Alert(
      "brakeUnavailable",
-      "TAKE CONTROL IMMEDIATELY",
-      "Cruise Fault: Restart the Car",
+      "即刻接管控制",
+      "巡航系統錯誤：請重新發動車子",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),

  Alert(
      "gasUnavailable",
-      "TAKE CONTROL IMMEDIATELY",
-      "Gas Fault: Restart the Car",
+      "即刻接管控制",
+      "油門錯誤：請重新發動車子",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),

  Alert(
      "reverseGear",
-      "TAKE CONTROL IMMEDIATELY",
-      "Reverse Gear",
+      "即刻接管控制",
+      "切換至倒車檔",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),

  Alert(
      "cruiseDisabled",
-      "TAKE CONTROL IMMEDIATELY",
-      "Cruise Is Off",
+      "即刻接管控制",
+      "巡航系統關閉",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),

  Alert(
      "plannerError",
-      "TAKE CONTROL IMMEDIATELY",
-      "Planner Solution Error",
+      "即刻接管控制",
+      "Planner Solution 錯誤",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 2.2, 3., 4.),

  # not loud cancellations (user is in control)
  Alert(
      "noTarget",
-      "openpilot Canceled",
-      "No close lead car",
+      "dragonpilot 已取消",
+      "沒有偵測到前車",
      AlertStatus.normal, AlertSize.mid,
      Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

  Alert(
      "speedTooLow",
-      "openpilot Canceled",
-      "Speed too low",
+      "dragonpilot 已取消",
+      "車速過慢",
      AlertStatus.normal, AlertSize.mid,
      Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

  # Cancellation alerts causing non-entry
  Alert(
      "overheatNoEntry",
-      "openpilot Unavailable",
-      "System overheated",
+      "無法使用 dragonpilot",
+      "系統過熱",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "wrongGearNoEntry",
-      "openpilot Unavailable",
-      "Gear not D",
+      "無法使用 dragonpilot",
+      "車子不在 D 檔",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "calibrationInvalidNoEntry",
-      "openpilot Unavailable",
-      "Calibration Invalid: Reposition EON and Recalibrate",
+      "無法使用 dragonpilot",
+      "校準無效：請將 EON 放於新的位置並重新校準",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "calibrationIncompleteNoEntry",
-      "openpilot Unavailable",
-      "Calibration in Progress",
+      "無法使用 dragonpilot",
+      "正在校準相機中",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "doorOpenNoEntry",
-      "openpilot Unavailable",
-      "Door open",
+      "無法使用 dragonpilot",
+      "車門未關",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "seatbeltNotLatchedNoEntry",
-      "openpilot Unavailable",
-      "Seatbelt unlatched",
+      "無法使用 dragonpilot",
+      "安全帶未繫",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "espDisabledNoEntry",
-      "openpilot Unavailable",
-      "ESP Off",
+      "無法使用 dragonpilot",
+      "ESP 關閉",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "geofenceNoEntry",
-      "openpilot Unavailable",
-      "Not in Geofenced Area",
+      "無法使用 dragonpilot",
+      "不在地理圍欄區域之內",
      AlertStatus.normal, AlertSize.mid,
      Priority.MID, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "radarCanErrorNoEntry",
-      "openpilot Unavailable",
-      "Radar Error: Restart the Car",
+      "無法使用 dragonpilot",
+      "雷達訊號錯誤：請重新發動車子",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "radarFaultNoEntry",
-      "openpilot Unavailable",
-      "Radar Error: Restart the Car",
+      "無法使用 dragonpilot",
+      "雷達訊號錯誤：請重新發動車子",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "posenetInvalidNoEntry",
-      "openpilot Unavailable",
-      "Vision Model Output Uncertain",
+      "無法使用 dragonpilot",
+      "視覺模型輸出不明確",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "controlsFailedNoEntry",
-      "openpilot Unavailable",
-      "Controls Failed",
+      "無法使用 dragonpilot",
+      "控制發生錯誤",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "canErrorNoEntry",
-      "openpilot Unavailable",
-      "CAN Error: Check Connections",
+      "無法使用 dragonpilot",
+      "CAN 訊號錯誤：請檢查接線",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "steerUnavailableNoEntry",
-      "openpilot Unavailable",
-      "LKAS Fault: Restart the Car",
+      "無法使用 dragonpilot",
+      "LKAS 錯誤：請重新發動車子",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "brakeUnavailableNoEntry",
-      "openpilot Unavailable",
-      "Cruise Fault: Restart the Car",
+      "無法使用 dragonpilot",
+      "巡航系統錯誤：請重新發動車子",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "gasUnavailableNoEntry",
-      "openpilot Unavailable",
-      "Gas Error: Restart the Car",
+      "無法使用 dragonpilot",
+      "油門錯誤：請重新發動車子",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "reverseGearNoEntry",
-      "openpilot Unavailable",
-      "Reverse Gear",
+      "無法使用 dragonpilot",
+      "切換至倒車檔",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "cruiseDisabledNoEntry",
-      "openpilot Unavailable",
-      "Cruise is Off",
+      "無法使用 dragonpilot",
+      "巡航系統關閉",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "noTargetNoEntry",
-      "openpilot Unavailable",
-      "No Close Lead Car",
+      "無法使用 dragonpilot",
+      "沒有偵測到前車",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "plannerErrorNoEntry",
-      "openpilot Unavailable",
-      "Planner Solution Error",
+      "無法使用 dragonpilot",
+      "Planner Solution 錯誤",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "commIssueNoEntry",
-      "openpilot Unavailable",
-      "Communication Issue between Processes",
+      "無法使用 dragonpilot",
+      "行程出現通訊問題",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

  Alert(
      "radarCommIssueNoEntry",
-      "openpilot Unavailable",
-      "Radar Communication Issue",
+      "無法使用 dragonpilot",
+      "雷達通訊出現問題",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

  Alert(
      "internetConnectivityNeededNoEntry",
-      "openpilot Unavailable",
-      "Please Connect to Internet",
+      "無法使用 dragonpilot",
+      "請連接網路",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

  Alert(
      "lowMemoryNoEntry",
-      "openpilot Unavailable",
-      "Low Memory: Reboot Your EON",
+      "無法使用 dragonpilot",
+      "記憶體不足：請重啟您的 EON",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

  # permanent alerts
  Alert(
      "steerUnavailablePermanent",
-      "LKAS Fault: Restart the car to engage",
+      "LKAS 錯誤：請重新發動車子",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "brakeUnavailablePermanent",
-      "Cruise Fault: Restart the car to engage",
+      "巡航系統錯誤：請重新發動車子",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "lowSpeedLockoutPermanent",
-      "Cruise Fault: Restart the car to engage",
+      "巡航系統錯誤：請重新發動車子",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "calibrationIncompletePermanent",
-      "Calibration in Progress: ",
-      "Drive Above ",
+      "正在校準相機中：",
+      "車速請高於 ",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "invalidGiraffeToyotaPermanent",
-      "Unsupported Giraffe Configuration",
-      "Visit comma.ai/tg",
+      "未支援的 Giraffe 設置",
+      "請查閱 comma.ai/tg",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "internetConnectivityNeededPermanent",
-      "Please connect to Internet",
-      "An Update Check Is Required to Engage",
+      "請連接網路",
+      "需檢查更新後才能啟用",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "communityFeatureDisallowedPermanent",
-      "Community Feature Detected",
-      "Enable Community Features in Developer Settings",
+      "偵測到社群開發功能",
+      "請至開發人員設定裡啟用社群開發功能",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),  # LOW priority to overcome Cruise Error

  Alert(
      "sensorDataInvalidPermanent",
-      "No Data from EON Sensors",
-      "Reboot your EON",
+      "沒有收到任何來自 EON 傳感器的資料",
+      "請重啟您的 EON",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "soundsUnavailablePermanent",
-      "Speaker not found",
-      "Reboot your EON",
+      "找不到音效裝置",
+      "請重啟您的 EON",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "lowMemoryPermanent",
-      "RAM Critically Low",
-      "Reboot your EON",
+      "記憶體嚴重不足",
+      "請重啟您的 EON",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "carUnrecognizedPermanent",
-      "Dashcam Mode",
-      "Car Unrecognized",
+      "行車記錄模式",
+      "無法辨識您的車款",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "vehicleModelInvalid",
-      "Vehicle Parameter Identification Failed",
+      "車子參數識別失敗",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOWEST, VisualAlert.steerRequired, AudibleAlert.none, .0, .0, .1),
@@ -775,8 +777,54 @@ ALERTS = [
  # offroad alerts
  Alert(
      "ldwPermanent",
-      "TAKE CONTROL",
-      "Lane Departure Detected",
+      "接管控制",
+      "偵測到已偏離車道",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 2., 3.),
+  # dragonpilot
+  Alert(
+    "manualSteeringRequired",
+    "請接管方向盤：車道維持關閉",
+    "",
+    AlertStatus.normal, AlertSize.small,
+    Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),
+
+  Alert(
+    "manualSteeringRequiredBlinkersOn",
+    "請接管方向盤：方向燈開啟",
+    "",
+    AlertStatus.normal, AlertSize.small,
+    Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),
+  Alert(
+    "leadCarMoving",
+    "前車移動中，請開始加速",
+    "",
+    AlertStatus.userPrompt, AlertSize.small,
+    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),
+  Alert(
+    "leadCarDetected",
+    "偵測到前車，等待中",
+    "",
+    AlertStatus.normal, AlertSize.small,
+    Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),
+  Alert(
+    "preAutoLaneChangeLeft",
+    "將在三秒後自動切至左車道",
+    "請注意其它車輛",
+    AlertStatus.normal, AlertSize.mid,
+    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1, alert_rate=0.75),
+
+  Alert(
+    "preAutoLaneChangeRight",
+    "將在三秒後自動切至右車道",
+    "請注意其它車輛",
+    AlertStatus.normal, AlertSize.mid,
+    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1, alert_rate=0.75),
+
+  Alert(
+    "autoLaneChange",
+    "切換車道中",
+    "請注意其它車輛",
+    AlertStatus.normal, AlertSize.mid,
+    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),
 ]
@@ -1,31 +1,31 @@
 {
  "Offroad_ChargeDisabled": {
-    "text": "EON charging disabled after car being off for more than 30 hours. Turn ignition on to start charging again.",
+    "text": "因車輛已熄火超過 30 小時，系統將會停止為 EON 充電，再次發動車輛後 EON 會恢復充電",
    "severity": 0
  },
  "Offroad_TemperatureTooHigh": {
-    "text": "EON temperature too high. System won't start.",
+    "text": "EON 溫度過高，系統暫時無法啟用。",
    "severity": 1
  },
  "Offroad_ConnectivityNeededPrompt": {
-    "text": "Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in ",
+    "text": "目前 dragonpilot 無法啟用，請馬上連網檢查更新。",
    "severity": 0,
    "_comment": "Append the number of days at the end of the text"
  },
  "Offroad_ConnectivityNeeded": {
-    "text": "Connect to internet to check for updates. openpilot won't engage until it connects to internet to check for updates.",
+    "text": "請連網檢查更新。不然 dragonpilot 將無法啟用。",
    "severity": 1
  },
  "Offroad_PandaFirmwareMismatch": {
-    "text": "Unexpected panda firmware version. System won't start. Reboot your EON to reflash panda.",
+    "text": "Panda 的固件版本出現異常，系統無法啟用。請重啟您的 EON 刷新 Panda 固件。",
    "severity": 1
  },
  "Offroad_InvalidTime": {
-    "text": "Invalid date and time settings, system won't start. Connect to internet to set time.",
+    "text": "系統日期／時間設定錯誤，系統無法啟用。請連上網設定的時間。",
    "severity": 1
  },
  "Offroad_IsTakingSnapshot": {
-    "text": "Taking camera snapshots. System won't start until finished.",
+    "text": "相機拍攝中，完成前系統無法啟用。",
    "severity": 0
  }
 }
@@ -3,6 +3,8 @@ from common.realtime import DT_CTRL, DT_DMON
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from common.filter_simple import FirstOrderFilter
 from common.stat_live import RunningStatFilter
+from common.params import Params
+params = Params()

