Merge branch 'devel-unsupported-cars' into devel-en

This reverts commit 236a05f2ad.

cereal/car.capnp

@@ -82,6 +82,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     preLaneChangeLeft @57;
     preLaneChangeRight @58;
     laneChange @59;
+    manualSteeringRequired @60;
+    manualSteeringRequiredBlinkersOn @61;
   }
 }
 

cereal/log.capnp

@@ -284,6 +284,7 @@ struct ThermalData {
   thermalStatus @14 :ThermalStatus;
   chargingError @17 :Bool;
   chargingDisabled @18 :Bool;
+  ipAddr @19 :Text;
 
   enum ThermalStatus {
     green @0;   # all processes run

common/params.py

@@ -82,6 +82,55 @@ keys = {
   "TermsVersion": [TxType.PERSISTENT],
   "TrainingVersion": [TxType.PERSISTENT],
   "Version": [TxType.PERSISTENT],
+  #dragonpilot config
+  "DragonEnableDashcam": [TxType.PERSISTENT],
+  "DragonDisableDriverSafetyCheck": [TxType.PERSISTENT], # deprecated
+  "DragonEnableDriverSafetyCheck": [TxType.PERSISTENT],
+  "DragonAutoShutdownAt": [TxType.PERSISTENT],
+  "DragonTempDisableSteerOnSignal": [TxType.PERSISTENT], # deprecated
+  "DragonEnableSteeringOnSignal": [TxType.PERSISTENT],
+  "DragonDisableLogger": [TxType.PERSISTENT], # deprecated
+  "DragonEnableLogger": [TxType.PERSISTENT],
+  "DragonDisableUploader": [TxType.PERSISTENT], # deprecated
+  "DragonEnableUploader": [TxType.PERSISTENT],
+  "DragonNoctuaMode": [TxType.PERSISTENT],
+  "DragonCacheCar": [TxType.PERSISTENT],
+  "DragonCachedModel": [TxType.PERSISTENT],
+  "DragonCachedFP": [TxType.PERSISTENT],
+  "DragonCachedVIN": [TxType.PERSISTENT],
+  "DragonAllowGas": [TxType.PERSISTENT],
+  "DragonBBUI": [TxType.PERSISTENT], # deprecated
+  "DragonToyotaStockDSU": [TxType.PERSISTENT],
+  "DragonLatCtrl": [TxType.PERSISTENT],
+  "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],
+  "DragonEnableMixplorer": [TxType.PERSISTENT],
+  "DragonRunMixplorer": [TxType.PERSISTENT],
+  "DragonSteeringMonitorTimer": [TxType.PERSISTENT],
+  "DragonCameraOffset": [TxType.PERSISTENT],
+  "DragonUIVolumeBoost": [TxType.PERSISTENT],
+  "DragonGreyPandaMode": [TxType.PERSISTENT],
+  "DragonDrivingUI": [TxType.PERSISTENT],
+  "DragonDisplaySteeringLimitAlert": [TxType.PERSISTENT],
+  "DragonChargingCtrl": [TxType.PERSISTENT],
+  "DragonCharging": [TxType.PERSISTENT],
+  "DragonDisCharging": [TxType.PERSISTENT],
+  "DragonToyotaLaneDepartureWarning": [TxType.PERSISTENT],
+  "DragonUILane": [TxType.PERSISTENT],
+  "DragonUILead": [TxType.PERSISTENT],
+  "DragonUIPath": [TxType.PERSISTENT],
+  "DragonUIBlinker": [TxType.PERSISTENT],
+  "DragonEnableDriverMonitoring": [TxType.PERSISTENT],
 }
 
