Merge branch 'devel-i18n' into devel-zhs

Merge pull request #18 from dragonpilot-community/devel
dp 0.7.3.3
2026-06-20 05:22:03 +08:00 · 2020-03-14 11:32:08 +10:00 · 2020-03-14 11:26:32 +10:00 · 2020-03-14 11:11:03 +10:00 · 2020-03-13 14:02:11 +10:00 · 2020-03-13 12:40:27 +10:00
82 changed files with 6828 additions and 1426 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
@@ -91,6 +91,14 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    carUnrecognized @66;
    radarCommIssue @67;
    driverMonitorLowAcc @68;
+    # dragonpilot
+    manualSteeringRequired @69;
+    manualSteeringRequiredBlinkersOn @70;
+    leadCarMoving @71;
+    leadCarDetected @72;
+    preAutoLaneChangeLeft @73;
+    preAutoLaneChangeRight @74;
+    autoLaneChange @75;
  }
 }

@@ -293,6 +293,8 @@ struct ThermalData {
  memUsedPercent @19 :Int8;
  cpuPerc @20 :Int8;

+  ipAddr @24 :Text; # dragonpilot
+
  enum ThermalStatus {
    green @0;   # all processes run
    yellow @1;  # critical processes run (kill uploader), engage still allowed
@@ -765,6 +767,8 @@ 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")
@@ -103,6 +103,72 @@ 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],
+  "DragonEnableAutoShutdown": [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],
+  "DragonCachedCarFW": [TxType.PERSISTENT],
+  "DragonCachedSource": [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],
+  "DragonUIDMView": [TxType.PERSISTENT],
+  "DragonEnableDriverMonitoring": [TxType.PERSISTENT],
+  "DragonCarModel": [TxType.PERSISTENT],
+  "DragonEnableSlowOnCurve": [TxType.PERSISTENT],
+  "DragonEnableLeadCarMovingAlert": [TxType.PERSISTENT],
+  "DragonToyotaSnGMod": [TxType.PERSISTENT],
+  "DragonEnableSRLearner": [TxType.PERSISTENT],
+  "DragonWazeMode": [TxType.PERSISTENT],
+  "DragonRunWaze": [TxType.PERSISTENT],
+  "DragonEnableAutoLC": [TxType.PERSISTENT],
+  "DragonAssistedLCMinMPH": [TxType.PERSISTENT],
+  "DragonAutoLCMinMPH": [TxType.PERSISTENT],
+  "DragonAutoLCDelay": [TxType.PERSISTENT],
+  "DragonBTG": [TxType.PERSISTENT],
+  "DragonBootHotspot": [TxType.PERSISTENT],
+  "DragonAccelProfile": [TxType.PERSISTENT],
+  "DragonLastModified": [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-CN
+
+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
@@ -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
@@ -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
@@ -4,8 +4,8 @@ const int TOYOTA_MAX_TORQUE = 1500;       // max torque cmd allowed ever
 // rate based torque limit + stay within actually applied
 // packet is sent at 100hz, so this limit is 1000/sec
 const int TOYOTA_MAX_RATE_UP = 10;        // ramp up slow
-const int TOYOTA_MAX_RATE_DOWN = 25;      // ramp down fast
-const int TOYOTA_MAX_TORQUE_ERROR = 350;  // max torque cmd in excess of torque motor
+const int TOYOTA_MAX_RATE_DOWN = 44;      // ramp down fast
+const int TOYOTA_MAX_TORQUE_ERROR = 500;  // max torque cmd in excess of torque motor

 // real time torque limit to prevent controls spamming
 // the real time limit is 1500/sec
@@ -13,7 +13,7 @@ const int TOYOTA_MAX_RT_DELTA = 375;      // max delta torque allowed for real t
 const uint32_t TOYOTA_RT_INTERVAL = 250000;    // 250ms between real time checks

 // longitudinal limits
-const int TOYOTA_MAX_ACCEL = 1500;        // 1.5 m/s2
+const int TOYOTA_MAX_ACCEL = 4000;        // 1.5 m/s2
 const int TOYOTA_MIN_ACCEL = -3000;       // 3.0 m/s2

 const int TOYOTA_GAS_INTERCEPTOR_THRESHOLD = 475;  // ratio between offset and gain from dbc file
@@ -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 +1,6 @@
+#!/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 @{u} && git clean -xdf && 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
@@ -841,6 +846,11 @@ 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) {
@@ -875,6 +885,9 @@ 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 +7,10 @@ from selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car
 from selfdrive.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint
+import pickle
+import requests
+import threading
+import selfdrive.crash as crash

 from cereal import car

@@ -63,6 +67,45 @@ def only_toyota_left(candidate_cars):

 # **** for use live only ****
 def fingerprint(logcan, sendcan, has_relay):
+  params = Params()
+  dragon_cache_car = params.get("DragonCacheCar", encoding='utf8')
+  dragon_car_fingerprint = None
+  dragon_finger = None
+  dragon_vin = VIN_UNKNOWN
+  dragon_car_fw = []
+  dragon_source = car.CarParams.FingerprintSource.can
+
+  dragon_has_cache = False
+  try:
+    if dragon_cache_car == "1":
+      cached_source = params.get("DragonCachedSource")
+
+      dragon_source = car.CarParams.FingerprintSource.can if cached_source == b'' else pickle.loads(cached_source)
+
+      cached_finger = params.get("DragonCachedFP")
+      cached_model = params.get("DragonCachedModel")
+      if cached_finger != "" and cached_model != "":
+        dragon_car_fingerprint = pickle.loads(cached_model)
+        dragon_finger = pickle.loads(cached_finger)
+
+        # car_fw and vin are only available if relay is used.
+        if dragon_source == car.CarParams.FingerprintSource.fw:
+          # load car_fw
+          cached_car_fw = params.get("DragonCachedCarFW")
+          if cached_car_fw != "":
+            dragon_car_fw = pickle.loads(cached_car_fw)
+
+          # load vin
+          cached_vin = params.get("DragonCachedVIN")
+          if cached_vin != "":
+            dragon_vin = pickle.loads(cached_vin)
+
+        # set relay to false if cache is right
+        has_relay = False
+        dragon_has_cache = True
+  except EOFError as e:
+    pass # dragon_has_cache = False
+
  if has_relay:
    # Vin query only reliably works thorugh OBDII
    bus = 1
@@ -92,6 +135,10 @@ def fingerprint(logcan, sendcan, has_relay):
  car_fingerprint = None
  done = False

+  # dp, skip loop if cach is on
+  if dragon_has_cache:
+    done = True
+
  while not done:
    a = messaging.get_one_can(logcan)

@@ -126,12 +173,34 @@ def fingerprint(logcan, sendcan, has_relay):

    frame += 1

-  source = car.CarParams.FingerprintSource.can
+  if dragon_has_cache:
+    car_fingerprint = dragon_car_fingerprint
+    finger = dragon_finger
+    vin = dragon_vin
+    car_fw = dragon_car_fw
+    source = dragon_source

-  # If FW query returns exactly 1 candidate, use it
-  if len(fw_candidates) == 1:
-    car_fingerprint = list(fw_candidates)[0]
-    source = car.CarParams.FingerprintSource.fw
+  else:
+    source = car.CarParams.FingerprintSource.can
+
+    # If FW query returns exactly 1 candidate, use it
+    if len(fw_candidates) == 1:
+      car_fingerprint = list(fw_candidates)[0]
+      source = car.CarParams.FingerprintSource.fw
+
+    # dp, store values if cache is off
+    put_nonblocking("DragonCachedModel", pickle.dumps(car_fingerprint))
+    put_nonblocking("DragonCachedFP", pickle.dumps(finger))
+    put_nonblocking("DragonCachedVIN", pickle.dumps(vin))
+    put_nonblocking("DragonCachedCarFW", pickle.dumps(car_fw))
+    put_nonblocking("DragonCachedSource", pickle.dumps(source))
+    # these are for display only
+    put_nonblocking("DragonCarModel", car_fingerprint)
+
+  fixed_fingerprint = os.environ.get('FINGERPRINT', "")
+  if len(fixed_fingerprint):
+    car_fingerprint = fixed_fingerprint
+    source = car.CarParams.FingerprintSource.fixed

  fixed_fingerprint = os.environ.get('FINGERPRINT', "")
  if len(fixed_fingerprint):
@@ -141,14 +210,40 @@ def fingerprint(logcan, sendcan, has_relay):
  cloudlog.warning("fingerprinted %s", car_fingerprint)
  return car_fingerprint, finger, vin, car_fw, source

+def is_online(timeout=5):
+  try:
+    requests.get("https://sentry.io", timeout=timeout)
+    return True
+  except:
+    return False
+
+def log_fingerprinted(candidate):
+  while True:
+    crash.capture_warning("fingerprinted %s" % candidate)
+    break
+
+def log_unmatched_fingerprint(fingerprints, fw):
+  while True:
+    crash.capture_warning("car doesn't match any fingerprints: %s" % fingerprints)
+    crash.capture_warning("car doesn't match any fw: %s" % fw)
+    break

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

  if candidate is None:
+    if is_online():
+      y = threading.Thread(target=log_unmatched_fingerprint, args=(fingerprints,car_fw,))
+      y.start()
+
    cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
+    cloudlog.warning("car doesn't match any fw: %s" % car_fw)
    candidate = "mock"

+  if is_online():
+    x = threading.Thread(target=log_fingerprinted, args=(candidate,))
+    x.start()
+
  CarInterface, CarController = interfaces[candidate]
  car_params = CarInterface.get_params(candidate, fingerprints, has_relay, car_fw)
  car_params.carVin = vin
@@ -7,6 +7,9 @@ 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()
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified

 VisualAlert = car.CarControl.HUDControl.VisualAlert

@@ -72,7 +75,7 @@ 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 +93,22 @@ 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_lat_ctrl = True
+    self.dp_last_modified = None
+
  def update(self, enabled, CS, frame, actuators, \
             pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel, \
             hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert):
+    # dragonpilot, don't check for param too often as it's a kernel call
+    if frame % 500 == 0:
+      modified = dp_get_last_modified()
+      if self.dp_last_modified != modified:
+        self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
+        self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+        self.dp_last_modified = modified

    # *** apply brake hysteresis ***
    brake, self.braking, self.brake_steady = actuator_hystereses(actuators.brake, self.braking, self.brake_steady, CS.v_ego, CS.CP.carFingerprint)
@@ -122,7 +138,7 @@ 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 +166,28 @@ 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:
+      if self.dragon_enable_steering_on_signal:
+        if CS.left_blinker_on == 0 and CS.right_blinker_on == 0:
+          self.turning_signal_timer = 0
+        else:
+          self.turning_signal_timer = 100
+
+        if self.turning_signal_timer > 0:
+          self.turning_signal_timer -= 1
+          lkas_active = False
+      else:
+        self.turning_signal_timer = 0
+
+      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,
@@ -146,6 +146,8 @@ def get_can_signals(CP):
    signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0))
    checks.append(("GAS_SENSOR", 50))

+  checks = []
+
  return signals, checks


@@ -195,6 +197,9 @@ class CarState(CarStateBase):
    self.cruise_mode = 0
    self.stopped = 0

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

    # car params
@@ -257,6 +262,13 @@ class CarState(CarStateBase):
    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 +12,9 @@ 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()
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified

 A_ACC_MAX = max(_A_CRUISE_MAX_V_FOLLOWING)

@@ -98,6 +101,13 @@ 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
+    self.dp_last_modified = None
+
  @staticmethod
  def calc_accel_override(a_ego, a_target, v_ego, v_target):

@@ -376,6 +386,17 @@ class CarInterface(CarInterfaceBase):