 _AWARENESS_TIME = 100.  # 1.6 minutes limit without user touching steering wheels make the car enter a terminal status
 _AWARENESS_PRE_TIME_TILL_TERMINAL = 25.  # a first alert is issued 25s before expiration
@@ -102,6 +104,12 @@ class DriverStatus():
    self.is_rhd_region = False
    self.is_rhd_region_checked = False

+    # dragonpilot
+    self.awareness_time = float(params.get("DragonSteeringMonitorTimer", encoding='utf8'))
+    self.awareness_time = 86400 if self.awareness_time <= 0. else self.awareness_time * 60.
+    self.dragon_enable_driver_safety_check = False if params.get("DragonEnableDriverSafetyCheck", encoding='utf8') == "0" else True
+    self.dragon_enable_driver_monitoring = False if params.get("DragonEnableDriverMonitoring", encoding='utf8') == "0" else True
+
    self._set_timers(active_monitoring=True)

  def _set_timers(self, active_monitoring):
@@ -129,9 +137,9 @@ class DriverStatus():
        self.awareness_active = self.awareness
        self.awareness = self.awareness_passive

-      self.threshold_pre = _AWARENESS_PRE_TIME_TILL_TERMINAL / _AWARENESS_TIME
-      self.threshold_prompt = _AWARENESS_PROMPT_TIME_TILL_TERMINAL / _AWARENESS_TIME
-      self.step_change = DT_CTRL / _AWARENESS_TIME
+      self.threshold_pre = _AWARENESS_PRE_TIME_TILL_TERMINAL / self.awareness_time
+      self.threshold_prompt = _AWARENESS_PROMPT_TIME_TILL_TERMINAL / self.awareness_time
+      self.step_change = DT_CTRL / self.awareness_time
      self.active_monitoring_mode = False

  def _is_driver_distracted(self, pose, blink):
@@ -165,6 +173,9 @@ class DriverStatus():
    if len(driver_monitoring.faceOrientation) == 0 or len(driver_monitoring.facePosition) == 0:
      return

+    if not self.dragon_enable_driver_monitoring:
+      self.is_rhd_region = True
+
    self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_monitoring.faceOrientation, driver_monitoring.facePosition, cal_rpy)
    self.blink.left_blink = driver_monitoring.leftBlinkProb * (driver_monitoring.leftEyeProb>_EYE_THRESHOLD)
    self.blink.right_blink = driver_monitoring.rightBlinkProb * (driver_monitoring.rightEyeProb>_EYE_THRESHOLD)
@@ -188,7 +199,7 @@ class DriverStatus():
    self._set_timers(self.face_detected)

  def update(self, events, driver_engaged, ctrl_active, standstill):
-    if (driver_engaged and self.awareness > 0) or not ctrl_active:
+    if (driver_engaged and self.awareness > 0) or not ctrl_active or not self.dragon_enable_driver_safety_check:
      # reset only when on disengagement if red reached
      self.awareness = 1.
      self.awareness_active = 1.
@@ -1,6 +1,9 @@
 from common.numpy_fast import interp
 import numpy as np
 from cereal import log
+from common.realtime import sec_since_boot
+from common.params import Params
+params = Params()

 CAMERA_OFFSET = 0.06  # m from center car to camera

@@ -53,6 +56,9 @@ class LanePlanner():
    self._path_pinv = compute_path_pinv()
    self.x_points = np.arange(50)

+    self.ts_last_check = 0.
+    self.camera_offset = 0.06
+
  def parse_model(self, md):
    if len(md.leftLane.poly):
      self.l_poly = np.array(md.leftLane.poly)
@@ -70,9 +76,13 @@ class LanePlanner():
      self.r_lane_change_prob = md.meta.desirePrediction[log.PathPlan.Desire.laneChangeRight - 1]

  def update_d_poly(self, v_ego):
+    ts = sec_since_boot()
+    if ts - self.ts_last_check > 5.:
+      self.camera_offset = int(params.get("DragonCameraOffset", encoding='utf8')) * 0.01
+      self.ts_last_check = ts
    # only offset left and right lane lines; offsetting p_poly does not make sense
-    self.l_poly[3] += CAMERA_OFFSET
-    self.r_poly[3] += CAMERA_OFFSET
+    self.l_poly[3] += self.camera_offset
+    self.r_poly[3] += self.camera_offset

    # Find current lanewidth
    self.lane_width_certainty += 0.05 * (self.l_prob * self.r_prob - self.lane_width_certainty)
@@ -8,6 +8,8 @@ from selfdrive.controls.lib.lane_planner import LanePlanner
 from selfdrive.config import Conversions as CV
 import cereal.messaging as messaging
 from cereal import log
+# dragonpilot
+from common.params import Params

 LaneChangeState = log.PathPlan.LaneChangeState
 LaneChangeDirection = log.PathPlan.LaneChangeDirection
@@ -58,6 +60,17 @@ class PathPlanner():
    self.lane_change_timer = 0.0
    self.prev_one_blinker = False

+    # dragonpilot
+    self.params = Params()
+    self.dragon_assisted_lc_enabled = False
+    self.dragon_auto_lc_enabled = False
+    self.dragon_auto_lc_allowed = False
+    self.dragon_auto_lc_timer = None
+    self.dragon_assisted_lc_min_mph = 37
+    self.dragon_auto_lc_min_mph = 60
+    self.dragon_auto_lc_delay = 2.
+    self.last_ts = 0.
+
  def setup_mpc(self):
    self.libmpc = libmpc_py.libmpc
    self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, self.steer_rate_cost)
@@ -75,6 +88,30 @@ class PathPlanner():
    self.angle_steers_des_time = 0.0

  def update(self, sm, pm, CP, VM):
+    # dragonpilot
+    cur_time = sec_since_boot()
+    if cur_time - self.last_ts > 5.:
+      self.dragon_assisted_lc_enabled = True if self.params.get("DragonEnableAssistedLC", encoding='utf8') == "1" else False
+      if self.dragon_assisted_lc_enabled:
+        self.dragon_auto_lc_enabled = True if self.params.get("DragonEnableAutoLC", encoding='utf8') == "1" else False
+        # adjustable assisted lc min speed
+        self.dragon_assisted_lc_min_mph = int(self.params.get("DragonAssistedLCMinMPH", encoding='utf8'))
+        if self.dragon_assisted_lc_min_mph < 0:
+          self.dragon_assisted_lc_min_mph = 0
+        if self.dragon_auto_lc_enabled:
+          # adjustable auto lc min speed
+          self.dragon_auto_lc_min_mph = int(self.params.get("DragonAutoLCMinMPH", encoding='utf8'))
+          if self.dragon_auto_lc_min_mph < 0:
+            self.dragon_auto_lc_min_mph = 0
+          # when auto lc is smaller than assisted lc, we set assisted lc to the same speed as auto lc
+          if self.dragon_auto_lc_min_mph < self.dragon_assisted_lc_min_mph:
+            self.dragon_assisted_lc_min_mph = self.dragon_auto_lc_min_mph
+          # adjustable auto lc delay
+          self.dragon_auto_lc_delay = int(self.params.get("DragonAutoLCDelay", encoding='utf8'))
+          if self.dragon_auto_lc_delay < 0:
+            self.dragon_auto_lc_delay = 0
+      self.last_ts = cur_time
+
    v_ego = sm['carState'].vEgo
    angle_steers = sm['carState'].steeringAngle
    active = sm['controlsState'].active
@@ -91,7 +128,7 @@ class PathPlanner():
    # Lane change logic
    lane_change_direction = LaneChangeDirection.none
    one_blinker = sm['carState'].leftBlinker != sm['carState'].rightBlinker
-    below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
+    below_lane_change_speed = not self.dragon_assisted_lc_enabled or v_ego < self.dragon_assisted_lc_min_mph * CV.MPH_TO_MS

    if not active or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
      self.lane_change_state = LaneChangeState.off
@@ -107,9 +144,30 @@ class PathPlanner():

      lane_change_prob = self.LP.l_lane_change_prob + self.LP.r_lane_change_prob

+      # dragonpilot auto lc
+      if not below_lane_change_speed and self.dragon_auto_lc_enabled and v_ego >= self.dragon_auto_lc_min_mph * CV.MPH_TO_MS:
+        # we allow auto lc when speed reached dragon_auto_lc_min_mph
+        self.dragon_auto_lc_allowed = True
+
+        if self.dragon_auto_lc_timer is None:
+          # we only set timer when in preLaneChange state, dragon_auto_lc_delay delay
+          if self.lane_change_state == LaneChangeState.preLaneChange:
+            self.dragon_auto_lc_timer = cur_time + self.dragon_auto_lc_delay
+        elif cur_time > self.dragon_auto_lc_timer:
+          # if timer is up, we set torque_applied to True to fake user input
+          torque_applied = True
+      else:
+        # if too slow, we reset all the variables
+        self.dragon_auto_lc_allowed = False
+        self.dragon_auto_lc_timer = None
+
+      # we reset the timers when torque is applied regardless
+      if torque_applied:
+        self.dragon_auto_lc_timer = None
+
      # State transitions
      # off
-      if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
+      if self.dragon_assisted_lc_enabled and self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
        self.lane_change_state = LaneChangeState.preLaneChange