 

dragonpilot/chinese-fonts/fonts.xml

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

dragonpilot/chinese-fonts/installer.sh

@@ -0,0 +1,52 @@
+#!/usr/bin/bash
+
+# Anndroid system locale, zh-TW = Traditional Chinese, zh-CN = Simplified Chinese
+lang=en
+
+update_font_reg=0
+update_font_bold=0
+remove_old_font=0
+
+# check regular font
+if [ ! -f "/system/fonts/Miui-Regular.ttf" ]; then
+    update_font_reg=1
+fi
+
+# check bold font
+if [ ! -f "/system/fonts/Miui-Bold.ttf" ]; then
+    update_font_bold=1
+fi
+
+# check droidsans font
+if ls /system/fonts/DroidSansFallback*.ttf 1> /dev/null 2>&1; then
+    remove_old_font=1
+fi
+
+if [ $update_font_reg -eq "1" ] || [ $update_font_bold -eq "1" ] || [ $remove_old_font -eq "1" ]; then
+    # sleep 3 secs in case, make sure the /system is remountable
+    sleep 3
+    mount -o remount,rw /system
+    if [ $update_font_reg -eq "1" ] || [ $update_font_bold -eq "1" ]; then
+        # download regular font
+        if [ $update_font_reg -eq "1" ]; then
+            yes | cp -rf /data/openpilot/dragonpilot/chinese-fonts/Miui-Regular.ttf /system/fonts/Miui-Regular.ttf
+        fi
+        # download bold font
+        if [ $update_font_bold -eq "1" ]; then
+            yes | cp -rf /data/openpilot/dragonpilot/chinese-fonts/Miui-Bold.ttf /system/fonts/Miui-Bold.ttf
+        fi
+        # dont new font mapping
+        yes | cp -rf /data/openpilot/dragonpilot/chinese-fonts/fonts.xml /system/etc/fonts.xml
+        chmod 644 /system/etc/fonts.xml
+        chmod 644 /system/fonts/Miui-*
+    fi
+    # remove driodsans font
+    if [ $remove_old_font -eq "1" ]; then
+        rm -fr /system/fonts/DroidSansFallback*.ttf
+    fi
+    mount -o remount,r /system
+    # change system locale
+fi
+
+setprop persist.sys.locale $lang
+setprop persist.sys.local $lang

launch_chffrplus.sh

@@ -12,18 +12,18 @@ fi
 
 function launch {
   # apply update
-  if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
-    git reset --hard @{u} &&
-    git clean -xdf &&
-
-    # Touch all files on release2 after checkout to prevent rebuild
-    BRANCH=$(git rev-parse --abbrev-ref HEAD)
-    if [[ "$BRANCH" == "release2" ]]; then
-        touch **
-    fi
-
-    exec "${BASH_SOURCE[0]}"
-  fi
+#  if [ "$(git rev-parse HEAD)" != "$(git rev-parse @{u})" ]; then
+#    git reset --hard @{u} &&
+#    git clean -xdf &&
+#
+#    # Touch all files on release2 after checkout to prevent rebuild
+#    BRANCH=$(git rev-parse --abbrev-ref HEAD)
+#    if [[ "$BRANCH" == "release2" ]]; then
+#        touch **
+#    fi
+#
+#    exec "${BASH_SOURCE[0]}"
+#  fi
 
   # no cpu rationing for now
   echo 0-3 > /dev/cpuset/background/cpus

launch_openpilot.sh

@@ -1,5 +1,6 @@
 #!/usr/bin/bash
 
+/usr/bin/sh /data/openpilot/dragonpilot/chinese-fonts/installer.sh &
 export PASSIVE="0"
 exec ./launch_chffrplus.sh
 

opendbc/lexus_is_2018_pt_generated.dbc

@@ -353,15 +353,19 @@ BO_ 550 BRAKE_MODULE: 8 XXX
  SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
  SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
 
+BO_ 581 GAS_PEDAL_ALT: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
 BO_ 705 GAS_PEDAL: 8 XXX
  SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" 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- (0.66,0) [-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
+ SG_ STEER_ANGLE : 31|16@0- (0.056,0) [-500|500] "" XXX
 