  # returns a car.CarState
  def update(self, c, can_strings):
+    # dragonpilot, don't check for param too often as it's a kernel call
+    ts = sec_since_boot()
+    if ts - self.ts_last_check >= 5.:
+      modified = dp_get_last_modified()
+      if self.dp_last_modified != modified:
+        self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else True
+        self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
+        self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+        self.dp_last_modified = modified
+      self.ts_last_check = ts
+
    # ******************* do can recv *******************
    self.cp.update_strings(can_strings)
    self.cp_cam.update_strings(can_strings)
@@ -490,7 +511,11 @@ 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]))
@@ -516,21 +541,26 @@ 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
    if self.CP.enableCruise and not ret.cruiseState.enabled and (c.actuators.brake <= 0. or not self.CP.openpilotLongitudinalControl):
      # non loud alert if cruise disbales below 25mph as expected (+ a little margin)
      if ret.vEgo < self.CP.minEnableSpeed + 2.:
-        events.append(create_event('speedTooLow', [ET.IMMEDIATE_DISABLE]))
-      else:
+#         events.append(create_event('speedTooLow', [ET.IMMEDIATE_DISABLE]))
+#       else:
        events.append(create_event("cruiseDisabled", [ET.IMMEDIATE_DISABLE]))
    if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001:
      events.append(create_event('manualRestart', [ET.WARNING]))
@@ -51,6 +51,13 @@ 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,
@@ -66,6 +73,10 @@ FINGERPRINTS = {
  # 2017 Civic Hatchback EX, 2019 Civic Sedan Touring Canadian, and 2018 Civic Hatchback Executive Premium 1.0L CVT European
    57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 460: 3, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 892: 8, 927: 8, 929: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1108: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1625: 5, 1629: 5, 1633: 8,
  },
+  # Manual CIVIC from AlexNoop
+  {
+    57: 3, 148: 8, 228: 5, 274: 3, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 420: 8, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 460: 3, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 829: 5, 862: 8, 884: 8, 891: 8, 892: 8, 927: 8, 929: 8, 985: 3, 1024: 5, 1029: 8, 1036: 8, 1108: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1625: 5, 1633: 8,
+  },
  # 2017 Civic Hatchback LX
  {
    57: 3, 148: 8, 228: 5, 304: 8, 330: 8, 344: 8, 380: 8, 399: 7, 401: 8, 420: 8, 423: 2, 427: 3, 428: 8, 432: 7, 441: 5, 450: 8, 464: 8, 470: 2, 476: 7, 477: 8, 479: 8, 490: 8, 493: 5, 495: 8, 506: 8, 545: 6, 597: 8, 662: 4, 773: 7, 777: 8, 780: 8, 795: 8, 800: 8, 804: 8, 806: 8, 808: 8, 815: 8, 825: 4, 829: 5, 846: 8, 862: 8, 881: 8, 882: 4, 884: 8, 888: 8, 891: 8, 892: 8, 918: 7, 927: 8, 929: 8, 983: 8, 985: 3, 1024: 5, 1027: 5, 1029: 8, 1036: 8, 1039: 8, 1064: 7, 1092: 1, 1108: 8, 1125: 8, 1127: 2, 1296: 8, 1302: 8, 1322: 5, 1361: 5, 1365: 5, 1424: 5, 1600: 5, 1601: 8, 1633: 8
@@ -96,6 +107,10 @@ 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: [{
@@ -296,6 +311,7 @@ FW_VERSIONS = {
      b'37805-5AN-LJ20\x00\x00',
      b'37805-5AZ-E850\x00\x00',
      b'37805-5BB-L640\x00\x00',
+      b'37805-5AN-E410\x00\x00', # AlexNoop's Manual CIVIC_BOSCH
    ],
    (Ecu.unknown, 0x18da1ef1, None): [
      b'28101-5CG-A920\x00\x00',
@@ -2,7 +2,9 @@ from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.hyundai.hyundaican import create_lkas11, create_clu11
 from selfdrive.car.hyundai.values import Buttons, SteerLimitParams
 from opendbc.can.packer import CANPacker
-
+from common.params import Params
+params = Params()
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified

 class CarController():
  def __init__(self, dbc_name, car_fingerprint):
@@ -14,7 +16,21 @@ class CarController():
    self.packer = CANPacker(dbc_name)
    self.steer_rate_limited = False

-  def update(self, enabled, CS, actuators, pcm_cancel_cmd, hud_alert):
+    # dragonpilot
+    self.turning_signal_timer = 0
+    self.dragon_enable_steering_on_signal = False
+    self.dragon_lat_ctrl = True
+    self.dp_last_modified = None
+
+  def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert):
+
+    # dragonpilot, don't check for param too often as it's a kernel call
+    if frame % 500 == 0:
+      modified = dp_get_last_modified()
+      if self.dp_last_modified != modified:
+        self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
+        self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+        self.dp_last_modified = modified

    ### Steering Torque
    new_steer = actuators.steer * SteerLimitParams.STEER_MAX
@@ -30,6 +46,23 @@ class CarController():

    can_sends = []

+    # dragonpilot
+    if enabled:
+      if self.dragon_enable_steering_on_signal:
+        if CS.left_blinker_on == 0 and CS.right_blinker_on == 0:
+          self.turning_signal_timer = 0
+        else:
+          self.turning_signal_timer = 100
+
+        if self.turning_signal_timer > 0:
+          self.turning_signal_timer -= 1
+          steer_req = 0
+      else:
+        self.turning_signal_timer = 0
+
+      if not self.dragon_lat_ctrl:
+        steer_req = 0
+
    self.lkas11_cnt = self.cnt % 0x10
    self.clu11_cnt = self.cnt % 0x10

@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 from cereal import car
+from common.realtime import sec_since_boot
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
 from selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -7,6 +8,9 @@ from selfdrive.car.hyundai.carstate import CarState, get_can_parser, get_camera_
 from selfdrive.car.hyundai.values import Ecu, ECU_FINGERPRINT, CAR, get_hud_alerts, FEATURES, FINGERPRINTS
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
+from common.params import Params
+params = Params()
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified

 GearShifter = car.CarState.GearShifter
 ButtonType = car.CarState.ButtonEvent.Type
@@ -33,6 +37,14 @@ class CarInterface(CarInterfaceBase):
    if CarController is not None:
      self.CC = CarController(self.cp.dbc_name, CP.carFingerprint)

+    # dragonpilot
+    self.frame = 0
+    self.dragon_enable_steering_on_signal = False
+    self.dragon_allow_gas = False
+    self.ts_last_check = 0.
+    self.dragon_lat_ctrl = True
+    self.dp_last_modified = None
+
  @staticmethod
  def compute_gb(accel, speed):
    return float(accel) / 3.0
@@ -150,6 +162,17 @@ class CarInterface(CarInterfaceBase):

  # returns a car.CarState
  def update(self, c, can_strings):
+    # dragonpilot, don't check for param too often as it's a kernel call
+    ts = sec_since_boot()
+    if ts - self.ts_last_check >= 5.:
+      modified = dp_get_last_modified()
+      if self.dp_last_modified != modified:
+        self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else True
+        self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
+        self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+        self.dp_last_modified = modified
+      self.ts_last_check = ts
+
    # ******************* do can recv *******************
    self.cp.update_strings(can_strings)
    self.cp_cam.update_strings(can_strings)
@@ -245,7 +268,11 @@ class CarInterface(CarInterfaceBase):
      events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
    if ret.gearShifter == GearShifter.reverse:
      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 ret.cruiseState.enabled and not self.cruise_enabled_prev:
@@ -253,13 +280,17 @@ 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.vEgoRaw > 0.1)):
-      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
+    # DragonAllowGas
+    if not self.dragon_allow_gas:
+      if (ret.gasPressed and not self.gas_pressed_prev) or \
+              (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgoRaw > 0.1)):
+        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 > 0.1):
+        events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))

    if self.low_speed_alert:
      events.append(create_event('belowSteerSpeed', [ET.WARNING]))
@@ -276,7 +307,7 @@ class CarInterface(CarInterfaceBase):

    hud_alert = get_hud_alerts(c.hudControl.visualAlert)

-    can_sends = self.CC.update(c.enabled, self.CS, c.actuators,
+    can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
                               c.cruiseControl.cancel, hud_alert)
-
+    self.frame += 1
    return can_sends
@@ -3,7 +3,9 @@ from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.subaru import subarucan
 from selfdrive.car.subaru.values import DBC
 from opendbc.can.packer import CANPacker
-
+from common.params import Params
+params = Params()
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified

 class CarControllerParams():
  def __init__(self, car_fingerprint):
@@ -32,9 +34,23 @@ class CarController():
    self.params = CarControllerParams(car_fingerprint)
    self.packer = CANPacker(DBC[car_fingerprint]['pt'])

+    # dragonpilot
+    self.turning_signal_timer = 0
+    self.dragon_enable_steering_on_signal = False
+    self.dragon_lat_ctrl = True
+    self.dp_last_modified = None
+
  def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line):
    """ Controls thread """

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

    # Send CAN commands.
@@ -58,6 +74,23 @@ class CarController():
      if not lkas_enabled:
        apply_steer = 0

+      # dragonpilot
+      if enabled:
+        if self.dragon_enable_steering_on_signal:
+          if CS.left_blinker_on == 0 and CS.right_blinker_on == 0:
+            self.turning_signal_timer = 0
+          else:
+            self.turning_signal_timer = 100
+
+          if self.turning_signal_timer > 0:
+            self.turning_signal_timer -= 1
+            apply_steer = 0
+        else:
+          self.turning_signal_timer = 0
+
+        if not self.dragon_lat_ctrl:
+          apply_steer = 0
+
      can_sends.append(subarucan.create_steering_control(self.packer, CS.CP.carFingerprint, apply_steer, frame, P.STEER_STEP))

      self.apply_steer_last = apply_steer
@@ -7,6 +7,10 @@ from selfdrive.car.subaru.values import CAR
 from selfdrive.car.subaru.carstate import CarState, get_powertrain_can_parser, get_camera_can_parser
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
+from common.realtime import sec_since_boot
+from common.params import Params
+params = Params()
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified

 ButtonType = car.CarState.ButtonEvent.Type

@@ -30,6 +34,14 @@ class CarInterface(CarInterfaceBase):
    if CarController is not None:
      self.CC = CarController(CP.carFingerprint)

+    # dragonpilot
+    self.frame = 0
+    self.dragon_enable_steering_on_signal = False
+    self.dragon_allow_gas = False
+    self.ts_last_check = 0.
+    self.dragon_lat_ctrl = True
+    self.dp_last_modified = None
+
  @staticmethod
  def compute_gb(accel, speed):
    return float(accel) / 4.0
@@ -95,6 +107,17 @@ class CarInterface(CarInterfaceBase):

  # returns a car.CarState
  def update(self, c, can_strings):
+    # dragonpilot, don't check for param too often as it's a kernel call
+    ts = sec_since_boot()
+    if ts - self.ts_last_check >= 5.:
+      modified = dp_get_last_modified()
+      if self.dp_last_modified != modified:
+        self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else True
+        self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
+        self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+        self.dp_last_modified = modified
+      self.ts_last_check = ts
+
    self.pt_cp.update_strings(can_strings)
    self.cam_cp.update_strings(can_strings)

@@ -166,17 +189,24 @@ class CarInterface(CarInterfaceBase):
    if ret.doorOpen:
      events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))

+    if not self.dragon_lat_ctrl:
+      events.append(create_event('manualSteeringRequired', [ET.WARNING]))
+    elif (self.CS.left_blinker_on or self.CS.right_blinker_on) and self.dragon_enable_steering_on_signal:
+      events.append(create_event('manualSteeringRequiredBlinkersOn', [ET.WARNING]))
+
    if self.CS.acc_active and not self.acc_active_prev:
      events.append(create_event('pcmEnable', [ET.ENABLE]))
    if not self.CS.acc_active:
      events.append(create_event('pcmDisable', [ET.USER_DISABLE]))

-    # disable on gas pedal rising edge
-    if (ret.gasPressed and not self.gas_pressed_prev):
-      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
+    # DragonAllowGas
+    if not self.dragon_allow_gas:
+      # disable on gas pedal rising edge
+      if (ret.gasPressed and not self.gas_pressed_prev):
+        events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))