      # pre
@@ -130,6 +188,9 @@ class PathPlanner():
        else:
          self.lane_change_state = LaneChangeState.off

+        # when finishing, we reset timer to none.
+        self.dragon_auto_lc_timer = None
+
    if self.lane_change_state in [LaneChangeState.off, LaneChangeState.preLaneChange]:
      self.lane_change_timer = 0.0
    else:
@@ -216,6 +277,7 @@ class PathPlanner():
    plan_send.pathPlan.desire = desire
    plan_send.pathPlan.laneChangeState = self.lane_change_state
    plan_send.pathPlan.laneChangeDirection = lane_change_direction
+    plan_send.pathPlan.autoLCAllowed = self.dragon_auto_lc_allowed

    pm.send('pathPlan', plan_send)

@@ -87,6 +87,10 @@ class Planner():
    self.params = Params()
    self.first_loop = True

+    # dragonpilot
+    self.dragon_slow_on_curve = True
+    self.last_ts = 0.
+
  def choose_solution(self, v_cruise_setpoint, enabled):
    if enabled:
      solutions = {'model': self.v_model, 'cruise': self.v_cruise}
@@ -119,6 +123,12 @@ class Planner():
    cur_time = sec_since_boot()
    v_ego = sm['carState'].vEgo

+    # dragonpilot
+    # update variable status every 5 secs
+    if cur_time - self.last_ts > 5.:
+      self.dragon_slow_on_curve = False if self.params.get("DragonEnableSlowOnCurve", encoding='utf8') == "0" else True
+      self.last_ts = cur_time
+
    long_control_state = sm['controlsState'].longControlState
    v_cruise_kph = sm['controlsState'].vCruise
    force_slow_decel = sm['controlsState'].forceDecel
@@ -130,7 +140,7 @@ class Planner():
    enabled = (long_control_state == LongCtrlState.pid) or (long_control_state == LongCtrlState.stopping)
    following = lead_1.status and lead_1.dRel < 45.0 and lead_1.vLeadK > v_ego and lead_1.aLeadK > 0.0

-    if len(sm['model'].path.poly):
+    if self.dragon_slow_on_curve and len(sm['model'].path.poly):
      path = list(sm['model'].path.poly)