 BO_ 610 EPS_STATUS: 5 EPS
  SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX

opendbc/lexus_is_hybrid_2017_pt_generated.dbc

@@ -0,0 +1,389 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM BO_ STEERING_IPAS_COMMA "Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+ BO_ 512 GAS_COMMAND: 6 EON
+  SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+  SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+  SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+ BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+  SG_ INTERCEPTOR_GAS : 7|16@0+ (0.159375,-75.555) [0|1] "" EON
+  SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.159375,-151.111) [0|1] "" EON
+  SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+  SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+  SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+ VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+
+CM_ "Imported file _toyota_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX DSU HCU EPS IPAS CGW
+
+BO_ 36 KINEMATICS: 8 XXX
+ SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX
+ SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+
+BO_ 166 BRAKE: 8 XXX
+ SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "kph" XXX
+
+BO_ 180 SPEED: 8 XXX
+ SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "kph" XXX
+
+BO_ 353 DSU_SPEED: 8 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "kph" XXX
+
+BO_ 466 PCM_CRUISE: 8 XXX
+ SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL_ON : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX
+ SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 552 ACCELEROMETER: 8 XXX
+ SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX
+ SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX
+
+BO_ 560 BRAKE_MODULE2: 7 XXX
+ SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 614 STEERING_IPAS: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 7 DSU
+ SG_ COUNTER : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX
+ SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX
+ SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX
+ SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX
+ SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 740 STEERING_LKA: 5 XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 742 LEAD_INFO: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
+ SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
+ SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
+
+BO_ 835 ACC_CONTROL: 8 DSU
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU
+ SG_ SET_ME_X01 : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X3 : 19|4@0+ (1,0) [0|15] "" XXX
+ SG_ SET_ME_1 : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
+ SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 869 DSU_CRUISE : 7 DSU
+ SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX
+ SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX
+ SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX
+ SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX
+
+BO_ 921 PCM_CRUISE_SM: 8 XXX
+ SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
+ SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1041 ACC_HUD: 8 DSU
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X80 : 55|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 XXX
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X01_2 : 11|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X0C : 23|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X2C : 47|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X38 : 55|8@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1408 VIN_PART_1: 8 CGW
+ SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1409 VIN_PART_2: 8 CGW
+ SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1410 VIN_PART_3: 8 CGW
+ SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX
+
+BO_ 1553 UI_SEETING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1556 STEERING_LEVERS: 8 XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 SEATS_DOORS: 8 XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "kph" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+
+BO_ 1163 RSA3: 8 FCM
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
+CM_ SG_ 36 ACCEL_Y "unit is tbd";
+CM_ SG_ 36 YAW_RATE "verify";
+CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors";
+CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isnt perfect";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active";
+CM_ SG_ 643 COUNTER "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control";
+CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1042 SET_ME_1 "unclear what this is, but it's always 1 in drive traces";
+CM_ SG_ 1042 REPEATED_BEEPS "recommended for fcw and other important alerts";
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+
+VAL_ 466 CRUISE_STATE 8 "active" 7 "standstill" 1 "off";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
+VAL_ 614 STATE 3 "enabled" 1 "disabled";
+VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left";
+VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 129 "no entry";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+
+
+CM_ "CHFFR_METRIC 37 STEER_ANGLE STEER_ANGLE 0.36 180";
+
+CM_ "lexus_is_hybrid_2017_pt.dbc starts here"
+
+
+
+BO_ 581 GAS_PEDAL: 5 XXX
+ SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX
+
+BO_ 550 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX
+ SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (1.00,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.056,0) [-500|500] "" XXX
+
+BO_ 610 EPS_STATUS: 5 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 956 GEAR_PACKET: 8 XXX
+ SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX
+
+BO_ 1009 PCM_CRUISE_ISH: 8 XXX
+ SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX
+ SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX
+
+BO_ 1599 LIGHT_STALK_ISH: 8 SCM
+ SG_ AUTO_HIGH_BEAM : 19|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
+CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+CM_ SG_ 1009 SET_SPEED "units seem to be whatever the car is set to";
+VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby";

panda/board/safety/safety_honda.h

@@ -19,7 +19,7 @@ bool honda_fwd_brake = false;
 static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   int addr = GET_ADDR(to_push);
-  int len = GET_LEN(to_push);
+  //int len = GET_LEN(to_push);
   int bus = GET_BUS(to_push);
 