-    if ret.gasPressed:
-      events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
+      if ret.gasPressed:
+        events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))

    ret.events = events

@@ -6,6 +6,9 @@ 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 Ecu, CAR, STATIC_MSGS, SteerLimitParams
 from opendbc.can.packer import CANPacker
+from common.params import Params
+params = Params()
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified

 VisualAlert = car.CarControl.HUDControl.VisualAlert

@@ -101,9 +104,27 @@ class CarController():

    self.packer = CANPacker(dbc_name)

+    # dragonpilot
+    self.turning_signal_timer = 0
+    self.dragon_enable_steering_on_signal = False
+    self.dragon_lat_ctrl = True
+    self.dragon_lane_departure_warning = True
+    self.dragon_toyota_sng_mod = False
+    self.dp_last_modified = None
+
  def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
             left_line, right_line, lead, left_lane_depart, right_lane_depart):

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

    # gas and brake
@@ -130,7 +151,7 @@ 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:
@@ -161,7 +182,7 @@ 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
@@ -174,6 +195,34 @@ class CarController():

    can_sends = []

+    # dragonpilot
+    if enabled:
+      if self.dragon_enable_steering_on_signal:
+        if CS.left_blinker_on == 0 and CS.right_blinker_on == 0:
+          self.turning_signal_timer = 0
+        else:
+          self.turning_signal_timer = 100
+  
+        if self.turning_signal_timer > 0:
+          self.turning_signal_timer -= 1
+          apply_steer_req = 0
+      else:
+        self.turning_signal_timer = 0
+  
+      if not self.dragon_lat_ctrl:
+        apply_steer_req = 0
+    else:
+      if CS.v_ego > 12.5:
+        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)

@@ -197,7 +246,7 @@ 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))
@@ -226,8 +275,16 @@ 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.fwdCamera 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))
@@ -1,165 +1,220 @@
-from common.numpy_fast import mean
-from opendbc.can.can_define import CANDefine
-from selfdrive.car.interfaces import CarStateBase
-from opendbc.can.parser import CANParser
-from selfdrive.config import Conversions as CV
-from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, TSS2_CAR, NO_DSU_CAR
-
-
-def get_can_parser(CP):
-
-  signals = [
-    # sig_name, sig_address, default
-    ("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),
-    ("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
-    ("DOOR_OPEN_FL", "SEATS_DOORS", 1),
-    ("DOOR_OPEN_FR", "SEATS_DOORS", 1),
-    ("DOOR_OPEN_RL", "SEATS_DOORS", 1),
-    ("DOOR_OPEN_RR", "SEATS_DOORS", 1),
-    ("SEATBELT_DRIVER_UNLATCHED", "SEATS_DOORS", 1),
-    ("TC_DISABLED", "ESP_CONTROL", 1),
-    ("STEER_FRACTION", "STEER_ANGLE_SENSOR", 0),
-    ("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
-    ("CRUISE_ACTIVE", "PCM_CRUISE", 0),
-    ("CRUISE_STATE", "PCM_CRUISE", 0),
-    ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
-    ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
-    ("TURN_SIGNALS", "STEERING_LEVERS", 3),   # 3 is no blinkers
-    ("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),
-    ("STEER_TORQUE_SENSOR", 50),
-    ("EPS_STATUS", 25),
-  ]
-
-  if CP.carFingerprint == CAR.LEXUS_IS:
-    signals.append(("MAIN_ON", "DSU_CRUISE", 0))
-    signals.append(("SET_SPEED", "DSU_CRUISE", 0))
-    checks.append(("DSU_CRUISE", 5))
-  else:
-    signals.append(("MAIN_ON", "PCM_CRUISE_2", 0))
-    signals.append(("SET_SPEED", "PCM_CRUISE_2", 0))
-    signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0))
-    checks.append(("PCM_CRUISE_2", 33))
-
-  if CP.carFingerprint in NO_DSU_CAR:
-    signals += [("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0)]
-
-  if CP.carFingerprint == CAR.PRIUS:
-    signals += [("STATE", "AUTOPARK_STATUS", 0)]
-
-  # add gas interceptor reading if we are using it
-  if CP.enableGasInterceptor:
-    signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0))
-    signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0))
-    checks.append(("GAS_SENSOR", 50))
-
-  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
-
-
-def get_cam_can_parser(CP):
-
-  signals = [("FORCE", "PRE_COLLISION", 0), ("PRECOLLISION_ACTIVE", "PRE_COLLISION", 0)]
-
-  # use steering message to check if panda is connected to frc
-  checks = [("STEERING_LKA", 42)]
-
-  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
-
-
-class CarState(CarStateBase):
-  def __init__(self, CP):
-    super().__init__(CP)
-    can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
-    self.shifter_values = can_define.dv["GEAR_PACKET"]['GEAR']
-    self.angle_offset = 0.
-    self.init_angle_offset = False
-
-  def update(self, cp, cp_cam):
-    # 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
-
-    self.door_all_closed = not any([cp.vl["SEATS_DOORS"]['DOOR_OPEN_FL'], cp.vl["SEATS_DOORS"]['DOOR_OPEN_FR'],
-                                    cp.vl["SEATS_DOORS"]['DOOR_OPEN_RL'], cp.vl["SEATS_DOORS"]['DOOR_OPEN_RR']])
-    self.seatbelt = not cp.vl["SEATS_DOORS"]['SEATBELT_DRIVER_UNLATCHED']
-
-    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.
-    else:
-      self.pedal_gas = cp.vl["GAS_PEDAL"]['GAS_PEDAL']
-    self.esp_disabled = cp.vl["ESP_CONTROL"]['TC_DISABLED']
-
-    self.v_wheel_fl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FL'] * CV.KPH_TO_MS
-    self.v_wheel_fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS
-    self.v_wheel_rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS
-    self.v_wheel_rr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RR'] * CV.KPH_TO_MS
-    self.v_ego_raw = mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr])
-    self.v_ego, self.a_ego = self.update_speed_kf(self.v_ego_raw)
-
-    self.standstill = not self.v_ego_raw > 0.001
-
-    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:
-      # 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
-      angle_wheel = cp.vl["STEER_ANGLE_SENSOR"]['STEER_ANGLE'] + cp.vl["STEER_ANGLE_SENSOR"]['STEER_FRACTION']
-      if abs(angle_wheel) > 1e-3 and abs(self.angle_steers) > 1e-3 and not self.init_angle_offset:
-        self.init_angle_offset = True
-        self.angle_offset = self.angle_steers - angle_wheel
-    else:
-      self.angle_steers = cp.vl["STEER_ANGLE_SENSOR"]['STEER_ANGLE'] + cp.vl["STEER_ANGLE_SENSOR"]['STEER_FRACTION']
-    self.angle_steers_rate = cp.vl["STEER_ANGLE_SENSOR"]['STEER_RATE']
-    can_gear = int(cp.vl["GEAR_PACKET"]['GEAR'])
-    self.gear_shifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
-    if self.CP.carFingerprint == CAR.LEXUS_IS:
-      self.main_on = cp.vl["DSU_CRUISE"]['MAIN_ON']
-    else:
-      self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
-    self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
-    self.right_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2
-
-    # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
-    self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
-    self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
-    self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
-    self.brake_error = 0
-    self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']
-    self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
-    # we could use the override bit from dbc, but it's triggered at too high torque values
-    self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD
-
-    self.user_brake = 0
-    if self.CP.carFingerprint == CAR.LEXUS_IS:
-      self.v_cruise_pcm = cp.vl["DSU_CRUISE"]['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']
-    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
-    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)
+from common.numpy_fast import mean
+from opendbc.can.can_define import CANDefine
+from selfdrive.car.interfaces import CarStateBase
+from opendbc.can.parser import CANParser
+from selfdrive.config import Conversions as CV
+from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, TSS2_CAR, NO_DSU_CAR
+
+from common.realtime import sec_since_boot
+from common.params import Params
+params = Params()
+
+
+def get_can_parser(CP):
+
+  signals = [
+    # sig_name, sig_address, default
+    ("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
+    ("GEAR", "GEAR_PACKET", 0),
+    ("BRAKE_PRESSED", "BRAKE_MODULE", 0),
+    ("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
+    ("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
+    ("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
+    ("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
+    ("DOOR_OPEN_FL", "SEATS_DOORS", 1),
+    ("DOOR_OPEN_FR", "SEATS_DOORS", 1),
+    ("DOOR_OPEN_RL", "SEATS_DOORS", 1),
+    ("DOOR_OPEN_RR", "SEATS_DOORS", 1),
+    ("SEATBELT_DRIVER_UNLATCHED", "SEATS_DOORS", 1),
+    ("TC_DISABLED", "ESP_CONTROL", 1),
+    ("STEER_FRACTION", "STEER_ANGLE_SENSOR", 0),
+    ("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
+    ("CRUISE_ACTIVE", "PCM_CRUISE", 0),
+    ("CRUISE_STATE", "PCM_CRUISE", 0),
+    ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
+    ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
+    ("TURN_SIGNALS", "STEERING_LEVERS", 3),   # 3 is no blinkers
+    ("LKA_STATE", "EPS_STATUS", 0),
+    ("IPAS_STATE", "EPS_STATUS", 1),
+    ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
+  ]
+
+  checks = [
+    ("WHEEL_SPEEDS", 80),
+    ("STEER_ANGLE_SENSOR", 80),
+    ("PCM_CRUISE", 33),
+    ("STEER_TORQUE_SENSOR", 50),
+    ("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))
+    checks.append(("DSU_CRUISE", 5))
+  else:
+    signals.append(("MAIN_ON", "PCM_CRUISE_2", 0))
+    signals.append(("SET_SPEED", "PCM_CRUISE_2", 0))
+    signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0))
+    checks.append(("PCM_CRUISE_2", 33))
+
+  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:
+    signals += [("STATE", "AUTOPARK_STATUS", 0)]
+
+  # add gas interceptor reading if we are using it
+  if CP.enableGasInterceptor:
+    signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0))
+    signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0))
+    checks.append(("GAS_SENSOR", 50))
+
+  checks = []
+
+  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
+
+
+def get_cam_can_parser(CP):
+
+  signals = [("FORCE", "PRE_COLLISION", 0), ("PRECOLLISION_ACTIVE", "PRE_COLLISION", 0)]
+
+  # use steering message to check if panda is connected to frc
+  checks = [("STEERING_LKA", 42)]
+
+  return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
+
+
+class CarState(CarStateBase):
+  def __init__(self, CP):
+    super().__init__(CP)
+    can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
+    self.shifter_values = can_define.dv["GEAR_PACKET"]['GEAR']
+    self.angle_offset = 0.
+    self.init_angle_offset = False
+
+    # 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
+
+    self.door_all_closed = not any([cp.vl["SEATS_DOORS"]['DOOR_OPEN_FL'], cp.vl["SEATS_DOORS"]['DOOR_OPEN_FR'],
+                                    cp.vl["SEATS_DOORS"]['DOOR_OPEN_RL'], cp.vl["SEATS_DOORS"]['DOOR_OPEN_RR']])
+    self.seatbelt = not cp.vl["SEATS_DOORS"]['SEATBELT_DRIVER_UNLATCHED']
+
+    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.esp_disabled = cp.vl["ESP_CONTROL"]['TC_DISABLED']
+
+    self.v_wheel_fl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FL'] * CV.KPH_TO_MS
+    self.v_wheel_fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS
+    self.v_wheel_rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS
+    self.v_wheel_rr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RR'] * CV.KPH_TO_MS
+    self.v_ego_raw = mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr])
+    self.v_ego, self.a_ego = self.update_speed_kf(self.v_ego_raw)
+
+    self.standstill = not self.v_ego_raw > 0.001
+
+    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 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
+      angle_wheel = cp.vl["STEER_ANGLE_SENSOR"]['STEER_ANGLE'] + cp.vl["STEER_ANGLE_SENSOR"]['STEER_FRACTION']
+      if abs(angle_wheel) > 1e-3 and abs(self.angle_steers) > 1e-3 and not self.init_angle_offset:
+        self.init_angle_offset = True
+        self.angle_offset = self.angle_steers - angle_wheel
+    else:
+      self.angle_steers = cp.vl["STEER_ANGLE_SENSOR"]['STEER_ANGLE'] + cp.vl["STEER_ANGLE_SENSOR"]['STEER_FRACTION']
+    self.angle_steers_rate = cp.vl["STEER_ANGLE_SENSOR"]['STEER_RATE']
+    can_gear = int(cp.vl["GEAR_PACKET"]['GEAR'])
+    self.gear_shifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
+    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
+    self.right_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2
+
+    # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
+    self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
+    self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
+    self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
+    self.brake_error = 0
+    self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']
+    self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
+    # we could use the override bit from dbc, but it's triggered at too high torque values
+    self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD
+
+    self.user_brake = 0
+    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
+    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.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 +8,10 @@ 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()
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified

 ButtonType = car.CarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
@@ -32,6 +36,14 @@ 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
+    self.dp_last_modified = None
+
  @staticmethod
  def compute_gb(accel, speed):
    return float(accel) / 3.0
@@ -62,7 +74,7 @@ class CarInterface(CarInterfaceBase):
      ret.wheelbase = 2.70
      ret.steerRatio = 15.74   # unknown end-to-end spec
      tire_stiffness_factor = 0.6371   # hand-tune
-      ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.mass = 3370. * CV.LB_TO_KG + STD_CARGO_KG

      ret.lateralTuning.init('indi')
      ret.lateralTuning.indi.innerLoopGain = 4.0
@@ -273,6 +285,26 @@ class CarInterface(CarInterfaceBase):
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
      ret.lateralTuning.pid.kf = 0.00006

+    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

@@ -339,6 +371,18 @@ class CarInterface(CarInterfaceBase):

  # returns a car.CarState
  def update(self, c, can_strings):
+    # dragonpilot, don't check for param too often as it's a kernel call
+    ts = sec_since_boot()
+    if ts - self.ts_last_check >= 5.:
+      modified = dp_get_last_modified()
+      if self.dp_last_modified != modified:
+        self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
+        self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
+        self.dragon_toyota_stock_dsu = True if params.get("DragonToyotaStockDSU", encoding='utf8') == "1" else False
+        self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+        self.dp_last_modified = modified
+      self.ts_last_check = ts
+
    # ******************* do can recv *******************
    self.cp.update_strings(can_strings)
    self.cp_cam.update_strings(can_strings)
@@ -440,7 +484,11 @@ 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]))
@@ -459,13 +507,19 @@ 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

@@ -35,6 +35,8 @@ class CAR:
  LEXUS_CTH = "LEXUS CT 200H 2018"
  RAV4H_TSS2 = "TOYOTA RAV4 HYBRID 2019"
  LEXUS_NXH = "LEXUS NX300H 2018"
+  LEXUS_ISH = "LEXUS IS300h 2017"
+  LEXUS_GSH = "LEXUS GS450h 2017"


 # addr: (ecu, cars, bus, 1/freq*100, vl)
@@ -89,6 +91,10 @@ 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, 767:4, 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, 767:4, 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
@@ -117,6 +123,10 @@ FINGERPRINTS = {
  # 2016 Lexus RX 350
    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 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, 767:4, 800: 8, 810: 2, 812: 3, 818: 8, 819: 8, 820: 8, 821: 8, 822: 8, 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, 1263: 8, 1264: 8, 1279: 8, 1349: 8, 1350: 8, 1351: 8, 1413: 8, 1414: 8, 1415: 8, 1416: 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, 2015: 8, 2016: 8, 2024: 8
  },
+  {
+  # RX300 China
+    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
+  },
  # 2017 Lexus RX 350
  {
    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 5, 643: 7, 658: 8, 705: 8, 740: 5, 742: 8, 743: 8, 767:4, 800: 8, 810: 2, 812: 3, 814: 8, 818: 8, 819: 8, 820: 8, 821: 8, 822: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 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, 1082: 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, 1263: 8, 1264: 8, 1279: 8, 1349: 8, 1350: 8, 1351: 8, 1413: 8, 1414: 8, 1415: 8, 1416: 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
@@ -158,9 +168,13 @@ FINGERPRINTS = {
  {
    36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 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, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 888: 8, 889: 8, 891: 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, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1816: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
  },
+  # China 2018 Camry from superdongle
+  {
+    36: 8, 37: 8, 119: 6, 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: 8, 643: 7, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 818: 8, 824: 8, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 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, 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, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 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, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+  },
  {
  # 2019 XSE
-    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 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, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 888: 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, 942: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 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, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 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, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1792: 8, 1767:4, 800: 8, 1808: 8, 1816: 8, 1872: 8, 1880: 8, 1904: 8, 1912: 8, 1937: 8, 1945: 8, 1953: 8, 1961: 8, 1968: 8, 1976: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
+    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 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, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 888: 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, 942: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 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, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 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, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1792: 8, 1767:4, 1808: 8, 1816: 8, 1872: 8, 1880: 8, 1904: 8, 1912: 8, 1937: 8, 1945: 8, 1953: 8, 1961: 8, 1968: 8, 1976: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
  }],
  CAR.CAMRYH: [
  #SE, LE and LE with Blindspot Monitor
@@ -205,6 +219,14 @@ 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, 767:4, 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
+  },
+  # China 2020 RAV4 from superdongle
+  {
+    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, 918: 7, 921: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 987: 8, 993: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1063: 8, 1071: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1112: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1263: 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      
+  },
  # 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, 767:4, 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
@@ -212,11 +234,27 @@ 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, 767:4, 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, 767:4, 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
@@ -230,6 +268,10 @@ FINGERPRINTS = {
  ],
  CAR.LEXUS_ES_TSS2: [{
    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, 767:4, 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, 1990: 8, 1998: 8,
+  },
+  {
+    # 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
  }],
  CAR.LEXUS_ESH_TSS2: [
  {
@@ -247,7 +289,8 @@ 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, 767:4, 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, 767:4, 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
@@ -259,11 +302,20 @@ FINGERPRINTS = {
  },
  ],
  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_NXH: [{
    36: 8, 37: 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: 5, 643: 7, 713: 8, 740: 5, 742: 8, 743: 8, 764: 8, 800: 8, 810: 2, 812: 3, 818: 8, 822: 8, 824: 8, 835: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 889: 8, 891: 8, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 987: 8, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1006: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1057: 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, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1195: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1228: 8, 1232: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 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, 1656: 8, 1728: 8, 1745: 8, 1777: 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
+  }],
 }

 # Don't use theses fingerprints for fingerprinting, they are still needed for ECU detection
@@ -797,6 +849,8 @@ DBC = {
  CAR.LEXUS_CTH: dbc_dict('lexus_ct200h_2018_pt_generated', 'toyota_adas'),
  CAR.RAV4H_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
  CAR.LEXUS_NXH: dbc_dict('lexus_nx300h_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'),
 }

 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, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2]
@@ -25,6 +25,7 @@ from selfdrive.controls.lib.alertmanager import AlertManager
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.controls.lib.planner import LON_MPC_STEP
 from selfdrive.locationd.calibration_helpers import Calibration, Filter
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified

 LANE_DEPARTURE_THRESHOLD = 0.1

@@ -39,11 +40,20 @@ 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):
@@ -216,7 +226,7 @@ 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, LaC, LoC, read_only, is_metric, cal_perc, last_blinker_frame):
+                  AM, rk, 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()
@@ -238,6 +248,11 @@ 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)

@@ -259,19 +274,20 @@ def state_control(frame, rcv_frame, plan, path_plan, CS, CP, state, events, v_cr
  v_acc_sol = plan.vStart + dt * (a_acc_sol + plan.aStart) / 2.0

  # Gas/Brake PID loop
-  actuators.gas, actuators.brake = LoC.update(active, CS.vEgo, CS.brakePressed, CS.standstill, CS.cruiseState.standstill,
+  actuators.gas, actuators.brake = LoC.update(active, CS.vEgo, CS.gasPressed, CS.brakePressed, CS.standstill, CS.cruiseState.standstill,
                                              v_cruise_kph, v_acc_sol, plan.vTargetFuture, a_acc_sol, CP)
  # Steering PID loop and lateral MPC
  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]):
@@ -520,11 +536,32 @@ 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
+  dp_last_modified = None
+
  while True:
+    # dragonpilot, don't check for param too often as it's a kernel call
+    ts = sec_since_boot()
+    if ts - ts_last_check >= 5.:
+      modified = dp_get_last_modified()
+      if dp_last_modified != modified:
+        dragon_toyota_stock_dsu = True if params.get("DragonToyotaStockDSU", encoding='utf8') == "1" else False
+        dragon_lat_control = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
+        dragon_display_steering_limit_alert = False if params.get("DragonDisplaySteeringLimitAlert", encoding='utf8') == "0" else True
+        dragon_lead_car_moving_alert = True if params.get("DragonEnableLeadCarMovingAlert", encoding='utf8') == "1" else False
+        dp_last_modified = modified
+      ts_last_check = ts
+
    start_time = sec_since_boot()
    prof.checkpoint("Ratekeeper", ignore=True)

@@ -550,19 +587,42 @@ 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
@@ -573,7 +633,7 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
    # Compute actuators (runs PID loops and lateral MPC)
    actuators, v_cruise_kph, 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,
-                    LaC, LoC, read_only, is_metric, cal_perc, last_blinker_frame)
+                    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")

@@ -1,12 +1,15 @@
 #!/usr/bin/env python3
 import gc
-from common.realtime import set_realtime_priority
+from common.realtime import set_realtime_priority, sec_since_boot
 from common.params import Params, put_nonblocking
 import cereal.messaging as messaging
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from selfdrive.controls.lib.driver_monitor import DriverStatus, MAX_TERMINAL_ALERTS, MAX_TERMINAL_DURATION
 from selfdrive.locationd.calibration_helpers import Calibration
 from selfdrive.controls.lib.gps_helpers import is_rhd_region
+from common.params import Params
+params = Params()
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified

 def dmonitoringd_thread(sm=None, pm=None):
  gc.disable()
@@ -40,8 +43,46 @@ def dmonitoringd_thread(sm=None, pm=None):
  v_cruise_last = 0
  driver_engaged = False

+  # dragonpilot
+  last_ts = 0
+  dp_last_modified = None
+  dp_enable_driver_safety_check = True
+  dp_enable_driver_monitoring = True
+
  # 10Hz <- dmonitoringmodeld
  while True:
+    cur_time = sec_since_boot()
+    if cur_time - last_ts >= 5.:
+      modified = dp_get_last_modified()
+      if dp_last_modified != modified:
+        dp_enable_driver_safety_check = False if params.get("DragonEnableDriverSafetyCheck", encoding='utf8') == "0" else True
+        # load driver monitor val only when safety is on
+        if dp_enable_driver_safety_check:
+          dp_enable_driver_monitoring = False if params.get("DragonEnableDriverMonitoring", encoding='utf8') == "0" else True
+        # load steering monitor timer val only when driver monitor is on
+        if dp_enable_driver_safety_check:
+          try:
+            dp_awareness_time = int(params.get("DragonSteeringMonitorTimer", encoding='utf8'))
+          except TypeError:
+            dp_awareness_time = 0.
+          driver_status.awareness_time = 86400 if dp_awareness_time <= 0. else dp_awareness_time * 60.
+        dp_last_modified = modified
+      last_ts = cur_time
+
+    if not dp_enable_driver_safety_check:
+      dp_enable_driver_monitoring = False
+      driver_status.awareness_time = 86400
+
+    # reset all awareness val and set to rhd region, this will enforce steering monitor.
+    if not dp_enable_driver_monitoring:
+      driver_status.is_rhd_region = True
+      driver_status.is_rhd_region_checked = True
+      driver_status.awareness = 1.
+      driver_status.awareness_active = 1.
+      driver_status.awareness_passive = 1.
+      driver_status.terminal_alert_cnt = 0
+      driver_status.terminal_time = 0
+
    sm.update()