      # Curvature of polynomial https://en.wikipedia.org/wiki/Curvature#Curvature_of_the_graph_of_a_function
@@ -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):
@@ -0,0 +1,21 @@
+The MIT License
+
+Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
@@ -0,0 +1,397 @@
+#!/usr/bin/env python3
+import time
+import subprocess
+import cereal
+import cereal.messaging as messaging
+ThermalStatus = cereal.log.ThermalData.ThermalStatus
+from selfdrive.swaglog import cloudlog
+from common.realtime import sec_since_boot
+from common.params import Params, put_nonblocking
+params = Params()
+
+class App():
+
+  # app type
+  TYPE_GPS = 0
+  TYPE_SERVICE = 1
+  TYPE_GPS_SERVICE = 2
+  TYPE_FULLSCREEN = 3
+  TYPE_UTIL = 4
+
+  # frame app
+  FRAME = "ai.comma.plus.frame"
+  FRAME_MAIN = ".MainActivity"
+
+  # offroad app
+  OFFROAD = "ai.comma.plus.offroad"
+  OFFROAD_MAIN = ".MainActivity"
+
+  # manual switch stats
+  MANUAL_OFF = "-1"
+  MANUAL_IDLE = "0"
+  MANUAL_ON = "1"
+
+  def appops_set(self, package, op, mode):
+    self.system(f"LD_LIBRARY_PATH= appops set {package} {op} {mode}")
+
+  def pm_grant(self, package, permission):
+    self.system(f"pm grant {package} {permission}")
+
+  def set_package_permissions(self):
+    if self.permissions is not None:
+      for permission in self.permissions:
+        self.pm_grant(self.app, permission)
+    if self.opts is not None:
+      for opt in self.opts:
+        self.appops_set(self.app, opt, "allow")
+
+  def __init__(self, app, activity, enable_param, auto_run_param, manual_ctrl_param, app_type, permissions, opts):
+    self.app = app
+    # main activity
+    self.activity = activity
+    # read enable param
+    self.enable_param = enable_param
+    # read auto run param
+    self.auto_run_param = auto_run_param
+    # read manual run param
+    self.manual_ctrl_param = manual_ctrl_param
+    # if it's a service app, we do not kill if device is too hot
+    # if it's a full screen app, we need to do extra process on frame/offroad
+    self.app_type = app_type
+    # app permissions
+    self.permissions = permissions
+    # app options
+    self.opts = opts
+
+    self.is_enabled = False
+    self.last_is_enabled = False
+    self.is_auto_runnable = False
+    self.is_running = False
+    self.manual_ctrl_status = self.MANUAL_IDLE
+    self.manually_ctrled = False
+
+    self.set_package_permissions()
+    self.system("pm disable %s" % self.app)
+    self.last_ts = sec_since_boot()
+
+  def read_params(self):
+    cur_time = sec_since_boot()
+    if cur_time - self.last_ts > 5:
+      self.last_is_enabled = self.is_enabled
+      if self.enable_param is None:
+        self.is_enabled = False
+      else:
+        self.is_enabled = True if params.get(self.enable_param, encoding='utf8') == "1" else False
+
+      if self.is_enabled:
+        # a service app should run automatically and not manual controllable.
+        if self.app_type in [App.TYPE_SERVICE, App.TYPE_GPS_SERVICE]:
+          self.is_auto_runnable = True
+          self.manual_ctrl_status = self.MANUAL_IDLE
+        else:
+          if self.manual_ctrl_param is None:
+            self.manual_ctrl_status = self.MANUAL_IDLE
+          else:
+            self.manual_ctrl_status = params.get(self.manual_ctrl_param, encoding='utf8')
+
+          if self.auto_run_param is None:
+            self.is_auto_runnable = False
+          else:
+            self.is_auto_runnable = True if params.get(self.auto_run_param, encoding='utf8') == "1" else False
+      else:
+        self.is_auto_runnable = False
+        self.manual_ctrl_status = self.MANUAL_IDLE
+        self.manually_ctrled = False
+
+      self.last_ts = cur_time
+
+  def run(self, force = False):
+    if force or self.is_enabled:
+      # app is manually ctrl, we record that
+      if self.manual_ctrl_param is not None and self.manual_ctrl_status == self.MANUAL_ON:
+        put_nonblocking(self.manual_ctrl_param, '0')
+        self.manually_ctrled = True
+        self.is_running = False
+
+      # only run app if it's not running
+      if force or not self.is_running:
+        # if it's a full screen app, we need to stop frame and offroad to get keyboard access
+        if self.app_type == self.TYPE_FULLSCREEN:
+          self.system("pm disable %s" % self.FRAME)
+          self.system("am start -n %s/%s" % (self.OFFROAD, self.OFFROAD_MAIN))
+
+        self.system("pm enable %s" % self.app)
+
+        if self.app_type == self.TYPE_GPS_SERVICE:
+          self.appops_set(self.app, "android:mock_location", "allow")
+
+        if self.app_type in [self.TYPE_SERVICE, self.TYPE_GPS_SERVICE]:
+          self.system("am startservice %s/%s" % (self.app, self.activity))
+        else:
+          self.system("am start -n %s/%s" % (self.app, self.activity))
+    self.is_running = True
+
+  def kill(self, force = False):
+    if force or self.is_enabled:
+      # app is manually ctrl, we record that
+      if self.manual_ctrl_param is not None and self.manual_ctrl_status == self.MANUAL_OFF:
+        put_nonblocking(self.manual_ctrl_param, '0')
+        self.manually_ctrled = True
+        self.is_running = True
+
+      # only kill app if it's running
+      if force or self.is_running:
+        # if it's a full screen app, we need to restart offroad and frame
+        if self.app_type == self.TYPE_FULLSCREEN:
+          self.system("pm disable %s" % self.OFFROAD)
+          self.system("pm enable %s" % self.OFFROAD)
+          self.system("pm enable %s" % self.FRAME)
+          self.system("am start -n %s/%s" % (self.FRAME, self.FRAME_MAIN))
+
+        if self.app_type == self.TYPE_GPS_SERVICE:
+          self.appops_set(self.app, "android:mock_location", "deny")
+
+        self.system("pkill %s" % self.app)
+        self.is_running = False
+
+  def system(self, cmd):
+    try:
+      subprocess.check_output(cmd, stderr=subprocess.STDOUT, shell=True)
+    except subprocess.CalledProcessError as e:
+      cloudlog.event("running failed",
+                     cmd=e.cmd,
+                     output=e.output[-1024:],
+                     returncode=e.returncode)
+
+def init_apps(apps):
+  apps.append(App(
+    # v1.16.2
+    "com.tomtom.speedcams.android.map",
+    "com.tomtom.speedcams.android.activities.SpeedCamActivity",
+    "DragonEnableTomTom",
+    "DragonBootTomTom",
+    "DragonRunTomTom",
+    App.TYPE_GPS,
+    [
+      "android.permission.ACCESS_FINE_LOCATION",
+      "android.permission.ACCESS_COARSE_LOCATION",
+      "android.permission.READ_EXTERNAL_STORAGE",
+      "android.permission.WRITE_EXTERNAL_STORAGE",
+    ],
+    [
+      "SYSTEM_ALERT_WINDOW",
+    ]
+  ))
+  apps.append(App(
+    # v4.3.0.600310 R2098NSLAE
+    "com.autonavi.amapauto",
+    "com.autonavi.amapauto.MainMapActivity",
+    "DragonEnableAutonavi",
+    "DragonBootAutonavi",
+    "DragonRunAutonavi",
+    App.TYPE_GPS,
+    [
+      "android.permission.ACCESS_FINE_LOCATION",
+      "android.permission.ACCESS_COARSE_LOCATION",
+      "android.permission.READ_EXTERNAL_STORAGE",
+      "android.permission.WRITE_EXTERNAL_STORAGE",
+    ],
+    [
+      "SYSTEM_ALERT_WINDOW",
+    ]
+  ))
+  apps.append(App(
+    # v6.40.3
+    "com.mixplorer",
+    "com.mixplorer.activities.BrowseActivity",
+    "DragonEnableMixplorer",
+    None,
+    "DragonRunMixplorer",
+    App.TYPE_UTIL,
+    [
+      "android.permission.READ_EXTERNAL_STORAGE",
+      "android.permission.WRITE_EXTERNAL_STORAGE",
+    ],
+    [],
+  ))
+  apps.append(App(
+    # v2.9.5 build 74
+    "tw.com.ainvest.outpack",
+    "tw.com.ainvest.outpack.ui.MainActivity",
+    "DragonEnableAegis",
+    "DragonBootAegis",
+    "DragonRunAegis",
+    App.TYPE_GPS,
+    [
+      "android.permission.ACCESS_FINE_LOCATION",
+      "android.permission.READ_EXTERNAL_STORAGE",
+      "android.permission.WRITE_EXTERNAL_STORAGE",
+    ],
+    [
+      "SYSTEM_ALERT_WINDOW",
+    ]
+  ))
+  apps.append(App(
+    "cn.dragonpilot.gpsservice",
+    "cn.dragonpilot.gpsservice.MainService",
+    "DragonGreyPandaMode",
+    None,
+    None,
+    App.TYPE_GPS_SERVICE,
+    [],
+    [],
+  ))
+  apps.append(App(
+    # v4.57.2.0
+    "com.waze",
+    "com.waze.MainActivity",
+    "DragonWazeMode",
+    None,
+    "DragonRunWaze",
+    App.TYPE_FULLSCREEN,
+    [
+      "android.permission.ACCESS_FINE_LOCATION",
+      "android.permission.ACCESS_COARSE_LOCATION",
+      "android.permission.READ_EXTERNAL_STORAGE",
+      "android.permission.WRITE_EXTERNAL_STORAGE",
+      "android.permission.RECORD_AUDIO",
+    ],
+    [],
+  ))
+
+def main():
+  apps = []
+
+  # enable hotspot on boot
+  if params.get("DragonBootHotspot", encoding='utf8') == "1":
+    system(f"settings put system accelerometer_rotation 0")
+    system(f"settings put system user_rotation 1")
+    system(f"pm enable com.android.settings")
+    system(f"am start -n com.android.settings/.TetherSettings")
+    time.sleep(1)
+    system(f"LD_LIBRARY_PATH= input tap 995 160")
+    system(f"pkill com.android.settings")
+
+  init_apps(apps)
+
+  last_started = False
+  thermal_sock = messaging.sub_sock('thermal')
+
+  frame = 0
+  start_delay = None
+  stop_delay = None
+  allow_auto_run = True
+  last_thermal_status = None
+  thermal_status = None
+
+  set_location_provider_allowed = False
+
+  while 1: #has_enabled_apps:
+    has_fullscreen_apps = False
+    has_gps_apps = False
+    has_gps_service_apps = False
+
+    for app in apps:
+      # read params loop
+      app.read_params()
+      if app.last_is_enabled and not app.is_enabled and app.is_running:
+        app.kill(True)
+
+      if app.is_enabled:
+        if not has_fullscreen_apps and app.app_type == App.TYPE_FULLSCREEN:
+          has_fullscreen_apps = True
+        elif not has_gps_apps and app.app_type == App.TYPE_GPS:
+          has_gps_apps = True
+        elif not has_gps_service_apps and app.app_type == App.TYPE_GPS_SERVICE:
+          has_gps_service_apps = True
+
+        # process manual ctrl apps
+        if app.manual_ctrl_status != App.MANUAL_IDLE:
+          if app.manual_ctrl_status == App.MANUAL_ON:
+            app.run(True)
+          else:
+            app.kill(True)
+
+    # set location provider accuracy
+    if not set_location_provider_allowed and (has_gps_apps or has_gps_service_apps):
+      system(f"settings put secure location_providers_allowed -gps")
+      system(f"settings put secure location_providers_allowed -network")
+      system(f"settings put secure location_providers_allowed +gps,network")
+      set_location_provider_allowed = True
+
+    msg = messaging.recv_sock(thermal_sock, wait=True)
+    started = msg.thermal.started
+    # when car is running
+    if started:
+      stop_delay = None
+      # apps start 5 secs later
+      if start_delay is None:
+        start_delay = frame + 5
+
+      thermal_status = msg.thermal.thermalStatus
+      if thermal_status <= ThermalStatus.yellow:
+        allow_auto_run = True
+        # when temp reduce from red to yellow, we add start up delay as well
+        # so apps will not start up immediately
+        if last_thermal_status == ThermalStatus.red:
+          start_delay = frame + 60
+      elif thermal_status >= ThermalStatus.red:
+        allow_auto_run = False
+
+      last_thermal_status = thermal_status
+
+      # we run service apps and kill all util apps
+      # only run once
+      if last_started != started:
+        for app in apps:
+          if app.app_type in [App.TYPE_SERVICE, App.TYPE_GPS_SERVICE]:
+            app.run()
+          elif app.app_type == App.TYPE_UTIL:
+            app.kill()
+
+      # only run apps that's not manually ctrled
+      for app in apps:
+        if not app.manually_ctrled:
+          if has_fullscreen_apps:
+            if app.app_type == App.TYPE_FULLSCREEN:
+              app.run()
+            elif app.app_type in [App.TYPE_GPS, App.TYPE_UTIL]:
+              app.kill()
+          else:
+            if not allow_auto_run:
+              app.kill()
+            else:
+              if frame > start_delay and app.is_auto_runnable and app.app_type == App.TYPE_GPS:
+                app.run()
+    # when car is stopped
+    else:
+      start_delay = None
+      # set delay to 30 seconds
+      if stop_delay is None:
+        stop_delay = frame + 30
+
+      for app in apps:
+        if app.is_running and not app.manually_ctrled:
+          if has_fullscreen_apps or frame > stop_delay:
+            app.kill()
+
+    if last_started != started:
+      for app in apps:
+        app.manually_ctrled = False
+
+    last_started = started
+    frame += 3
+    time.sleep(3)
+
+def system(cmd):
+  try:
+    cloudlog.info("running %s" % cmd)
+    subprocess.check_output(cmd, stderr=subprocess.STDOUT, shell=True)
+  except subprocess.CalledProcessError as e:
+    cloudlog.event("running failed",
+                   cmd=e.cmd,
+                   output=e.output[-1024:],
+                   returncode=e.returncode)
+
+if __name__ == "__main__":
+  main()
@@ -0,0 +1,79 @@
+#!/usr/bin/env python3
+#
+# 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 cereal.messaging as messaging
+import subprocess
+from selfdrive.swaglog import cloudlog
+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)
+
+  thermal_sock = messaging.sub_sock('thermal')
+  while 1:
+    if params.get("DragonWazeMode", encoding='utf8') == "0" and params.get("DragonEnableDashcam", encoding='utf8') == "1":
+      now = datetime.datetime.now()
+      file_name = now.strftime("%Y-%m-%d_%H-%M-%S")
+      os.system("screenrecord --bit-rate %s --time-limit %s %s%s.mp4 &" % (bit_rates, duration, dashcam_videos, file_name))
+
+      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"
+      start_time = time.time()
+      msg = messaging.recv_sock(thermal_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(thermal_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:
+            system("rm -fr %s" % (dashcam_videos + file))
+            last_used_spaces = get_used_spaces()
+          else:
+            break
+      time_diff = int(time.time()-start_time)
+      # we start the process 1 second before screenrecord ended
+      # to make sure there are no missing footage
+      time.sleep(duration-1-time_diff)
+    else:
+      time.sleep(5)
+
+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))
+
+def system(cmd):
+  try:
+    # cloudlog.info("running %s" % cmd)
+    subprocess.check_output(cmd, stderr=subprocess.STDOUT, shell=True)
+  except subprocess.CalledProcessError as e:
+    cloudlog.event("running failed",
+                   cmd=e.cmd,
+                   output=e.output[-1024:],
+                   returncode=e.returncode)
+
+if __name__ == "__main__":
+  main()
@@ -0,0 +1,104 @@
+#!/usr/bin/env python2.7
+from common.params import Params, put_nonblocking
+
+default_conf = {
+  'DragonEnableDashcam': '1',
+  'DragonEnableDriverSafetyCheck': '1',
+  'DragonAutoShutdownAt': '30', # in minute
+  'DragonEnableSteeringOnSignal': '0',
+  'DragonEnableLogger': '1',
+  'DragonEnableUploader': '1',
+  'DragonNoctuaMode': '0',
+  'DragonCacheCar': '0',
+  'DragonCachedModel': '', # for cache car
+  'DragonCachedFP': '', # for cache car
+  'DragonCachedVIN': '', # for cache car
+  'DragonAllowGas': '0',
+  'DragonToyotaStockDSU': '0',
+  'DragonLatCtrl': '1',
+  'DragonUISpeed': '1',
+  'DragonUIEvent': '0',
+  'DragonUIMaxSpeed': '0',
+  'DragonUIFace': '0',
+  'DragonUIDev': '0',
+  'DragonUIDevMini': '1',
+  # 3rd party app
+  'DragonEnableTomTom': '0',
+  'DragonBootTomTom': '0',
+  'DragonRunTomTom': '0',
+  'DragonEnableAutonavi': '0',
+  'DragonBootAutonavi': '0',
+  'DragonRunAutonavi': '0',
+  'DragonEnableAegis': '0',
+  'DragonBootAegis': '0',
+  'DragonRunAegis': '0',
+  'DragonEnableMixplorer': '0',
+  'DragonRunMixplorer': '0',
+  'DragonSteeringMonitorTimer': '3',
+  'DragonCameraOffset': '6',
+  'DragonUIVolumeBoost': '0',
+  'DragonGreyPandaMode': '0',
+  'DragonDrivingUI': '1',
+  'DragonDisplaySteeringLimitAlert': '1',
+  'DragonChargingCtrl': '0',
+  'DragonCharging': 70,
+  'DragonDisCharging': 60,
+  'DragonToyotaLaneDepartureWarning': '1',
+  'DragonUILane': '1',
+  'DragonUILead': '1',
+  'DragonUIPath': '1',
+  'DragonUIBlinker': '0',
+  'DragonEnableDriverMonitoring': '1',
+  'DragonCarModel': '',
+  'DragonCarVIN': '',
+  'DragonEnableSlowOnCurve': '1',
+  'DragonEnableLeadCarMovingAlert': '0',
+  'DragonToyotaSnGMod': '0',
+  'DragonEnableSRLearner': '1',
+  'DragonWazeMode': '0',
+  'DragonRunWaze': '0',
+  'DragonEnableAssistedLC': '0',
+  'DragonEnableAutoLC': '0',
+  'DragonAssistedLCMinMPH': 37,
+  'DragonAutoLCMinMPH': 60,
+  'DragonAutoLCDelay': 2,
+  'DragonBTG': 0,
+  'DragonBootHotspot': 0,
+}
+
+deprecated_conf = {
+  'DragonIsEON': '',
+  'DragonHWChecked': '',
+}
+
+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"
+        put_nonblocking(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:
+      put_nonblocking(key, str(val))
+
+if __name__ == "__main__":
+  params = Params()
+  params.manager_start()
+
+  dragonpilot_set_params(params)
@@ -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()
@@ -0,0 +1,48 @@
+#!/usr/bin/env python3
+
+import os
+import time
+from common.params import Params
+params = Params()
+
+def main(gctx=None):
+
+  shutdown_count = 0
+  auto_shutdown_at = get_shutdown_val()
+  frame = 0
+  last_shutdown_val = 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:
+      # we update the value every 5 seconds in case of user updates it
+      if frame % 5 == 0:
+        auto_shutdown_at = get_shutdown_val()
+      shutdown_count += 1
+    else:
+      shutdown_count = 0
+
+    if not last_shutdown_val == auto_shutdown_at:
+      shutdown_count = 0
+      last_shutdown_val = auto_shutdown_at
+
+    if auto_shutdown_at is None:
+      auto_shutdown_at = get_shutdown_val()
+    else:
+      if shutdown_count >= auto_shutdown_at > 0:
+        os.system('LD_LIBRARY_PATH="" svc power shutdown')
+
+    time.sleep(1)
+
+def get_shutdown_val():
+  val = params.get("DragonAutoShutdownAt", encoding='utf8')
+  if val is None:
+    return None
+  else:
+    return int(val)*60 # convert to seconds
+
+
+if __name__ == "__main__":
+  main()
@@ -44,7 +44,7 @@ ParamsLearner::ParamsLearner(cereal::CarParams::Reader car_params,
  alpha4 = 1.0 * learning_rate;
 }