   // sample speed
@@ -63,7 +63,7 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   // exit controls on rising edge of gas press if interceptor (0x201 w/ len = 6)
   // length check because bosch hardware also uses this id (0x201 w/ len = 8)
-  if ((addr == 0x201) && (len == 6)) {
+  if (false) {
     gas_interceptor_detected = 1;
     int gas_interceptor = GET_INTERCEPTOR(to_push);
     if ((gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD) &&
@@ -75,7 +75,7 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   }
 
   // exit controls on rising edge of gas press if no interceptor
-  if (!gas_interceptor_detected) {
+  if (false) {
     if (addr == 0x17C) {
       int gas = GET_BYTE(to_push, 0);
       if (gas && !(honda_gas_prev) && long_controls_allowed) {

panda/board/safety/safety_toyota.h

@@ -54,7 +54,8 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   }
 
   // enter controls on rising edge of ACC, exit controls on ACC off
-  if (addr == 0x1D2) {
+  controls_allowed = 1;
+  if (false) {
     // 5th bit is CRUISE_ACTIVE
     int cruise_engaged = GET_BYTE(to_push, 0) & 0x20;
     if (!cruise_engaged) {
@@ -67,7 +68,7 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   }
 
   // exit controls on rising edge of interceptor gas press
-  if (addr == 0x201) {
+  if (false) {
     gas_interceptor_detected = 1;
     int gas_interceptor = GET_INTERCEPTOR(to_push);
     if ((gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRESHOLD) &&
@@ -79,7 +80,7 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   }
 
   // exit controls on rising edge of gas press
-  if (addr == 0x2C1) {
+  if (false) {
     int gas = GET_BYTE(to_push, 6) & 0xFF;
     if ((gas > 0) && (toyota_gas_prev == 0) && !gas_interceptor_detected && long_controls_allowed) {
       controls_allowed = 0;

selfdrive/car/car_helpers.py

@@ -1,12 +1,13 @@
 import os
 import zmq
 from cereal import car
-from common.params import Params
+from common.params import Params, put_nonblocking
 from common.vin import get_vin, VIN_UNKNOWN
 from common.basedir import BASEDIR
 from common.fingerprints import eliminate_incompatible_cars, all_known_cars
 from selfdrive.swaglog import cloudlog
 import selfdrive.messaging as messaging
+import pickle
 
 
 def get_one_can(logcan):
@@ -96,6 +97,12 @@ def fingerprint(logcan, sendcan, is_panda_black):
   car_fingerprint = None
   done = False
 
+  if params.get("DragonCacheCar") == "1" and params.get("DragonCachedFP") != "" and params.get("DragonCachedModel") != "":
+    car_fingerprint = pickle.loads(params.get("DragonCachedModel"))
+    finger = pickle.loads(params.get("DragonCachedFP"))
+    vin = pickle.loads(params.get("DragonCachedVIN"))
+    done = True
+
   while not done:
     a = get_one_can(logcan)
 
@@ -129,6 +136,11 @@ def fingerprint(logcan, sendcan, is_panda_black):
 
     frame += 1
 
+    if succeeded:
+      put_nonblocking("DragonCachedModel", pickle.dumps(car_fingerprint))
+      put_nonblocking("DragonCachedFP", pickle.dumps(finger))
+      put_nonblocking("DragonCachedVIN", pickle.dumps(vin))
+
   cloudlog.warning("fingerprinted %s", car_fingerprint)
   return car_fingerprint, finger, vin
 

selfdrive/car/honda/carcontroller.py

@@ -6,6 +6,8 @@ from selfdrive.car import create_gas_command
 from selfdrive.car.honda import hondacan
 from selfdrive.car.honda.values import AH, CruiseButtons, CAR
 from selfdrive.can.packer import CANPacker
+from common.params import Params
+params = Params()
 
 
 def actuator_hystereses(brake, braking, brake_steady, v_ego, car_fingerprint):
@@ -70,7 +72,7 @@ def process_hud_alert(hud_alert):
 