    # GPS coords RHD parsing, once every restart
@@ -1,3 +1,5 @@
+# This Python file uses the following encoding: utf-8
+# -*- coding: utf-8 -*-
 from cereal import car, log

 # Priority
@@ -75,8 +77,8 @@ ALERTS = [

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

@@ -89,85 +91,85 @@ ALERTS = [

  Alert(
      "steerSaturated",
-      "TAKE CONTROL",
-      "Turn Exceeds Steering Limit",
+      "接管控制",
+      "弯道超过方向盘转向限制",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 2., 3.),

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

  Alert(
      "steerTempUnavailableMute",
-      "TAKE CONTROL",
-      "Steering Temporarily Unavailable",
+      "接管控制",
+      "转向控制暂时失效",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .2, .2, .2),

  Alert(
      "preDriverDistracted",
-      "KEEP EYES ON ROAD: Driver Appears Distracted",
+      "注意路况：驾驶出现分心",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),

  Alert(
      "promptDriverDistracted",
-      "KEEP EYES ON ROAD",
-      "Driver Appears Distracted",
+      "注意路况",
+      "驾驶出现分心",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),

  Alert(
      "driverDistracted",
-      "DISENGAGE IMMEDIATELY",
-      "Driver Was Distracted",
+      "立即解除",
+      "驾驶出现分心",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),

  Alert(
      "preDriverUnresponsive",
-      "TOUCH STEERING WHEEL: No Face Detected",
+      "触碰方向盘：无驾驶监控",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),

  Alert(
      "promptDriverUnresponsive",
-      "TOUCH STEERING WHEEL",
-      "Driver Is Unresponsive",
+      "触碰方向盘",
+      "驾驶没有反应",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),

  Alert(
      "driverUnresponsive",
-      "DISENGAGE IMMEDIATELY",
-      "Driver Was Unresponsive",
+      "立即解除",
+      "驾驶没有反应",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),

  Alert(
      "driverMonitorLowAcc",
-      "CHECK DRIVER FACE VISIBILITY",
-      "Driver Monitor Model Output Uncertain",
+      "检查驾驶面部能见度",
+      "驾驶监控模型输出不明确",
      AlertStatus.normal, AlertSize.mid,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .4, 0., 1.),
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, .4, 0., 4.),

  Alert(
      "geofence",
-      "DISENGAGEMENT REQUIRED",
-      "Not in Geofenced Area",
+      "请求解除",
+      "不在地理围栏区域之内",
      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",
+      "随时准备好接管",
+      "请您将手放在方向盘上并持续注意路况",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),

@@ -180,233 +182,233 @@ ALERTS = [

  Alert(
      "startupNoControl",
-      "Dashcam mode",
-      "Always keep hands on wheel and eyes on road",
+      "硬扯记录模式",
+      "请您将手放在方向盘上并持续注意路况",
      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",
+      "行车记录模式（为支持的车型）",
+      "请您将手放在方向盘上并持续注意路况",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),

  Alert(
      "ethicalDilemma",
-      "TAKE CONTROL IMMEDIATELY",
-      "Ethical Dilemma Detected",
+      "即可接管控制",
+      "检测到困难",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 3.),

  Alert(
      "steerTempUnavailableNoEntry",
-      "openpilot Unavailable",
-      "Steering Temporarily Unavailable",
+      "无法使用 dragonpilot",
+      "转向控制暂时失效",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),

  Alert(
      "manualRestart",
-      "TAKE CONTROL",
-      "Resume Driving Manually",
+      "接管控制",
+      "请自行恢复驾驶",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

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

  Alert(
      "belowSteerSpeed",
-      "TAKE CONTROL",
-      "Steer Unavailable Below ",
+      "接管控制",
+      "转向控制暂时失效，车速低于",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.none, 0., 0.4, .3),

  Alert(
      "debugAlert",
-      "DEBUG ALERT",
+      "DEBUG提示",
      "",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, .1, .1),
  Alert(
      "preLaneChangeLeft",
-      "Steer Left to Start Lane Change",
-      "Monitor Other Vehicles",
+      "往左打方向盘开始切换车道",
+      "请注意其他车辆",
      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",
+      "往右打方向盘开始切换车道",
+      "请注意其他车辆",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, .0, .1, .1, alert_rate=0.75),

  Alert(
      "laneChange",
-      "Changing Lane",
-      "Monitor Other Vehicles",
+      "切换车道中",
+      "请注意其他车辆",
      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",
+      "视觉模型输出不明确",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning1, .4, 2., 3.),

  # Non-entry only alerts
  Alert(
      "wrongCarModeNoEntry",
-      "openpilot Unavailable",
-      "Main Switch Off",
+      "无法使用 dragonpilot",
+      "主开关关闭",
      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",
+      "无法使用 dragonpilot",
+      "需要更多的数据来协助校准，请将行车记录上传后再试",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),

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

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

  Alert(
      "speedTooLowNoEntry",
-      "openpilot Unavailable",
-      "Speed Too Low",
+      "无法使用 dragonpilot",
+      "车速过慢",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "brakeHoldNoEntry",
-      "openpilot Unavailable",
-      "Brake Hold Active",
+      "无法使用 dragonpilot",
+      "驻车刹车已启用",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "parkBrakeNoEntry",
-      "openpilot Unavailable",
-      "Park Brake Engaged",
+      "无法使用 dragonpilot",
+      "电车驻车已启动",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "lowSpeedLockoutNoEntry",
-      "openpilot Unavailable",
-      "Cruise Fault: Restart the Car",
+      "无法使用 dragonpilot",
+      "巡航系统错误，请重新发动车辆",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "lowBatteryNoEntry",
-      "openpilot Unavailable",
-      "Low Battery",
+      "无法使用 dragonpilot",
+      "电池电量过低",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "sensorDataInvalidNoEntry",
-      "openpilot Unavailable",
-      "No Data from Device Sensors",
+      "无法使用 dragonpilot",
+      "没有收到任何来自传感器的数据",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

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

  Alert(
      "tooDistractedNoEntry",
-      "openpilot Unavailable",
-      "Distraction Level Too High",
+      "无法使用 dragonpilot",
+      "注意力高度不集中",
      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",
+      "系统过热",
      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",
+      "档位不在D档",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
      "calibrationInvalid",
-      "TAKE CONTROL IMMEDIATELY",
-      "Calibration Invalid: Reposition Device and Recalibrate",
+      "即刻接管控制",
+      "校准无效：请将传感器放于新的位置并重新校准",
      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",
+      "正在校准相机中",
      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",
+      "车门开启",
      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",
+      "未系安全带",
      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关闭",
      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",
+      "电池电量过低",
      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",
+      "雷达讯号错误：请重新发动车辆",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

@@ -418,343 +420,343 @@ ALERTS = [
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

  Alert(
-      "radarCanError",
-      "TAKE CONTROL IMMEDIATELY",
-      "Radar Error: Restart the Car",
+      "radarFault",
+      "即刻接管控制",
+      "雷达讯号错误：请重新发动车辆",
      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",
+      "雷达讯号错误：请重新发动车辆",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),


  Alert(
      "lowMemory",
-      "TAKE CONTROL IMMEDIATELY",
-      "Low Memory: Reboot Your Device",
+      "即刻接管控制",
+      "内存过低: 请重启装置",
      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",
+      "控制错误",
      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错误：请检查连接",
      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错误：请重新发动车辆",
      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",
+      "巡航系统错误：请重新发动车辆",
      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",
+      "油门错误：请重新发动车辆",
      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",
+      "切换至倒车档",
      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",
+      "巡航系统关闭",
      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 错误",
      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",
+      "没有侦测到前车",
      AlertStatus.normal, AlertSize.mid,
      Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

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

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

  Alert(
      "wrongGearNoEntry",
-      "openpilot Unavailable",
-      "Gear not D",
+      "无法使用 dragonpilot",
+      "车辆不在D档",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "calibrationInvalidNoEntry",
-      "openpilot Unavailable",
-      "Calibration Invalid: Reposition Device and Recalibrate",
+      "无法使用 dragonpilot",
+      "校准无效：请将传感器放于新的位置并重新校准",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "calibrationIncompleteNoEntry",
-      "openpilot Unavailable",
-      "Calibration in Progress",
+      "无法使用 dragonpilot",
+      "正在校准相机中",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "doorOpenNoEntry",
-      "openpilot Unavailable",
-      "Door open",
+      "无法使用 dragonpilot",
+      "车门开启",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "seatbeltNotLatchedNoEntry",
-      "openpilot Unavailable",
-      "Seatbelt unlatched",
+      "无法使用 dragonpilot",
+      "未系安全带",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

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

  Alert(
      "geofenceNoEntry",
-      "openpilot Unavailable",
-      "Not in Geofenced Area",
+      "无法使用 dragonpilot",
+      "不在地理围栏区域之内",
      AlertStatus.normal, AlertSize.mid,
      Priority.MID, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "radarCanErrorNoEntry",
-      "openpilot Unavailable",
-      "Radar Error: Restart the Car",
+      "无法使用 dragonpilot",
+      "雷达信号错误：请重新发动车辆",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "radarFaultNoEntry",
-      "openpilot Unavailable",
-      "Radar Error: Restart the Car",
+      "无法使用 dragonpilot",
+      "雷达信号错误：请重新发动车辆",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "posenetInvalidNoEntry",
-      "openpilot Unavailable",
-      "Vision Model Output Uncertain",
+      "无法使用 dragonpilot",
+      "视觉模型输出不明确",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "controlsFailedNoEntry",
-      "openpilot Unavailable",
-      "Controls Failed",
+      "无法使用 dragonpilot",
+      "控制发生错误",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "canErrorNoEntry",
-      "openpilot Unavailable",
-      "CAN Error: Check Connections",
+      "无法使用 dragonpilot",
+      "CAN错误：请检查连接",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "steerUnavailableNoEntry",
-      "openpilot Unavailable",
-      "LKAS Fault: Restart the Car",
+      "无法使用 dragonpilot",
+      "LKAS错误: 请重新发动车辆",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "brakeUnavailableNoEntry",
-      "openpilot Unavailable",
-      "Cruise Fault: Restart the Car",
+      "无法使用 dragonpilot",
+      "巡航系统错误：请重新发动车辆",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "gasUnavailableNoEntry",
-      "openpilot Unavailable",
-      "Gas Error: Restart the Car",
+      "无法使用 dragonpilot",
+      "油门错误：请重新发动车辆",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

  Alert(
      "reverseGearNoEntry",
-      "openpilot Unavailable",
-      "Reverse Gear",
+      "无法使用 dragonpilot",
+      "切换至倒车档",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

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

  Alert(
      "noTargetNoEntry",
-      "openpilot Unavailable",
-      "No Close Lead Car",
+      "无法使用 dragonpilot",
+      "没有侦测到前车",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 2., 3.),

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

  Alert(
      "commIssueNoEntry",
-      "openpilot Unavailable",
-      "Communication Issue between Processes",
+      "无法使用 dragonpilot",
+      "进程通讯异常",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

  Alert(
      "radarCommIssueNoEntry",
-      "openpilot Unavailable",
-      "Radar Communication Issue",
+      "无法使用 dragonpilot",
+      "雷达通讯异常",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

  Alert(
      "internetConnectivityNeededNoEntry",
-      "openpilot Unavailable",
-      "Please Connect to Internet",
+      "无法使用 dragonpilot",
+      "需要连接到网络",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