-bool ParamsLearner::update(double psi, double u, double sa) {
+bool ParamsLearner::update(double psi, double u, double sa, bool enable_sr_learner) {
  if (u > 10.0 && fabs(sa) < (DEGREES_TO_RADIANS * 90.)) {
    double ao_diff = 2.0*cF0*cR0*l*u*x*(1.0*cF0*cR0*l*u*x*(ao - sa) + psi*sR*(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0)))/(pow(sR, 2)*pow(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0), 2));
    double new_ao = ao - alpha1 * ao_diff;
@@ -54,6 +54,9 @@ bool ParamsLearner::update(double psi, double u, double sa) {

    double new_x = x - alpha3 * (-2.0*cF0*cR0*l*m*pow(u, 3)*(slow_ao - sa)*(aF*cF0 - aR*cR0)*(1.0*cF0*cR0*l*u*x*(slow_ao - sa) + psi*sR*(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0)))/(pow(sR, 2)*pow(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0), 3)));
    double new_sR = sR - alpha4 * (-2.0*cF0*cR0*l*u*x*(slow_ao - sa)*(1.0*cF0*cR0*l*u*x*(slow_ao - sa) + psi*sR*(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0)))/(pow(sR, 3)*pow(cF0*cR0*pow(l, 2)*x - m*pow(u, 2)*(aF*cF0 - aR*cR0), 2)));
+    if (!enable_sr_learner) {
+      new_sR = sR;
+    }

    ao = new_ao;
    slow_ao = new_slow_ao;
@@ -69,12 +72,16 @@ bool ParamsLearner::update(double psi, double u, double sa) {
  ao = clip(ao, -MAX_ANGLE_OFFSET, MAX_ANGLE_OFFSET);
  slow_ao = clip(slow_ao, -MAX_ANGLE_OFFSET, MAX_ANGLE_OFFSET);
  x = clip(x, MIN_STIFFNESS, MAX_STIFFNESS);
-  sR = clip(sR, min_sr, max_sr);
+  if (enable_sr_learner) {
+    sR = clip(sR, min_sr, max_sr);

-  bool valid = fabs(slow_ao) < MAX_ANGLE_OFFSET_TH;
-  valid = valid && sR > min_sr_th;
-  valid = valid && sR < max_sr_th;
-  return valid;
+    bool valid = fabs(slow_ao) < MAX_ANGLE_OFFSET_TH;
+    valid = valid && sR > min_sr_th;
+    valid = valid && sR < max_sr_th;
+    return valid;
+  } else {
+    return true;
+  }
 }


@@ -93,7 +100,7 @@ extern "C" {

  bool params_learner_update(void * params_learner, double psi, double u, double sa) {
    ParamsLearner * p = (ParamsLearner*) params_learner;
-    return p->update(psi, u, sa);
+    return p->update(psi, u, sa, true);
  }

  double params_learner_get_ao(void * params_learner){
@@ -31,5 +31,5 @@ public:
                double steer_ratio,
                double learning_rate);

-  bool update(double psi, double u, double sa);
+  bool update(double psi, double u, double sa, bool enable_sr_learner);
 };
@@ -102,6 +102,18 @@ int main(int argc, char *argv[]) {

  // Main loop
  int save_counter = 0;
+
+  // dragonpilot
+  // Steer Ratio Learner
+  char* enable_sr_learner_val = NULL;
+  read_db_value(NULL, "DragonEnableSRLearner", &enable_sr_learner_val, NULL);
+  bool enable_sr_learner = true;
+  if (enable_sr_learner_val && strlen(enable_sr_learner_val) && enable_sr_learner_val[0] == '1') {
+    enable_sr_learner = true;
+  } else {
+    enable_sr_learner = false;
+  }
+
  while (true){
    for (auto s : poller->poll(100)){
      Message * msg = s->receive();
@@ -126,7 +138,7 @@ int main(int argc, char *argv[]) {
        save_counter++;

        double yaw_rate = -localizer.x[0];
-        bool valid = learner.update(yaw_rate, localizer.car_speed, localizer.steering_angle);
+        bool valid = learner.update(yaw_rate, localizer.car_speed, localizer.steering_angle, enable_sr_learner);

        // TODO: Fix in replay
        double sensor_data_age = localizer.controls_state_time - localizer.sensor_data_time;
@@ -8,6 +8,7 @@ import signal
 import shutil
 import subprocess
 import datetime
+from selfdrive.dragonpilot.dragonconf import dragonpilot_set_params

 from common.basedir import BASEDIR
 from common.android import ANDROID
@@ -154,6 +155,9 @@ managed_processes = {
  "updated": "selfdrive.updated",
  "monitoringd": ("selfdrive/modeld", ["./monitoringd"]),
  "modeld": ("selfdrive/modeld", ["./modeld"]),
+  "dashcamd": "selfdrive.dragonpilot.dashcamd.dashcamd",
+  "shutdownd": "selfdrive.dragonpilot.shutdownd.shutdownd",
+  "appd": "selfdrive.dragonpilot.appd.appd",
 }

 daemon_processes = {
@@ -187,6 +191,8 @@ if ANDROID:
    'logcatd',
    'tombstoned',
    'updated',
+    'shutdownd',
+    'appd',
  ]

 car_started_processes = [
@@ -208,6 +214,7 @@ if ANDROID:
    'gpsd',
    'monitoringd',
    'deleter',
+    'dashcamd',
  ]

 def register_managed_process(name, desc, car_started=False):
@@ -494,6 +501,8 @@ def main():
  if params.get("OpenpilotEnabledToggle") is None:
    params.put("OpenpilotEnabledToggle", "1")

+  dragonpilot_set_params(params)
+
  # is this chffrplus?
  if os.getenv("PASSIVE") is not None:
    params.put("Passive", str(int(os.getenv("PASSIVE"))))
@@ -510,6 +519,13 @@ def main():
  if os.getenv("PREPAREONLY") is not None:
    return

+  if params.get("DragonEnableLogger", encoding='utf8') == "0":
+    del managed_processes['loggerd']
+    del managed_processes['tombstoned']
+
+  if params.get("DragonEnableUploader", encoding='utf8') == "0":
+    del managed_processes['uploader']
+
  # SystemExit on sigterm
  signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))

@@ -9,7 +9,7 @@ from panda import Panda, PandaDFU, BASEDIR, build_st

 def get_firmware_fn():
  signed_fn = os.path.join(BASEDIR, "board", "obj", "panda.bin.signed")
-  if os.path.exists(signed_fn):
+  if False: #os.path.exists(signed_fn):
    cloudlog.info("Using prebuilt signed firmware")
    return signed_fn
  else:
@@ -8,7 +8,7 @@ from smbus2 import SMBus
 from cereal import log
 from common.android import ANDROID
 from common.basedir import BASEDIR
-from common.params import Params
+from common.params import Params, put_nonblocking
 from common.realtime import sec_since_boot, DT_TRML
 from common.numpy_fast import clip, interp
 from common.filter_simple import FirstOrderFilter
@@ -20,6 +20,10 @@ from selfdrive.pandad import get_expected_signature

 FW_SIGNATURE = get_expected_signature()

+params = Params()
+import subprocess
+import re
+
 ThermalStatus = log.ThermalData.ThermalStatus
 CURRENT_TAU = 15.   # 15s time constant
 DAYS_NO_CONNECTIVITY_MAX = 7  # do not allow to engage after a week without internet
@@ -105,6 +109,9 @@ _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', encoding='utf8') == "1":
+  _FAN_SPEEDS = [65535, 65535, 65535, 65535]
+  _BAT_TEMP_THERSHOLD = 20.


 def handle_fan_eon(max_cpu_temp, bat_temp, fan_speed):
@@ -166,7 +173,15 @@ def thermald_thread():
    setup_eon_fan()
    handle_fan = handle_fan_eon