 HUDData = namedtuple("HUDData",
                      ["pcm_accel", "v_cruise", "mini_car", "car", "X4",
-                      "lanes", "fcw", "acc_alert", "steer_required"])
+                      "lanes", "fcw", "acc_alert", "steer_required", "dashed_lanes"])
 
 
 class CarController(object):
@@ -83,9 +85,20 @@ class CarController(object):
     self.packer = CANPacker(dbc_name)
     self.new_radar_config = False
 
+    # dragonpilot
+    self.turning_signal_timer = 0
+    self.dragon_enable_steering_on_signal = False
+    self.dragon_allow_gas = False
+    self.dragon_lat_ctrl = True
+
   def update(self, enabled, CS, frame, actuators, \
              pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel, \
              hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert):
+    # dragonpilot, don't check for param too often as it's a kernel call
+    if frame % 500 == 0:
+      self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
+      self.dragon_allow_gas = False if params.get("DragonAllowGas") == "0" else True
+      self.dragon_lat_ctrl = False if params.get("DragonLatCtrl") == "0" else True
 
     # *** apply brake hysteresis ***
     brake, self.braking, self.brake_steady = actuator_hystereses(actuators.brake, self.braking, self.brake_steady, CS.v_ego, CS.CP.carFingerprint)
@@ -115,7 +128,7 @@ class CarController(object):
     fcw_display, steer_required, acc_alert = process_hud_alert(hud_alert)
 
     hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), 1, hud_car,
-                  0xc1, hud_lanes, fcw_display, acc_alert, steer_required)
+                  0xc1, hud_lanes, fcw_display, acc_alert, steer_required, CS.lkMode)
 
     # **** process the car messages ****
 
@@ -135,11 +148,22 @@ class CarController(object):
     apply_brake = int(clip(self.brake_last * BRAKE_MAX, 0, BRAKE_MAX - 1))
     apply_steer = int(clip(-actuators.steer * STEER_MAX, -STEER_MAX, STEER_MAX))
 
-    lkas_active = enabled and not CS.steer_not_allowed
+    lkas_active = enabled and not CS.steer_not_allowed and CS.lkMode
 
     # Send CAN commands.
     can_sends = []
 
+    # dragonpilot
+    if enabled and (CS.left_blinker_on > 0 or CS.right_blinker_on > 0) and self.dragon_enable_steering_on_signal:
+      self.turning_signal_timer = 100
+
+    if self.turning_signal_timer > 0:
+      self.turning_signal_timer -= 1
+      lkas_active = False
+
+    if not self.dragon_lat_ctrl:
+      lkas_active = False
+
     # Send steering command.
     idx = frame % 4
     can_sends.append(hondacan.create_steering_control(self.packer, apply_steer,
@@ -163,6 +187,16 @@ class CarController(object):
         idx = frame // 2
         ts = frame * DT_CTRL
         pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts)
+        # DragonAllowGas
+        # if we detect gas pedal pressed, we do not want OP to apply gas or brake
+        # gasPressed code from interface.py
+        if not CS.CP.enableGasInterceptor:
+          gasPressed = CS.pedal_gas > 0
+        else:
+          gasPressed = CS.user_gas_pressed
+        if self.dragon_allow_gas and gasPressed:
+          apply_brake = 0
+          apply_gas = 0
         can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
           pcm_override, pcm_cancel_cmd, hud.fcw, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
         self.apply_brake_last = apply_brake

selfdrive/car/honda/carstate.py

@@ -209,6 +209,8 @@ class CarState(object):
                          K=[[0.12287673], [0.29666309]])
     self.v_ego = 0.0
 
+    self.lkMode = True
+
   def update(self, cp, cp_cam):
 