  Alert(
      "lowMemoryNoEntry",
-      "openpilot Unavailable",
-      "Low Memory: Reboot Your Device",
+      "无法使用 dragonpilot",
+      "内存过低: 请重启装置",
      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错误: 请重新发动车辆",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "brakeUnavailablePermanent",
-      "Cruise Fault: Restart the car to engage",
+      "巡航系统错误：请重新发动车辆",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "lowSpeedLockoutPermanent",
-      "Cruise Fault: Restart the car to engage",
+      "巡航系统错误：请重新发动车辆",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "calibrationIncompletePermanent",
-      "Calibration in Progress: ",
-      "Drive Above ",
+      "正在校准相机中 ",
+      "车速请高于",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "invalidGiraffeToyotaPermanent",
-      "Unsupported Giraffe Configuration",
-      "Visit comma.ai/tg",
+      "不支持的 Giraffe 配置",
+      "请查看 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",
+      "需要连接到网络",
+      "检查更新后才能启用",
      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",
+      "检测到社区功能",
+      "请在开发者设置中启用社区功能",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),  # LOW priority to overcome Cruise Error

  Alert(
      "sensorDataInvalidPermanent",
-      "No Data from Device Sensors",
-      "Reboot your Device",
+      "没有收到任何来自传感器的数据",
+      "请重启您的装置",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "soundsUnavailablePermanent",
-      "Speaker not found",
-      "Reboot your Device",
+      "找不到音效装置",
+      "请重启您的装置",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

  Alert(
      "lowMemoryPermanent",
-      "RAM Critically Low",
-      "Reboot your Device",
+      "内存严重不足",
+      "请重启您的装置",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

@@ -767,7 +769,7 @@ ALERTS = [

  Alert(
      "vehicleModelInvalid",
-      "Vehicle Parameter Identification Failed",
+      "车辆参数识别失败",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOWEST, VisualAlert.steerRequired, AudibleAlert.none, .0, .0, .1),
@@ -775,8 +777,55 @@ ALERTS = [
  # offroad alerts
  Alert(
      "ldwPermanent",
-      "TAKE CONTROL",
-      "Lane Departure Detected",
+      "接管控制",
+      "检测到车道偏离",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 2., 3.),
+  # dragonpilot
+  Alert(
+    "manualSteeringRequired",
+    "接管控制: 车道保持关闭",
+    "",
+    AlertStatus.normal, AlertSize.small,
+    Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),
+
+  Alert(
+    "manualSteeringRequiredBlinkersOn",
+    "接管控制: 转向灯开启",
+    "",
+    AlertStatus.normal, AlertSize.small,
+    Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),
+  Alert(
+    "leadCarMoving",
+    "前车移动中，请开始加速",
+    "",
+    AlertStatus.userPrompt, AlertSize.small,
+    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1),
+  Alert(
+    "leadCarDetected",
+    "侦测到前车，等待中",
+    "",
+    AlertStatus.normal, AlertSize.small,
+    Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),
+  Alert(
+    "preAutoLaneChangeLeft",
+    "将在三秒后自动切入左道",
+    "请注意其他车辆",
+    AlertStatus.normal, AlertSize.mid,
+    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1, alert_rate=0.75),
+
+  Alert(
+    "preAutoLaneChangeRight",
+    "将在三秒后自动切入入右道",
+    "请注意其他车辆",
+    AlertStatus.normal, AlertSize.mid,
+    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimeWarning2, .1, .1, .1, alert_rate=0.75),
+
+  Alert(
+    "autoLaneChange",
+    "切换车道中",
+    "请注意其他车辆",
+    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": "车辆熄火 30 小时后将停止为 EON 充电，再次启动车辆后，EON 恢复充电。",
    "severity": 0
  },
  "Offroad_TemperatureTooHigh": {
-    "text": "Device temperature too high. System won't start.",
+    "text": "装置温度过高，系统暂不可用。",
    "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": "请立即连网检查更新，否则 dragonpilot 将不可用。",
    "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": "请连网并检查更新，连网更新后 dragonpilot 才能正常使用。",
    "severity": 1
  },
  "Offroad_PandaFirmwareMismatch": {
-    "text": "Unexpected panda firmware version. System won't start. Reboot your device to reflash panda.",
+    "text": "Panda 固件版本异常，系统无法启用，请重启装置并更新 Panda 固件。",
    "severity": 1
  },
  "Offroad_InvalidTime": {
-    "text": "Invalid date and time settings, system won't start. Connect to internet to set time.",
+    "text": "系统时间设置错误，系统无法启用。请连网更新时间设置。",
    "severity": 1
  },
  "Offroad_IsTakingSnapshot": {
-    "text": "Taking camera snapshots. System won't start until finished.",
+    "text": "相机拍摄中，完成前系统无法启动。",
    "severity": 0
  }
 }
@@ -111,6 +111,9 @@ class DriverStatus():
    self.is_rhd_region = False
    self.is_rhd_region_checked = False

+    # dragonpilot
+    self.awareness_time = 70.
+
    self._set_timers(active_monitoring=True)

  def _set_timers(self, active_monitoring):
@@ -138,9 +141,9 @@ 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_DMON / _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_DMON / self.awareness_time
      self.active_monitoring_mode = False

  def _is_driver_distracted(self, pose, blink):
@@ -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)
@@ -71,7 +71,7 @@ class LongControl():
    self.pid.reset()
    self.v_pid = v_pid

-  def update(self, active, v_ego, brake_pressed, standstill, cruise_standstill, v_cruise, v_target, v_target_future, a_target, CP):
+  def update(self, active, v_ego, gas_pressed, brake_pressed, standstill, cruise_standstill, v_cruise, v_target, v_target_future, a_target, CP):
    """Update longitudinal control. This updates the state machine and runs a PID loop"""
    # Actuation limits
    gas_max = interp(v_ego, CP.gasMaxBP, CP.gasMaxV)
@@ -85,7 +85,7 @@ class LongControl():

    v_ego_pid = max(v_ego, MIN_CAN_SPEED)  # Without this we get jumps, CAN bus reports 0 when speed < 0.3

-    if self.long_control_state == LongCtrlState.off:
+    if self.long_control_state == LongCtrlState.off or gas_pressed:
      self.v_pid = v_ego_pid
      self.pid.reset()
      output_gb = 0.
@@ -9,6 +9,9 @@ from selfdrive.config import Conversions as CV
 from common.params import Params
 import cereal.messaging as messaging
 from cereal import log
+# dragonpilot
+from common.params import Params
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified

 LaneChangeState = log.PathPlan.LaneChangeState
 LaneChangeDirection = log.PathPlan.LaneChangeDirection
@@ -60,6 +63,18 @@ 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 * CV.MPH_TO_MS
+    self.dragon_auto_lc_min_mph = 60 * CV.MPH_TO_MS
+    self.dragon_auto_lc_delay = 2.
+    self.last_ts = 0.
+    self.dp_last_modified = None
+
  def setup_mpc(self):
    self.libmpc = libmpc_py.libmpc
    self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, self.steer_rate_cost)
@@ -77,6 +92,33 @@ 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.:
+      modified = dp_get_last_modified()
+      if self.dp_last_modified != modified:
+        self.dragon_assisted_lc_enabled = self.lane_change_enabled
+        if self.dragon_assisted_lc_enabled:
+          self.dragon_auto_lc_enabled = True if self.params.get("DragonEnableAutoLC", encoding='utf8') == "1" else False
+          # adjustable assisted lc min speed
+          self.dragon_assisted_lc_min_mph = int(self.params.get("DragonAssistedLCMinMPH", encoding='utf8')) * CV.MPH_TO_MS
+          if self.dragon_assisted_lc_min_mph < 0:
+            self.dragon_assisted_lc_min_mph = 0
+          if self.dragon_auto_lc_enabled:
+            # adjustable auto lc min speed
+            self.dragon_auto_lc_min_mph = int(self.params.get("DragonAutoLCMinMPH", encoding='utf8')) * CV.MPH_TO_MS
+            if self.dragon_auto_lc_min_mph < 0:
+              self.dragon_auto_lc_min_mph = 0
+            # when auto lc is smaller than assisted lc, we set assisted lc to the same speed as auto lc
+            if self.dragon_auto_lc_min_mph < self.dragon_assisted_lc_min_mph:
+              self.dragon_assisted_lc_min_mph = self.dragon_auto_lc_min_mph
+            # adjustable auto lc delay
+            self.dragon_auto_lc_delay = int(self.params.get("DragonAutoLCDelay", encoding='utf8'))
+            if self.dragon_auto_lc_delay < 0:
+              self.dragon_auto_lc_delay = 0
+        self.dp_last_modified = modified
+      self.last_ts = cur_time
+
    v_ego = sm['carState'].vEgo
    angle_steers = sm['carState'].steeringAngle
    active = sm['controlsState'].active
@@ -92,7 +134,7 @@ class PathPlanner():

    # Lane change logic
    one_blinker = sm['carState'].leftBlinker != sm['carState'].rightBlinker
-    below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
+    below_lane_change_speed = v_ego < self.dragon_assisted_lc_min_mph

    if sm['carState'].leftBlinker:
      self.lane_change_direction = LaneChangeDirection.left
@@ -109,6 +151,27 @@ 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:
+        # 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:
@@ -132,6 +195,9 @@ 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:
@@ -209,6 +275,7 @@ class PathPlanner():
    plan_send.pathPlan.desire = desire
    plan_send.pathPlan.laneChangeState = self.lane_change_state
    plan_send.pathPlan.laneChangeDirection = self.lane_change_direction
+    plan_send.pathPlan.autoLCAllowed = self.dragon_auto_lc_allowed

    pm.send('pathPlan', plan_send)

@@ -13,6 +13,7 @@ from selfdrive.controls.lib.speed_smoother import speed_smoother
 from selfdrive.controls.lib.longcontrol import LongCtrlState, MIN_CAN_SPEED
 from selfdrive.controls.lib.fcw import FCWChecker
 from selfdrive.controls.lib.long_mpc import LongitudinalMpc
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified

 MAX_SPEED = 255.0

@@ -22,33 +23,51 @@ AWARENESS_DECEL = -0.2     # car smoothly decel at .2m/s^2 when user is distract

 # lookup tables VS speed to determine min and max accels in cruise
 # make sure these accelerations are smaller than mpc limits
-_A_CRUISE_MIN_V  = [-1.0, -.8, -.67, -.5, -.30]
-_A_CRUISE_MIN_BP = [   0., 5.,  10., 20.,  40.]
+_A_CRUISE_MIN_V_ECO = [-1.0, -0.7, -0.6, -0.5, -0.3]
+_A_CRUISE_MIN_V_SPORT = [-3.0, -2.6, -2.3, -2.0, -1.0]
+
+_A_CRUISE_MIN_V = [-2.0, -1.5, -1.0, -0.7, -0.5]
+_A_CRUISE_MIN_BP = [0.0, 5.0, 10.0, 20.0, 55.0]

 # need fast accel at very low speed for stop and go
 # make sure these accelerations are smaller than mpc limits
-_A_CRUISE_MAX_V = [1.2, 1.2, 0.65, .4]
-_A_CRUISE_MAX_V_FOLLOWING = [1.6, 1.6, 0.65, .4]
-_A_CRUISE_MAX_BP = [0.,  6.4, 22.5, 40.]
+_A_CRUISE_MAX_V = [2.0, 2.0, 1.5, .5, .3]
+_A_CRUISE_MAX_V_ECO = [1.0, 1.5, 1.0, 0.3, 0.1]
+_A_CRUISE_MAX_V_SPORT = [3.0, 3.5, 4.0, 4.0, 4.0]
+_A_CRUISE_MAX_V_FOLLOWING = [1.3, 1.6, 1.2, .7, .3]
+_A_CRUISE_MAX_BP = [0., 5., 10., 20., 55.]

 # Lookup table for turns
-_A_TOTAL_MAX_V = [1.7, 3.2]
-_A_TOTAL_MAX_BP = [20., 40.]
+_A_TOTAL_MAX_V = [3.3, 3.0, 3.9]
+_A_TOTAL_MAX_BP = [0., 25., 55.]