-  params = Params()
+  # dragonpilot
+  ts_last_ip = None
+  ts_last_update_vars = None
+  ts_last_charging_ctrl = None
+
+  ip_addr = '255.255.255.255'
+  dragon_charging_ctrl = True if params.get('DragonChargingCtrl', encoding='utf8') == "1" else False
+  dragon_charging_max = int(params.get('DragonCharging'))
+  dragon_discharging_min = int(params.get('DragonDisCharging'))

  while 1:
    health = messaging.recv_sock(health_sock, wait=True)
@@ -205,6 +220,18 @@ def thermald_thread():
      msg.thermal.batteryPercent = 100
      msg.thermal.batteryStatus = "Charging"

+    # dragonpilot ip Mod
+    # update ip every 10 seconds
+    ts = sec_since_boot()
+    if ts_last_ip is None or ts - ts_last_ip > 10.:
+      try:
+        result = subprocess.check_output(["ifconfig", "wlan0"], encoding='utf8')  # pylint: disable=unexpected-keyword-arg
+        ip_addr = re.findall(r"inet addr:((\d+\.){3}\d+)", result)[0][0]
+      except:
+        ip_addr = 'N/A'
+      ts_last_ip = ts
+    msg.thermal.ipAddr = ip_addr
+
    current_filter.update(msg.thermal.batteryCurrent / 1e6)

    # TODO: add car battery voltage check
@@ -250,29 +277,29 @@ def thermald_thread():
    time_valid_prev = time_valid

    # Show update prompt
-    try:
-      last_update = datetime.datetime.fromisoformat(params.get("LastUpdateTime", encoding='utf8'))
-    except (TypeError, ValueError):
-      last_update = now
-    dt = now - last_update
-
-    if dt.days > DAYS_NO_CONNECTIVITY_MAX:
-      if current_connectivity_alert != "expired":
-        current_connectivity_alert = "expired"
-        params.delete("Offroad_ConnectivityNeededPrompt")
-        params.put("Offroad_ConnectivityNeeded", json.dumps(OFFROAD_ALERTS["Offroad_ConnectivityNeeded"]))
-    elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT:
-      remaining_time = str(DAYS_NO_CONNECTIVITY_MAX - dt.days)
-      if current_connectivity_alert != "prompt" + remaining_time:
-        current_connectivity_alert = "prompt" + remaining_time
-        alert_connectivity_prompt = copy.copy(OFFROAD_ALERTS["Offroad_ConnectivityNeededPrompt"])
-        alert_connectivity_prompt["text"] += remaining_time + " days."
-        params.delete("Offroad_ConnectivityNeeded")
-        params.put("Offroad_ConnectivityNeededPrompt", json.dumps(alert_connectivity_prompt))
-    elif current_connectivity_alert is not None:
-      current_connectivity_alert = None
-      params.delete("Offroad_ConnectivityNeeded")
-      params.delete("Offroad_ConnectivityNeededPrompt")
+    # try:
+    #   last_update = datetime.datetime.fromisoformat(params.get("LastUpdateTime", encoding='utf8'))
+    # except (TypeError, ValueError):
+    #   last_update = now
+    # dt = now - last_update
+    #
+    # if dt.days > DAYS_NO_CONNECTIVITY_MAX:
+    #   if current_connectivity_alert != "expired":
+    #     current_connectivity_alert = "expired"
+    #     params.delete("Offroad_ConnectivityNeededPrompt")
+    #     params.put("Offroad_ConnectivityNeeded", json.dumps(OFFROAD_ALERTS["Offroad_ConnectivityNeeded"]))
+    # elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT:
+    #   remaining_time = str(DAYS_NO_CONNECTIVITY_MAX - dt.days)
+    #   if current_connectivity_alert != "prompt" + remaining_time:
+    #     current_connectivity_alert = "prompt" + remaining_time
+    #     alert_connectivity_prompt = copy.copy(OFFROAD_ALERTS["Offroad_ConnectivityNeededPrompt"])
+    #     alert_connectivity_prompt["text"] += remaining_time + " days."
+    #     params.delete("Offroad_ConnectivityNeeded")
+    #     params.put("Offroad_ConnectivityNeededPrompt", json.dumps(alert_connectivity_prompt))
+    # elif current_connectivity_alert is not None:
+    #   current_connectivity_alert = None
+    #   params.delete("Offroad_ConnectivityNeeded")
+    #   params.delete("Offroad_ConnectivityNeededPrompt")

    # start constellation of processes when the car starts
    ignition = health is not None and (health.health.ignitionLine or health.health.ignitionCan)
@@ -361,6 +388,26 @@ def thermald_thread():

    #print(msg)

+    # dragonpilot
+    ts = sec_since_boot()
+    # update variable status every 10 secs
+    if ts_last_update_vars is None or ts - ts_last_update_vars > 10.:
+      dragon_charging_ctrl = True if params.get('DragonChargingCtrl', encoding='utf8') == "1" else False
+      dragon_charging_max = int(params.get('DragonCharging', encoding='utf8'))
+      dragon_discharging_min = int(params.get('DragonDisCharging', encoding='utf8'))
+      ts_last_update_vars = ts
+
+    # we update charging status once every min
+    if ts_last_charging_ctrl is None or ts - ts_last_charging_ctrl > 60.:
+      if dragon_charging_ctrl:
+        if msg.thermal.batteryPercent >= dragon_charging_max:
+          os.system('echo "0" > /sys/class/power_supply/battery/charging_enabled')
+        if msg.thermal.batteryPercent <= dragon_discharging_min:
+          os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled')
+      else:
+        os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled')
+      ts_last_charging_ctrl = ts
+
    # report to server once per minute
    if (count % int(60. / DT_TRML)) == 0:
      cloudlog.event("STATUS_PACKET",
@@ -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')})
@@ -355,27 +355,30 @@ static void ui_draw_vision_lanes(UIState *s) {
    update_all_lane_lines_data(s, scene->model.right_lane, pvd + MODEL_LANE_PATH_CNT);
    s->model_changed = false;
  }
-  // Draw left lane edge
-  ui_draw_lane(
-      s, &scene->model.left_lane,
-      pvd,
-      nvgRGBAf(1.0, 1.0, 1.0, scene->model.left_lane.prob));
-
-  // Draw right lane edge
-  ui_draw_lane(
-      s, &scene->model.right_lane,
-      pvd + MODEL_LANE_PATH_CNT,
-      nvgRGBAf(1.0, 1.0, 1.0, scene->model.right_lane.prob));
+  if (s->dragon_ui_lane) {
+    // Draw left lane edge
+    ui_draw_lane(
+        s, &scene->model.left_lane,
+        pvd,
+        nvgRGBAf(1.0, 1.0, 1.0, scene->model.left_lane.prob));

+    // Draw right lane edge
+    ui_draw_lane(
+        s, &scene->model.right_lane,
+        pvd + MODEL_LANE_PATH_CNT,
+        nvgRGBAf(1.0, 1.0, 1.0, scene->model.right_lane.prob));
+  }
  if(s->livempc_or_radarstate_changed) {
    update_all_track_data(s);
    s->livempc_or_radarstate_changed = false;
  }
-  // Draw vision path
-  ui_draw_track(s, false, &s->track_vertices[0]);
-  if (scene->engaged) {
-    // Draw MPC path when engaged
-    ui_draw_track(s, true, &s->track_vertices[1]);
+  if (s->dragon_ui_path) {
+    // Draw vision path
+    ui_draw_track(s, false, &s->track_vertices[0]);
+    if (scene->engaged) {
+      // Draw MPC path when engaged
+      ui_draw_track(s, true, &s->track_vertices[1]);
+    }
  }
 }

@@ -389,7 +392,7 @@ static void ui_draw_world(UIState *s) {
  // Draw lane edges and vision/mpc tracks
  ui_draw_vision_lanes(s);

-  if (scene->lead_status) {
+  if (s->dragon_ui_lead && scene->lead_status) {
    // Draw lead car indicator
    float fillAlpha = 0;
    float speedBuff = 10.;
@@ -592,28 +595,58 @@ static void ui_draw_vision_speed(UIState *s) {
  const int viz_speed_x = ui_viz_rx+((ui_viz_rw/2)-(viz_speed_w/2));
  char speed_str[32];

-  nvgBeginPath(s->vg);
-  nvgRect(s->vg, viz_speed_x, box_y, viz_speed_w, header_h);
-  nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
+  // blinker, from kegman
+  if (s->dragon_ui_blinker) {
+    if(s->scene.leftBlinker) {
+      nvgBeginPath(s->vg);
+      nvgMoveTo(s->vg, viz_speed_x, box_y + header_h/4);
+      nvgLineTo(s->vg, viz_speed_x - viz_speed_w/2, box_y + header_h/4 + header_h/4);
+      nvgLineTo(s->vg, viz_speed_x, box_y + header_h/2 + header_h/4);
+      nvgClosePath(s->vg);
+      nvgFillColor(s->vg, nvgRGBA(23,134,68,s->scene.blinker_blinkingrate>=50?210:60));
+      nvgFill(s->vg);
+    }

-  if (s->is_metric) {
-    snprintf(speed_str, sizeof(speed_str), "%d", (int)(speed * 3.6 + 0.5));
-  } else {
-    snprintf(speed_str, sizeof(speed_str), "%d", (int)(speed * 2.2369363 + 0.5));
+    if(s->scene.rightBlinker) {
+      nvgBeginPath(s->vg);
+      nvgMoveTo(s->vg, viz_speed_x+viz_speed_w, box_y + header_h/4);
+      nvgLineTo(s->vg, viz_speed_x+viz_speed_w + viz_speed_w/2, box_y + header_h/4 + header_h/4);
+      nvgLineTo(s->vg, viz_speed_x+viz_speed_w, box_y + header_h/2 + header_h/4);
+      nvgClosePath(s->vg);
+      nvgFillColor(s->vg, nvgRGBA(23,134,68,s->scene.blinker_blinkingrate>=50?210:60));
+      nvgFill(s->vg);
+    }
+
+    if(s->scene.leftBlinker || s->scene.rightBlinker) {
+      s->scene.blinker_blinkingrate -= 3;
+      if(s->scene.blinker_blinkingrate<0) s->scene.blinker_blinkingrate = 120;
+    }
  }
-  nvgFontFace(s->vg, "sans-bold");
-  nvgFontSize(s->vg, 96*2.5);
-  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
-  nvgText(s->vg, viz_speed_x+viz_speed_w/2, 240, speed_str, NULL);