     # car params
@@ -279,6 +281,13 @@ class CarState(object):
     self.angle_steers = cp.vl["STEERING_SENSORS"]['STEER_ANGLE']
     self.angle_steers_rate = cp.vl["STEERING_SENSORS"]['STEER_ANGLE_RATE']
 
+    # when user presses LKAS button on steering wheel
+    if self.cruise_setting == 1:
+      if cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"] == 0:
+        if self.lkMode:
+          self.lkMode = False
+        else:
+          self.lkMode = True
     self.cruise_setting = cp.vl["SCM_BUTTONS"]['CRUISE_SETTING']
     self.cruise_buttons = cp.vl["SCM_BUTTONS"]['CRUISE_BUTTONS']
 

selfdrive/car/honda/hondacan.py

@@ -87,6 +87,7 @@ 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))
 

selfdrive/car/honda/interface.py

@@ -3,7 +3,7 @@ import os
 import numpy as np
 from cereal import car
 from common.numpy_fast import clip, interp
-from common.realtime import DT_CTRL
+from common.realtime import DT_CTRL, sec_since_boot
 from selfdrive.swaglog import cloudlog
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET, get_events
@@ -12,6 +12,8 @@ from selfdrive.car.honda.carstate import CarState, get_can_parser, get_cam_can_p
 from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, VISUAL_HUD, CAMERA_MSGS
 from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness
 from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING
+from common.params import Params
+params = Params()
 
 A_ACC_MAX = max(_A_CRUISE_MAX_V_FOLLOWING)
 
@@ -98,6 +100,12 @@ class CarInterface(object):
     else:
       self.compute_gb = compute_gb_honda
 
+    # dragonpilot
+    self.dragon_enable_steering_on_signal = False
+    self.dragon_allow_gas = False
+    self.ts_last_check = 0.
+    self.dragon_lat_ctrl = True
+
   @staticmethod
   def calc_accel_override(a_ego, a_target, v_ego, v_target):
 
@@ -375,6 +383,14 @@ class CarInterface(object):
 
   # returns a car.CarState
   def update(self, c, can_strings):
+    # dragonpilot, don't check for param too often as it's a kernel call
+    ts = sec_since_boot()
+    if ts - self.ts_last_check > 5.:
+      self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
+      self.dragon_allow_gas = False if params.get("DragonAllowGas") == "0" else True
+      self.dragon_lat_ctrl = False if params.get("DragonLatCtrl") == "0" else True
+      self.ts_last_check = ts
+
     # ******************* do can recv *******************
     self.cp.update_strings(can_strings)
     self.cp_cam.update_strings(can_strings)
@@ -489,7 +505,11 @@ class CarInterface(object):
     # wait 1.0s before throwing the alert to avoid it popping when you turn off the car
     if self.cp_cam.can_invalid_cnt >= 100 and self.CS.CP.carFingerprint not in HONDA_BOSCH and self.CP.enableCamera:
       events.append(create_event('invalidGiraffeHonda', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
-    if self.CS.steer_error:
+    if not self.CS.lkMode 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]))
@@ -515,13 +535,18 @@ class CarInterface(object):
     if self.CP.enableCruise and ret.vEgo < self.CP.minEnableSpeed:
       events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
 
-    # disable on pedals rising edge or when brake is pressed and speed isn't zero
-    if (ret.gasPressed and not self.gas_pressed_prev) or \
-       (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
-      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
+    # DragonAllowGas
+    if not self.dragon_allow_gas:
+      # disable on pedals rising edge or when brake is pressed and speed isn't zero
+      if (ret.gasPressed and not self.gas_pressed_prev) or \
+         (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
+        events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
 
-    if ret.gasPressed:
-      events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
+      if ret.gasPressed:
+        events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
+    else:
+      if ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001):
+        events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
 