 # 75th percentile
 SPEED_PERCENTILE_IDX = 7

+# dragonpilot, accel profiles
+ACCEL_ECO_MODE = -1
+ACCEL_NORMAL_MODE = 0
+ACCEL_SPORT_MODE = 1

-def calc_cruise_accel_limits(v_ego, following):
-  a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
+def calc_cruise_accel_limits(v_ego, following, accel_profile):
+  if accel_profile == ACCEL_ECO_MODE:
+    a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V_ECO)
+  elif accel_profile == ACCEL_SPORT_MODE:
+    a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V_SPORT)
+  else:
+    a_cruise_min = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)

  if following:
    a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V_FOLLOWING)
  else:
-    a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V)
+    if accel_profile == ACCEL_ECO_MODE:
+      a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V_ECO)
+    elif accel_profile == ACCEL_SPORT_MODE:
+      a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V_SPORT)
+    else:
+      a_cruise_max = interp(v_ego, _A_CRUISE_MAX_BP, _A_CRUISE_MAX_V)
  return np.vstack([a_cruise_min, a_cruise_max])

-
 def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
  """
  This function returns a limited long acceleration allowed, depending on the existing lateral acceleration
@@ -87,6 +106,14 @@ class Planner():
    self.params = Params()
    self.first_loop = True

+    # dragonpilot
+    self.dragon_slow_on_curve = True
+    self.dragon_alt_accel_profile = False
+    self.dragon_fast_accel = False
+    self.dragon_accel_profile = ACCEL_NORMAL_MODE
+    self.last_ts = 0.
+    self.dp_last_modified = None
+
  def choose_solution(self, v_cruise_setpoint, enabled):
    if enabled:
      solutions = {'model': self.v_model, 'cruise': self.v_cruise}
@@ -119,6 +146,18 @@ 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.:
+      modified = dp_get_last_modified()
+      if self.dp_last_modified != modified:
+        self.dragon_slow_on_curve = False if self.params.get("DragonEnableSlowOnCurve", encoding='utf8') == "0" else True
+        self.dragon_accel_profile = int(self.params.get("DragonAccelProfile", encoding='utf8'))
+        if self.dragon_accel_profile >= 2 or self.dragon_accel_profile <= -2:
+          self.dragon_accel_profile = 0
+        self.dp_last_modified = modified
+      self.last_ts = cur_time
+
    long_control_state = sm['controlsState'].longControlState
    v_cruise_kph = sm['controlsState'].vCruise
    force_slow_decel = sm['controlsState'].forceDecel
@@ -130,7 +169,7 @@ 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
@@ -150,7 +189,7 @@ class Planner():

    # Calculate speed for normal cruise control
    if enabled and not self.first_loop:
-      accel_limits = [float(x) for x in calc_cruise_accel_limits(v_ego, following)]
+      accel_limits = [float(x) for x in calc_cruise_accel_limits(v_ego, following, self.dragon_accel_profile)]
      jerk_limits = [min(-0.1, accel_limits[0]), max(0.1, accel_limits[1])]  # TODO: make a separate lookup for jerk tuning
      accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngle, accel_limits, self.CP)

@@ -3,7 +3,9 @@ import os
 import sys
 import threading
 import capnp
-from selfdrive.version import version, dirty
+from common.params import Params
+from selfdrive.version import version, dirty, origin, branch
+uniqueID = Params().get('DongleId', None)

 from selfdrive.swaglog import cloudlog

@@ -19,8 +21,15 @@ 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})
+  params = Params()
+  try:
+    dongle_id = params.get("DongleId").decode('utf8')
+  except AttributeError:
+    dongle_id = "None"
+  error_tags = {'dirty': dirty, 'username': uniqueID, 'dongle_id': dongle_id, 'branch': branch, 'remote': origin}
+
+  client = Client('https://980a0cba712a4c3593c33c78a12446e1:fecab286bcaf4dba8b04f7cff0188e2d@sentry.io/1488600',
+                  install_sys_hook=False, transport=HTTPTransport, release=version, tags=error_tags)

  def capture_exception(*args, **kwargs):
    exc_info = sys.exc_info()
@@ -31,6 +40,14 @@ else:
  def bind_user(**kwargs):
    client.user_context(kwargs)

+  def capture_warning(warning_string):
+    bind_user(id=dongle_id)
+    client.captureMessage(warning_string, level='warning')
+
+  def capture_info(info_string):
+    bind_user(id=dongle_id)
+    client.captureMessage(info_string, level='info')
+
  def bind_extra(**kwargs):
    client.extra_context(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 +1,391 @@
+#!/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()
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
+from math import floor
+
+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)
+    if self.manual_ctrl_param is not None:
+      put_nonblocking(self.manual_ctrl_param, '0')
+    self.last_ts = sec_since_boot()
+
+  def read_params(self):
+    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.manual_ctrl_status == self.MANUAL_IDLE:
+          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
+
+  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')
+        put_nonblocking('DragonLastModified', str(floor(time.time())))
+        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(
+    "cn.dragonpilot.gpsservice",
+    "cn.dragonpilot.gpsservice.MainService",
+    "DragonGreyPandaMode",
+    None,
+    None,
+    App.TYPE_GPS_SERVICE,
+    [],
+    [],
+  ))
+  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(
+    # v4.5.0.600053
+    "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(
+    # 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")
+
+  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
+  start_ts = sec_since_boot()
+  init_done = False
+  last_modified = None
+
+  while 1: #has_enabled_apps:
+    if not init_done and sec_since_boot() - start_ts >= 10:
+      init_apps(apps)
+      init_done = True
+
+    if init_done:
+      enabled_apps = []
+      has_fullscreen_apps = False
+      modified = dp_get_last_modified()
+      for app in apps:
+        # read params loop
+        if last_modified != modified:
+          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
+
+          # process manual ctrl apps
+          if app.manual_ctrl_status != App.MANUAL_IDLE:
+            app.run(True) if app.manual_ctrl_status == App.MANUAL_ON else app.kill(True)
+
+          enabled_apps.append(app)
+      last_modified = modified
+      msg = messaging.recv_sock(thermal_sock, wait=True)
+      started = msg.thermal.started
+      # when car is running
+      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 enabled_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 enabled_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 enabled_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 enabled_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 +1,80 @@
+#!/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("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))
+      start_time = time.time()
+      try:
+        used_spaces = get_used_spaces()
+        last_used_spaces = used_spaces
+
+        # we should clean up files here if use too much spaces
+        # when used spaces greater than max available storage
+        # or when free space is less than 10%
+        # get health of board, log this in "thermal"
+        msg = messaging.recv_sock(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
+      except os.error as e:
+        pass
+      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 +1,111 @@
+#!/usr/bin/env python2.7
+from common.params import Params, put_nonblocking
+import time
+from math import floor
+
+default_conf = {
+  'DragonEnableDashcam': '0',
+  'DragonEnableDriverSafetyCheck': '1',
+  'DragonEnableAutoShutdown': '1',
+  'DragonAutoShutdownAt': '0', # in minute
+  'DragonEnableSteeringOnSignal': '0',
+  'DragonEnableLogger': '1',
+  'DragonEnableUploader': '1',
+  'DragonNoctuaMode': '0',
+  'DragonCacheCar': '0',
+  'DragonCachedModel': '', # for cache car
+  'DragonCachedFP': '', # for cache car
+  'DragonCachedVIN': '', # for cache car
+  'DragonCachedCarFW': '', # for cache car
+  'DragonCachedSource': '', # for cache car
+  'DragonAllowGas': '0',
+  'DragonToyotaStockDSU': '0',
+  'DragonLatCtrl': '1',
+  'DragonUISpeed': '1',
+  'DragonUIEvent': '1',
+  'DragonUIMaxSpeed': '1',
+  'DragonUIFace': '1',
+  'DragonUIDev': '0',
+  'DragonUIDevMini': '0',
+  # 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', # 180 secs
+  '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',
+  'DragonUIDMView': '0',
+  'DragonEnableDriverMonitoring': '1',
+  'DragonCarModel': '',
+  'DragonEnableSlowOnCurve': '1',
+  'DragonEnableLeadCarMovingAlert': '0',
+  'DragonToyotaSnGMod': '0',
+  'DragonEnableSRLearner': '1',
+  'DragonWazeMode': '0',
+  'DragonRunWaze': '0',
+  'DragonEnableAutoLC': '0',
+  'DragonAssistedLCMinMPH': 45,
+  'DragonAutoLCMinMPH': 60,
+  'DragonAutoLCDelay': 2,
+  'DragonBTG': 0,
+  'DragonBootHotspot': 0,
+  'DragonAccelProfile': '0',
+  'DragonLastModified': str(floor(time.time()))
+}
+
+deprecated_conf = {
+}
+
+deprecated_conf_invert = {
+#   'DragonDisableDriverSafetyCheck': True,
+#   'DragonTempDisableSteerOnSignal': False,
+#   'DragonDisableLogger': True,
+#   'DragonDisableUploader': True,
+#   'DragonBBUI': False
+}
+
+def dp_get_last_modified():
+  return Params().get('DragonLastModified', encoding='utf-8')
+
+def dragonpilot_set_params(params):
+  # # remove deprecated params
+  # for old, new in deprecated_conf.items():
+  #   if params.get(old) is not None:
+  #     if new is not None:
+  #       old_val = str(params.get(old))
+  #       new_val = old_val
+  #       # invert the value if true
+  #       if old in deprecated_conf_invert and deprecated_conf_invert[old] is True:
+  #         new_val = "1" if old_val == "0" else "0"
+  #       put_nonblocking(new, new_val)
+  #     params.delete(old)
+
+  # 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 +1,49 @@
+#!/usr/bin/env python3
+import os
+import time
+from common.params import Params
+params = Params()
+import cereal.messaging as messaging
+from common.realtime import sec_since_boot
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
+
+def main():
+  thermal_sock = messaging.sub_sock('thermal')
+  last_ts = 0
+  secs = 0
+  last_secs = None
+  shutdown_at = 0
+  started = False
+  usb_online = False
+  enabled = False
+  last_enabled = None
+  dp_last_modified = None
+  while 1:
+    cur_time = sec_since_boot()
+    if cur_time - last_ts >= 10.:
+      modified = dp_get_last_modified()
+      if dp_last_modified != modified:
+        enabled = True if params.get("DragonEnableAutoShutdown", encoding='utf8') == '1' else False
+        if enabled:
+          secs = int(params.get("DragonAutoShutdownAt", encoding='utf8')) * 60
+
+        dp_last_modified = modified
+
+      if enabled:
+        msg = messaging.recv_sock(thermal_sock, wait=True)
+        started = msg.thermal.started
+        usb_online = msg.thermal.usbOnline
+
+      if last_enabled != enabled or last_secs != secs or started or usb_online:
+        shutdown_at = cur_time + secs
+
+      last_enabled = enabled
+      last_secs = secs
+      last_ts = cur_time
+
+    if enabled and not started and not usb_online and secs > 0 and cur_time >= shutdown_at:
+      os.system('LD_LIBRARY_PATH="" svc power shutdown')
+    time.sleep(10)
+
+if __name__ == "__main__":
+  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);
 };
@@ -103,6 +103,18 @@ 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();
@@ -127,7 +139,7 @@ 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, PARAMS
 from common.android import ANDROID
@@ -158,6 +159,9 @@ managed_processes = {
  "updated": "selfdrive.updated",
  "dmonitoringmodeld": ("selfdrive/modeld", ["./dmonitoringmodeld"]),
  "modeld": ("selfdrive/modeld", ["./modeld"]),
+  "dashcamd": "selfdrive.dragonpilot.dashcamd.dashcamd",
+  "shutdownd": "selfdrive.dragonpilot.shutdownd.shutdownd",
+  "appd": "selfdrive.dragonpilot.appd.appd",
 }

 daemon_processes = {
@@ -191,6 +195,8 @@ if ANDROID:
    'logcatd',
    'tombstoned',
    'updated',
+    'shutdownd',
+    'appd',
  ]

 car_started_processes = [
@@ -214,6 +220,7 @@ if ANDROID:
    'gpsd',
    'dmonitoringmodeld',
    'deleter',
+    'dashcamd',
  ]

 def register_managed_process(name, desc, car_started=False):
@@ -510,6 +517,8 @@ def main():
  if params.get("LaneChangeEnabled") is None:
    params.put("LaneChangeEnabled", "1")