-  nvgFontFace(s->vg, "sans-regular");
-  nvgFontSize(s->vg, 36*2.5);
-  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 200));
+  if (s->dragon_ui_speed) {
+    nvgBeginPath(s->vg);
+    nvgRect(s->vg, viz_speed_x, box_y, viz_speed_w, header_h);
+    nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);

-  if (s->is_metric) {
-    nvgText(s->vg, viz_speed_x+viz_speed_w/2, 320, "kph", NULL);
-  } else {
-    nvgText(s->vg, viz_speed_x+viz_speed_w/2, 320, "mph", NULL);
+    if (s->is_metric) {
+      snprintf(speed_str, sizeof(speed_str), "%d", (int)(speed * 3.6 + 0.5));
+    } else {
+      snprintf(speed_str, sizeof(speed_str), "%d", (int)(speed * 2.2369363 + 0.5));
+    }
+    nvgFontFace(s->vg, "sans-bold");
+    nvgFontSize(s->vg, 96*2.5);
+    nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255));
+    nvgText(s->vg, viz_speed_x+viz_speed_w/2, 240, speed_str, NULL);
+
+    nvgFontFace(s->vg, "sans-regular");
+    nvgFontSize(s->vg, 36*2.5);
+    nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 200));
+
+    if (s->is_metric) {
+      nvgText(s->vg, viz_speed_x+viz_speed_w/2, 320, "kph", NULL);
+    } else {
+      nvgText(s->vg, viz_speed_x+viz_speed_w/2, 320, "mph", NULL);
+    }
  }
 }

@@ -728,22 +761,307 @@ static void ui_draw_vision_header(UIState *s) {
  int ui_viz_rx = scene->ui_viz_rx;
  int ui_viz_rw = scene->ui_viz_rw;

-  nvgBeginPath(s->vg);
-  NVGpaint gradient = nvgLinearGradient(s->vg, ui_viz_rx,
-                        (box_y+(header_h-(header_h/2.5))),
-                        ui_viz_rx, box_y+header_h,
-                        nvgRGBAf(0,0,0,0.45), nvgRGBAf(0,0,0,0));
-  nvgFillPaint(s->vg, gradient);
-  nvgRect(s->vg, ui_viz_rx, box_y, ui_viz_rw, header_h);
-  nvgFill(s->vg);
+  if (s->dragon_driving_ui) {
+    nvgBeginPath(s->vg);
+    NVGpaint gradient = nvgLinearGradient(s->vg, ui_viz_rx,
+                          (box_y+(header_h-(header_h/2.5))),
+                          ui_viz_rx, box_y+header_h,
+                          nvgRGBAf(0,0,0,0.45), nvgRGBAf(0,0,0,0));
+    nvgFillPaint(s->vg, gradient);
+    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) {
+  const UIScene *scene = &s->scene;
+  int ui_viz_rx = scene->ui_viz_rx;
+  bool hasSidebar = !s->scene.uilayout_sidebarcollapsed;
+  // rect_w = screen_width - sidebar width
+
+  int rect_w = vwp_w - ui_viz_rx - bdr_s;
+  int rect_h = 80;
+  // rect_x = 0 + sidebar width
+
+  // if driving ui is enabled, rect_x = rect_x + vision start x
+  int rect_x = (hasSidebar? (bdr_s+sbr_w) : ui_viz_rx);
+
+  // rect_y = screen height - board - background height
+  int rect_y = vwp_h - bdr_s - rect_h;
+
+//  int text_width;
+  int text_x = rect_w / 2 + ui_viz_rx;
+  int text_y = rect_y + 55;
+
+  char infobar[100];
+  // create time string
+  char date_time[17];
+  time_t rawtime = time(NULL);
+  struct tm timeinfo;
+  localtime_r(&rawtime, &timeinfo);
+  strftime(date_time, sizeof(date_time),"%D %T", &timeinfo);
+
+  if (s->dragon_ui_dev_mini) {
+    char rel_steer[9];
+    snprintf(rel_steer, sizeof(rel_steer), "%s% 5.1f°", s->scene.angleSteers < 0? "-" : "+", fabs(s->scene.angleSteers));
+
+    char des_steer[9];
+    if (s->scene.engaged) {
+      snprintf(des_steer, sizeof(des_steer), "%s% 5.1f°", s->scene.angleSteersDes < 0? "-" : "+", fabs(s->scene.angleSteersDes));
+    } else {
+      snprintf(des_steer, sizeof(des_steer), "%7s", "-");
+    }
+
+    char lead_dist[8];
+    if (s->scene.lead_status) {
+      snprintf(lead_dist, sizeof(lead_dist), "% 6.2fm", s->scene.lead_d_rel);
+    } else {
+      snprintf(lead_dist, sizeof(lead_dist), "%7s", "-");
+    }
+
+    snprintf(
+      infobar,
+      sizeof(infobar),
+      "%s /REL: %s /DES: %s /DIS: %s",
+      date_time,
+      rel_steer,
+      des_steer,
+      lead_dist
+    );
+  } else {
+    snprintf(
+      infobar,
+      sizeof(infobar),
+      "%s",
+      date_time
+    );
+  }
+
+  nvgBeginPath(s->vg);
+  nvgRoundedRect(s->vg, rect_x, rect_y, rect_w, rect_h, 15);
+  nvgFillColor(s->vg, nvgRGBA(0, 0, 0, 180));
+  nvgFill(s->vg);
+
+  nvgFontSize(s->vg, hasSidebar? 35:42);
+  nvgFontFace(s->vg, "courbd");
+  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 180));
+  nvgTextAlign(s->vg, NVG_ALIGN_CENTER);
+  nvgText(s->vg, text_x, text_y, 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-bold");
+  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, "相對距離",
+        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, "相對速度",
+        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), "%.1f°",(scene->angleSteers));
+
+      snprintf(uom_str, sizeof(uom_str), "");
+    bb_h +=bb_ui_draw_measure(s,  val_str, uom_str, "實際轉角",
+      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), "%.1f°",(scene->angleSteersDes));
+
+    snprintf(uom_str, sizeof(uom_str), "");
+    bb_h +=bb_ui_draw_measure(s,  val_str, uom_str, "所需轉角",
+      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_s * 2));
+    const int bb_dml_y = (box_y + (bdr_s * 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_s * 2);
+    const int bb_dmr_y = (box_y + (bdr_s * 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) {
@@ -754,11 +1072,18 @@ 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 || s->dragon_waze_mode) {
+    ui_draw_infobar(s);
+  }
 }

 void ui_draw_vision_alert(UIState *s, int va_size, int va_color,
@@ -830,7 +1155,9 @@ static void ui_draw_vision(UIState *s) {
  glScissor(ui_viz_rx, s->fb_h-(box_y+box_h), ui_viz_rw, box_h);
  glEnable(GL_BLEND);
  glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
-  draw_frame(s);
+  if (s->dragon_driving_ui) {
+    draw_frame(s);
+  }
  glViewport(0, 0, s->fb_w, s->fb_h);
  glDisable(GL_SCISSOR_TEST);

@@ -840,12 +1167,14 @@ static void ui_draw_vision(UIState *s) {
  nvgSave(s->vg);

  // Draw augmented elements
-  const int inner_height = viz_w*9/16;
-  nvgScissor(s->vg, ui_viz_rx, box_y, ui_viz_rw, box_h);
-  nvgTranslate(s->vg, ui_viz_rx+ui_viz_ro, box_y + (box_h-inner_height)/2.0);
-  nvgScale(s->vg, (float)viz_w / s->fb_w, (float)inner_height / s->fb_h);
-  if (!scene->frontview && !scene->fullview) {
-    ui_draw_world(s);
+  if (s->dragon_driving_ui) {
+    const int inner_height = viz_w*9/16;
+    nvgScissor(s->vg, ui_viz_rx, box_y, ui_viz_rw, box_h);
+    nvgTranslate(s->vg, ui_viz_rx+ui_viz_ro, box_y + (box_h-inner_height)/2.0);
+    nvgScale(s->vg, (float)viz_w / s->fb_w, (float)inner_height / s->fb_h);
+    if (!scene->frontview && !scene->fullview) {
+      ui_draw_world(s);
+    }
  }

  nvgRestore(s->vg);
@@ -956,11 +1285,11 @@ void ui_nvg_init(UIState *s) {

  s->font_courbd = nvgCreateFont(s->vg, "courbd", "../assets/fonts/courbd.ttf");
  assert(s->font_courbd >= 0);
-  s->font_sans_regular = nvgCreateFont(s->vg, "sans-regular", "../assets/fonts/opensans_regular.ttf");
+  s->font_sans_regular = nvgCreateFont(s->vg, "sans-regular", "../../dragonpilot/chinese-fonts/NotoSansCJKtc-Regular.otf");
  assert(s->font_sans_regular >= 0);
-  s->font_sans_semibold = nvgCreateFont(s->vg, "sans-semibold", "../assets/fonts/opensans_semibold.ttf");
+  s->font_sans_semibold = nvgCreateFont(s->vg, "sans-semibold", "../../dragonpilot/chinese-fonts/NotoSansCJKtc-Medium.otf");
  assert(s->font_sans_semibold >= 0);
-  s->font_sans_bold = nvgCreateFont(s->vg, "sans-bold", "../assets/fonts/opensans_bold.ttf");
+  s->font_sans_bold = nvgCreateFont(s->vg, "sans-bold", "../../dragonpilot/chinese-fonts/NotoSansCJKtc-Bold.otf");
  assert(s->font_sans_bold >= 0);

  assert(s->img_wheel >= 0);
@@ -112,19 +112,22 @@ static void ui_init(UIState *s) {
  s->uilayout_sock = SubSocket::create(s->ctx, "uiLayoutState");
  s->livecalibration_sock = SubSocket::create(s->ctx, "liveCalibration");
  s->radarstate_sock = SubSocket::create(s->ctx, "radarState");
+  s->carstate_sock = SubSocket::create(s->ctx, "carState");

  assert(s->model_sock != NULL);
  assert(s->controlsstate_sock != NULL);
  assert(s->uilayout_sock != NULL);
  assert(s->livecalibration_sock != NULL);
  assert(s->radarstate_sock != NULL);
+  assert(s->carstate_sock != NULL);

  s->poller = Poller::create({
                              s->model_sock,
                              s->controlsstate_sock,
                              s->uilayout_sock,
                              s->livecalibration_sock,
-                              s->radarstate_sock
+                              s->radarstate_sock,
+                              s->carstate_sock
                             });