     # it can happen that car cruise disables while comma system is enabled: need to
     # keep braking if needed or if the speed is very low

selfdrive/car/honda/values.py

@@ -60,6 +60,13 @@ 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,
@@ -97,6 +104,10 @@ 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: [{

selfdrive/car/toyota/carcontroller.py

@@ -8,6 +8,9 @@ from selfdrive.car.toyota.toyotacan import make_can_msg, create_video_target,\
                                            create_acc_cancel_command, create_fcw_command
 from selfdrive.car.toyota.values import CAR, ECU, STATIC_MSGS, TSS2_CAR
 from selfdrive.can.packer import CANPacker
+from common.params import Params
+params = Params()
+
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
@@ -114,9 +117,22 @@ class CarController(object):
 
     self.packer = CANPacker(dbc_name)
 
+    # dragonpilot
+    self.turning_signal_timer = 0
+    self.dragon_enable_steering_on_signal = False
+    self.dragon_allow_gas = False
+    self.dragon_lat_ctrl = True
+    self.dragon_lane_departure_warning = True
+
   def update(self, enabled, CS, frame, actuators,
              pcm_cancel_cmd, hud_alert, forwarding_camera, left_line,
              right_line, lead, left_lane_depart, right_lane_depart):
+    # dragonpilot, don't check for param too often as it's a kernel call
+    if frame % 500 == 0:
+      self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
+      self.dragon_allow_gas = False if params.get("DragonAllowGas") == "0" else True
+      self.dragon_lat_ctrl = False if params.get("DragonLatCtrl") == "0" else True
+      self.dragon_lane_departure_warning = False if params.get("DragonToyotaLaneDepartureWarning") == "0" else True
 
     # *** compute control surfaces ***
 
@@ -144,7 +160,7 @@ class CarController(object):
       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:
@@ -188,6 +204,28 @@ class CarController(object):
 
     can_sends = []
 
+    # dragonpilot
+    if enabled and (CS.left_blinker_on or CS.right_blinker_on) and self.dragon_enable_steering_on_signal:
+      self.turning_signal_timer = 100
+
+    if self.turning_signal_timer > 0:
+      self.turning_signal_timer -= 1
+      apply_steer_req = 0
+
+    if not self.dragon_lat_ctrl:
+      apply_steer_req = 0
+
+    if CS.v_ego > 12.5 and not enabled:
+      if right_lane_depart and not CS.right_blinker_on:
+        apply_steer = self.last_steer + 3
+        apply_steer = min(apply_steer , 800)
+        apply_steer_req = 1
+
+      if left_lane_depart and not CS.left_blinker_on:
+        apply_steer = self.last_steer - 3
+        apply_steer = max(apply_steer , -800)
+        apply_steer_req = 1
+
     #*** control msgs ***
     #print("steer {0} {1} {2} {3}".format(apply_steer, min_lim, max_lim, CS.steer_torque_motor)
 
@@ -206,12 +244,25 @@ class CarController(object):
     elif ECU.APGS in self.fake_ecus:
       can_sends.append(create_ipas_steer_command(self.packer, 0, 0, True))
 
+    # DragonAllowGas
+    # if we detect gas pedal pressed, we do not want OP to apply gas or brake
+    # gasPressed code from interface.py
+    if CS.CP.enableGasInterceptor:
+      # use interceptor values to disengage on pedal press
+      gasPressed = CS.pedal_gas > 15
+    else:
+      gasPressed = CS.pedal_gas > 0
+
+    if self.dragon_allow_gas and gasPressed:
+      apply_accel = 0
+      apply_gas = 0
+
     # accel cmd comes from DSU, but we can spam can to cancel the system even if we are using lat only control
     if (frame % 3 == 0 and ECU.DSU in self.fake_ecus) or (pcm_cancel_cmd and ECU.CAM in self.fake_ecus):
       lead = lead or CS.v_ego < 12.    # at low speed we always assume the lead is present do ACC can be engaged
 
       # 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]:
         can_sends.append(create_acc_cancel_command(self.packer))
       elif ECU.DSU in self.fake_ecus:
         can_sends.append(create_accel_command(self.packer, apply_accel, pcm_cancel_cmd, self.standstill_req, lead))
@@ -244,8 +295,16 @@ class CarController(object):
     if pcm_cancel_cmd:
       send_ui = True
 