+  dragonpilot_set_params(params)
+
  # is this chffrplus?
  if os.getenv("PASSIVE") is not None:
    params.put("Passive", str(int(os.getenv("PASSIVE"))))
@@ -526,6 +535,13 @@ 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:
@@ -9,7 +9,7 @@ from smbus2 import SMBus
 from cereal import log
 from common.android import ANDROID, get_network_type
 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
@@ -21,6 +21,11 @@ from selfdrive.pandad import get_expected_signature

 FW_SIGNATURE = get_expected_signature()

+params = Params()
+import subprocess
+import re
+from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
+
 ThermalStatus = log.ThermalData.ThermalStatus
 NetworkType = log.ThermalData.NetworkType
 CURRENT_TAU = 15.   # 15s time constant
@@ -107,6 +112,9 @@ _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, ignition):
@@ -176,7 +184,16 @@ def thermald_thread():
    setup_eon_fan()
    handle_fan = handle_fan_eon

-  params = Params()
+  # dragonpilot
+  ts_last_ip = None
+  ts_last_update_vars = 0
+  ts_last_charging_ctrl = None
+  dp_last_modified = None
+
+  ip_addr = '255.255.255.255'
+  dragon_charging_ctrl = False
+  dragon_to_discharge = 70
+  dragon_to_charge = 60

  while 1:
    health = messaging.recv_sock(health_sock, wait=True)
@@ -223,6 +240,18 @@ 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
@@ -257,43 +286,44 @@ def thermald_thread():
    # **** starting logic ****

    # Check for last update time and display alerts if needed
-    now = datetime.datetime.now()
-
-    # show invalid date/time alert
-    time_valid = now.year >= 2019
-    if time_valid and not time_valid_prev:
-      params.delete("Offroad_InvalidTime")
-    if not time_valid and time_valid_prev:
-      params.put("Offroad_InvalidTime", json.dumps(OFFROAD_ALERTS["Offroad_InvalidTime"]))
-    time_valid_prev = time_valid
+    # now = datetime.datetime.now()
+    #
+    # # show invalid date/time alert
+    # time_valid = now.year >= 2019
+    # if time_valid and not time_valid_prev:
+    #   params.delete("Offroad_InvalidTime")
+    # if not time_valid and time_valid_prev:
+    #   params.put("Offroad_InvalidTime", json.dumps(OFFROAD_ALERTS["Offroad_InvalidTime"]))
+    # time_valid_prev = time_valid
+    time_valid = True

    # Show update prompt
-    try:
-      last_update = datetime.datetime.fromisoformat(params.get("LastUpdateTime", encoding='utf8'))
-    except (TypeError, ValueError):
-      last_update = now
-    dt = now - last_update
-
-    update_failed_count = params.get("UpdateFailedCount")
-    update_failed_count = 0 if update_failed_count is None else int(update_failed_count)
-
-    if dt.days > DAYS_NO_CONNECTIVITY_MAX and update_failed_count > 1:
-      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(max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 0))
-      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
+    #
+    # update_failed_count = params.get("UpdateFailedCount")
+    # update_failed_count = 0 if update_failed_count is None else int(update_failed_count)
+    #
+    # if dt.days > DAYS_NO_CONNECTIVITY_MAX and update_failed_count > 1:
+    #   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(max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 0))
+    #   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)
@@ -382,6 +412,36 @@ def thermald_thread():

    #print(msg)

+    # dragonpilot
+    ts = sec_since_boot()
+    # update variable status every 10 secs
+    if ts - ts_last_update_vars >= 10.:
+      modified = dp_get_last_modified()
+      if dp_last_modified != modified:
+        dragon_charging_ctrl = True if params.get('DragonChargingCtrl', encoding='utf8') == "1" else False
+        if dragon_charging_ctrl:
+          try:
+            dragon_to_discharge = int(params.get('DragonCharging', encoding='utf8'))
+          except TypeError:
+            dragon_to_discharge = 70
+          try:
+            dragon_to_charge = int(params.get('DragonDisCharging', encoding='utf8'))
+          except TypeError:
+            dragon_to_charge = 60
+        dp_last_modified = modified
+      ts_last_update_vars = ts
+
+    # we update charging status once every min
+    if ts_last_charging_ctrl is None or ts - ts_last_charging_ctrl >= 60.:
+      if dragon_charging_ctrl:
+        if msg.thermal.batteryPercent >= dragon_to_discharge:
+          os.system('echo "0" > /sys/class/power_supply/battery/charging_enabled')
+        if msg.thermal.batteryPercent <= dragon_to_charge:
+          os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled')
+      else:
+        os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled')
+      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')})
@@ -264,6 +264,30 @@ static void draw_steering(UIState *s, float curvature) {
  // ui_draw_lane_edge(s, points, 0.0, nvgRGBA(0, 0, 255, 128), 5);
 }

+static void draw_front_frame(UIState *s) {
+  const UIScene *scene = &s->scene;
+
+  float x1, x2, y1, y2;
+  glBindVertexArray(s->frame_vao[1]);
+
+  mat4 *out_mat;
+  out_mat = &s->front_frame_mat;
+  glActiveTexture(GL_TEXTURE0);
+  if (s->cur_vision_front_idx >= 0) {
+    glBindTexture(GL_TEXTURE_2D, s->frame_front_texs[s->cur_vision_front_idx]);
+  }
+
+  glUseProgram(s->frame_program);
+  glUniform1i(s->frame_texture_loc, 0);
+  glUniformMatrix4fv(s->frame_transform_loc, 1, GL_TRUE, out_mat->v);
+
+  assert(glGetError() == GL_NO_ERROR);
+  glEnableVertexAttribArray(0);
+  glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, (const void*)0);
+  glDisableVertexAttribArray(0);
+  glBindVertexArray(0);
+}
+
 static void draw_frame(UIState *s) {
  const UIScene *scene = &s->scene;

@@ -355,27 +379,30 @@ 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 +416,7 @@ 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 +619,58 @@ 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 +785,307 @@ 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[20];
+  time_t rawtime = time(NULL);
+  struct tm timeinfo;
+  localtime_r(&rawtime, &timeinfo);
+  strftime(date_time, sizeof(date_time),"%F %T", &timeinfo);
+
+  if (s->dragon_ui_dev_mini) {
+    char rel_steer[9];
+    snprintf(rel_steer, sizeof(rel_steer), "%s%05.1f°", s->scene.angleSteers < 0? "-" : "+", fabs(s->scene.angleSteers));
+
+    char des_steer[9];
+    if (s->scene.engaged) {
+      snprintf(des_steer, sizeof(des_steer), "%s%05.1f°", s->scene.angleSteersDes < 0? "-" : "+", fabs(s->scene.angleSteersDes));
+    } else {
+      snprintf(des_steer, sizeof(des_steer), "%7s", "-");
+    }
+
+    char lead_dist[8];
+    if (s->scene.lead_status) {
+      snprintf(lead_dist, sizeof(lead_dist), "%06.2fm", s->scene.lead_d_rel);
+    } else {
+      snprintf(lead_dist, sizeof(lead_dist), "%7s", "-");
+    }
+
+    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? 43:50);
+  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, "相对距离",
+        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, "相对速度",
+        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, "实际转角",
+      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, "所需转角",
+      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 +1096,18 @@ 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 +1179,14 @@ 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);
+  }
+  if (s->dragon_ui_dm_view) {
+    glViewport(1240, 110, viz_w*0.4, box_h*0.4);
+    draw_front_frame(s);
+    glClear(GL_STENCIL_BUFFER_BIT);
+  }
  glViewport(0, 0, s->fb_w, s->fb_h);
  glDisable(GL_SCISSOR_TEST);

@@ -840,12 +1196,14 @@ 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);
@@ -961,11 +1319,11 @@ 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);
@@ -111,19 +111,22 @@ 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
@@ -195,11 +198,61 @@ 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;
+    s->dragon_ui_dm_view = 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");
+    read_param_bool(&s->dragon_ui_dm_view, "DragonUIDMView");
+  }
+

  // 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 * 5.1;
+  s->dragon_ui_event_timeout = UI_FREQ * 5.2;
+  s->dragon_ui_maxspeed_timeout = UI_FREQ * 5.3;
+  s->dragon_ui_face_timeout = UI_FREQ * 5.4;
+  s->dragon_ui_dev_timeout = UI_FREQ * 5.5;
+  s->dragon_ui_dev_mini_timeout = UI_FREQ * 5.6;
+  s->dragon_enable_dashcam_timeout = UI_FREQ * 5.7;
+  s->dragon_ui_volume_boost_timeout = UI_FREQ * 5.8;
+  s->dragon_driving_ui_timeout = UI_FREQ * 5.9;
+  s->dragon_ui_lane_timeout = UI_FREQ * 6.0;
+  s->dragon_ui_lead_timeout = UI_FREQ * 6.1;
+  s->dragon_ui_path_timeout = UI_FREQ * 6.2;
+  s->dragon_ui_blinker_timeout = UI_FREQ * 6.3;
+  s->dragon_waze_mode_timeout = UI_FREQ * 6.4;
+  s->dragon_ui_dm_view_timeout = UI_FREQ * 6.5;
 }

 static PathData read_path(cereal_ModelData_PathData_ptr pathp) {
@@ -284,6 +337,10 @@ 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);
@@ -417,6 +474,15 @@ 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);
 }
@@ -895,6 +961,10 @@ 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;
    }
@@ -933,6 +1003,39 @@ 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;
+      s->dragon_ui_dm_view = 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);
+      read_param_bool_timeout(&s->dragon_ui_dm_view, "DragonUIDMView", &s->dragon_ui_dm_view_timeout);
+    }

    pthread_mutex_unlock(&s->lock);

@@ -128,6 +128,16 @@ 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 {
@@ -247,6 +257,40 @@ 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;
+  int dragon_ui_dm_view_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;
+  bool dragon_ui_dm_view;
 } UIState;

 // API
@@ -292,7 +292,7 @@ def attempt_update():
  set_update_available_params(new_version=new_version)


-def main(gctx=None):
+def main_bak(gctx=None):
  update_failed_count = 0
  overlay_init_done = False
  wait_helper = WaitTimeHelper()
@@ -360,5 +360,42 @@ def main(gctx=None):
  # We've been signaled to shut down
  dismount_ovfs()

+def main(gctx=None):
+  wait_helper = WaitTimeHelper()
+  params = Params()
+
+  while True:
+    # try network
+    ping_failed = subprocess.call(["ping", "-W", "4", "-c", "1", "117.28.245.92"])
+
+    if not ping_failed:
+      # download application update
+      git_fetch_output = run(NICE_LOW_PRIORITY + ["git", "-C", "/data/openpilot/", "fetch"])
+      cloudlog.info("git fetch success: %s", git_fetch_output)
+
+      # Write update available param
+      cur_hash = run(["git", "-C", "/data/openpilot/", "rev-parse", "HEAD"]).rstrip()
+      upstream_hash = run(["git", "-C", "/data/openpilot/", "rev-parse", "@{u}"]).rstrip()
+      cloudlog.info("comparing %s to %s" % (cur_hash, upstream_hash))
+      params.put("UpdateAvailable", str(int(cur_hash != upstream_hash)))
+
+      # Write latest release notes to param
+      try:
+        # r = subprocess.check_output(["git", "--no-pager", "show", "@{u}:RELEASES.md"])
+        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:
+        params.put("ReleaseNotes", "")
+
+      t = datetime.datetime.now().isoformat()
+      params.put("LastUpdateTime", t.encode('utf8'))
+
+    wait_between_updates(wait_helper.ready_event)
+    if wait_helper.shutdown:
+      break
+  # We've been signaled to shut down
+  dismount_ovfs()
+
 if __name__ == "__main__":
  main()
@@ -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