 #ifdef SHOW_SPEEDLIMIT
@@ -196,11 +199,58 @@ 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_float(&s->dragon_ui_volume_boost, "DragonUIVolumeBoost");
+  read_param_bool(&s->dragon_waze_mode, "DragonWazeMode");
+  if (s->dragon_waze_mode) {
+    s->dragon_ui_speed = false;
+    s->dragon_ui_event = false;
+    s->dragon_ui_maxspeed = false;
+    s->dragon_ui_face = false;
+    s->dragon_ui_dev = false;
+    s->dragon_ui_dev_mini = false;
+    s->dragon_enable_dashcam = false;
+    s->dragon_driving_ui = false;
+    s->dragon_ui_lane = false;
+    s->dragon_ui_lead = false;
+    s->dragon_ui_path = false;
+    s->dragon_ui_blinker = false;
+  } else {
+    read_param_bool(&s->dragon_ui_speed, "DragonUISpeed");
+    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");
+    read_param_bool(&s->dragon_driving_ui, "DragonDrivingUI");
+    read_param_bool(&s->dragon_ui_lane, "DragonUILane");
+    read_param_bool(&s->dragon_ui_lead, "DragonUILead");
+    read_param_bool(&s->dragon_ui_path, "DragonUIPath");
+    read_param_bool(&s->dragon_ui_blinker, "DragonUIBlinker");
+  }
+

  // 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, 1hz
+  s->dragon_ui_speed_timeout = UI_FREQ * 3.1;
+  s->dragon_ui_event_timeout = UI_FREQ * 3.2;
+  s->dragon_ui_maxspeed_timeout = UI_FREQ * 3.3;
+  s->dragon_ui_face_timeout = UI_FREQ * 3.4;
+  s->dragon_ui_dev_timeout = UI_FREQ * 3.5;
+  s->dragon_ui_dev_mini_timeout = UI_FREQ * 3.6;
+  s->dragon_enable_dashcam_timeout = UI_FREQ * 3.7;
+  s->dragon_ui_volume_boost_timeout = UI_FREQ * 3.8;
+  s->dragon_driving_ui_timeout = UI_FREQ * 3.9;
+  s->dragon_ui_lane_timeout = UI_FREQ * 4.0;
+  s->dragon_ui_lead_timeout = UI_FREQ * 4.1;
+  s->dragon_ui_path_timeout = UI_FREQ * 4.2;
+  s->dragon_ui_blinker_timeout = UI_FREQ * 4.3;
+  s->dragon_waze_mode_timeout = UI_FREQ * 4.4;
 }

 static PathData read_path(cereal_ModelData_PathData_ptr pathp) {
@@ -285,6 +335,10 @@ void handle_message(UIState *s, Message * msg) {

    s->scene.decel_for_model = datad.decelForModel;

+    // dragonpilot
+    s->scene.angleSteers = datad.angleSteers;
+    s->scene.angleSteersDes = datad.angleSteersDes;
+
    if (datad.alertSound != cereal_CarControl_HUDControl_AudibleAlert_none && datad.alertSound != s->alert_sound) {
      if (s->alert_sound != cereal_CarControl_HUDControl_AudibleAlert_none) {
        stop_alert_sound(s->alert_sound);
@@ -418,6 +472,15 @@ void handle_message(UIState *s, Message * msg) {
    struct cereal_LiveMapData datad;
    cereal_read_LiveMapData(&datad, eventd.liveMapData);
    s->scene.map_valid = datad.mapValid;
+  } else if (eventd.which == cereal_Event_carState) {
+    struct cereal_CarState datad;
+    cereal_read_CarState(&datad, eventd.carState);
+
+    if(s->scene.leftBlinker!=datad.leftBlinker || s->scene.rightBlinker!=datad.rightBlinker) {
+      s->scene.blinker_blinkingrate = 100;
+    }
+    s->scene.leftBlinker = datad.leftBlinker;
+    s->scene.rightBlinker = datad.rightBlinker;
  }
  capn_free(&ctx);
 }
@@ -896,6 +959,10 @@ int main(int argc, char* argv[]) {
      s->volume_timeout--;
    } else {
      int volume = fmin(MAX_VOLUME, MIN_VOLUME + s->scene.v_ego / 5);  // up one notch every 5 m/s
+      if (s->dragon_ui_volume_boost > 0 || s->dragon_ui_volume_boost < 0) {
+        volume = volume * (1 + s->dragon_ui_volume_boost /100);
+        volume = volume > MAX_VOLUME? MAX_VOLUME : volume;
+      }
      set_volume(volume);
      s->volume_timeout = 5 * UI_FREQ;
    }
@@ -917,8 +984,8 @@ int main(int argc, char* argv[]) {
        if (s->status != STATUS_STOPPED) {
          update_status(s, STATUS_ALERT);
        }
-        snprintf(s->scene.alert_text1, sizeof(s->scene.alert_text1), "%s", "TAKE CONTROL IMMEDIATELY");
-        snprintf(s->scene.alert_text2, sizeof(s->scene.alert_text2), "%s", "Controls Unresponsive");
+        snprintf(s->scene.alert_text1, sizeof(s->scene.alert_text1), "%s", "即刻接管控制");
+        snprintf(s->scene.alert_text2, sizeof(s->scene.alert_text2), "%s", "操控服務沒有反應");
        ui_draw_vision_alert(s, s->scene.alert_size, s->status, s->scene.alert_text1, s->scene.alert_text2);

        s->alert_sound_timeout = 2 * UI_FREQ;
@@ -934,6 +1001,37 @@ 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_float_timeout(&s->dragon_ui_volume_boost, "DragonUIVolumeBoost", &s->dragon_ui_volume_boost_timeout);
+    read_param_bool_timeout(&s->dragon_waze_mode, "DragonWazeMode", &s->dragon_waze_mode_timeout);
+
+    if (s->dragon_waze_mode) {
+      s->dragon_ui_speed = false;
+      s->dragon_ui_event = false;
+      s->dragon_ui_maxspeed = false;
+      s->dragon_ui_face = false;
+      s->dragon_ui_dev = false;
+      s->dragon_ui_dev_mini = false;
+      s->dragon_enable_dashcam = false;
+      s->dragon_driving_ui = false;
+      s->dragon_ui_lane = false;
+      s->dragon_ui_lead = false;
+      s->dragon_ui_path = false;
+      s->dragon_ui_blinker = false;
+    } else {
+      read_param_bool_timeout(&s->dragon_ui_speed, "DragonUISpeed", &s->dragon_ui_speed_timeout);
+      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);
+      read_param_bool_timeout(&s->dragon_driving_ui, "DragonDrivingUI", &s->dragon_driving_ui_timeout);
+      read_param_bool_timeout(&s->dragon_ui_lane, "DragonUILane", &s->dragon_ui_lane_timeout);
+      read_param_bool_timeout(&s->dragon_ui_lead, "DragonUILead", &s->dragon_ui_lead_timeout);
+      read_param_bool_timeout(&s->dragon_ui_path, "DragonUIPath", &s->dragon_ui_path_timeout);
+      read_param_bool_timeout(&s->dragon_ui_blinker, "DragonUIBlinker", &s->dragon_ui_blinker_timeout);
+    }

    pthread_mutex_unlock(&s->lock);

@@ -117,6 +117,16 @@ typedef struct UIScene {

  // Used to show gps planner status
  bool gps_planner_active;
+
+  // dragonpilot
+  // for minimal UI
+  float angleSteersDes;
+  float angleSteers;
+
+  // for blinker, from kegman
+  bool leftBlinker;
+  bool rightBlinker;
+  int blinker_blinkingrate;
 } UIScene;

 typedef struct {
@@ -242,6 +252,38 @@ typedef struct UIState {
  model_path_vertices_data model_path_vertices[MODEL_LANE_PATH_CNT * 2];

  track_vertices_data track_vertices[2];
+  
+  // dragonpilot
+  SubSocket *carstate_sock;
+  int dragon_ui_speed_timeout;
+  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;
+  int dragon_ui_volume_boost_timeout;
+  int dragon_driving_ui_timeout;
+  int dragon_ui_lane_timeout;
+  int dragon_ui_lead_timeout;
+  int dragon_ui_path_timeout;
+  int dragon_ui_blinker_timeout;
+  int dragon_waze_mode_timeout;
+
+  bool dragon_ui_speed;
+  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;
+  float dragon_ui_volume_boost;
+  bool dragon_driving_ui;
+  bool dragon_ui_lane;
+  bool dragon_ui_lead;
+  bool dragon_ui_path;
+  bool dragon_ui_blinker;
+  bool dragon_waze_mode;
 } UIState;

 // API
@@ -116,13 +116,20 @@ def set_update_available_params(new_version=False):
  params.put("LastUpdateTime", t.encode('utf8'))

  if new_version:
+    # Write latest release notes to param
    try:
-      with open(os.path.join(FINALIZED, "RELEASES.md"), "rb") as f:
-        r = f.read()
-      r = r[:r.find(b'\n\n')]  # Slice latest release notes
+      r = subprocess.check_output(["curl", "-H", "'Cache-Control: no-cache'", "-s", "https://raw.githubusercontent.com/dragonpilot-community/dragonpilot/docs/CHANGELOG.md"])
+      r = r[:r.find(b'\n\n')] # Slice latest release notes
      params.put("ReleaseNotes", r + b"\n")
-    except Exception:
+    except:
      params.put("ReleaseNotes", "")
+    #try:
+    #  with open(os.path.join(FINALIZED, "RELEASES.md"), "rb") as f:
+    #    r = f.read()
+    #  r = r[:r.find(b'\n\n')]  # Slice latest release notes
+    #  params.put("ReleaseNotes", r + b"\n")
+    #except Exception:
+    #  params.put("ReleaseNotes", "")
    params.put("UpdateAvailable", "1")


@@ -0,0 +1,8 @@
+#!/usr/bin/bash
+
+export LD_LIBRARY_PATH=/data/data/com.termux/files/usr/lib
+export HOME=/data/data/com.termux/files/home
+export PATH=/usr/local/bin:/data/data/com.termux/files/usr/bin:/data/data/com.termux/files/usr/sbin:/data/data/com.termux/files/usr/bin/applets:/bin:/sbin:/vendor/bin:/system/sbin:/system/bin:/system/xbin:/data/data/com.termux/files/usr/bin/python
+export PYTHONPATH=/data/openpilot
+
+cd /data/openpilot/panda ; pkill -f boardd ; python -c "from panda import Panda; Panda().flash()" && reboot