+    # dragonpilot, lane depart warning mod
+    if self.dragon_lane_departure_warning:
+      dragon_left_lane_depart = left_lane_depart
+      dragon_right_lane_depart = right_lane_depart
+    else:
+      dragon_left_lane_depart = False
+      dragon_right_lane_depart = False
+
     if (frame % 100 == 0 or send_ui) and ECU.CAM in self.fake_ecus:
-      can_sends.append(create_ui_command(self.packer, steer, pcm_cancel_cmd, left_line, right_line, left_lane_depart, right_lane_depart))
+      can_sends.append(create_ui_command(self.packer, steer, pcm_cancel_cmd, left_line, right_line, dragon_left_lane_depart, dragon_right_lane_depart))
 
     if frame % 100 == 0 and ECU.DSU in self.fake_ecus and self.car_fingerprint not in TSS2_CAR:
       can_sends.append(create_fcw_command(self.packer, fcw))

selfdrive/car/toyota/carstate.py

@@ -8,6 +8,10 @@ from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, TSS2_CAR, NO_
 
 GearShifter = car.CarState.GearShifter
 
+from common.realtime import sec_since_boot
+from common.params import Params
+params = Params()
+
 def parse_gear_shifter(gear, vals):
 
   val_to_capnp = {'P': GearShifter.park, 'R': GearShifter.reverse, 'N': GearShifter.neutral,
@@ -25,7 +29,6 @@ def get_can_parser(CP):
     ("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
     ("GEAR", "GEAR_PACKET", 0),
     ("BRAKE_PRESSED", "BRAKE_MODULE", 0),
-    ("GAS_PEDAL", "GAS_PEDAL", 0),
     ("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
     ("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
     ("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
@@ -46,12 +49,9 @@ def get_can_parser(CP):
     ("LKA_STATE", "EPS_STATUS", 0),
     ("IPAS_STATE", "EPS_STATUS", 1),
     ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
-    ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
   ]
 
   checks = [
-    ("BRAKE_MODULE", 40),
-    ("GAS_PEDAL", 33),
     ("WHEEL_SPEEDS", 80),
     ("STEER_ANGLE_SENSOR", 80),
     ("PCM_CRUISE", 33),
@@ -59,6 +59,26 @@ def get_can_parser(CP):
     ("EPS_STATUS", 25),
   ]
 
+  if CP.carFingerprint == CAR.LEXUS_ISH:
+    signals.append(("GAS_PEDAL", "GAS_PEDAL_ALT", 0))
+    signals.append(("MAIN_ON", "PCM_CRUISE_ALT", 0))
+    signals.append(("SET_SPEED", "PCM_CRUISE_ALT", 0))
+    signals.append(("AUTO_HIGH_BEAM", "LIGHT_STALK_ISH", 0))
+    checks += [
+      ("BRAKE_MODULE", 50),
+      ("GAS_PEDAL_ALT", 50),
+      ("PCM_CRUISE_ALT", 1),
+    ]
+  else:
+    signals += [
+      ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
+      ("GAS_PEDAL", "GAS_PEDAL", 0),
+    ]
+    checks += [
+      ("BRAKE_MODULE", 40),
+      ("GAS_PEDAL", 33),
+    ]
+
   if CP.carFingerprint == CAR.LEXUS_IS:
     signals.append(("MAIN_ON", "DSU_CRUISE", 0))
     signals.append(("SET_SPEED", "DSU_CRUISE", 0))
@@ -69,7 +89,7 @@ def get_can_parser(CP):
     signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0))
     checks.append(("PCM_CRUISE_2", 33))
 
-  if CP.carFingerprint in NO_DSU_CAR:
+  if CP.carFingerprint in NO_DSU_CAR or CP.carFingerprint == CAR.LEXUS_ISH:
     signals += [("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0)]
 
   if CP.carFingerprint == CAR.PRIUS:
@@ -118,7 +138,16 @@ class CarState(object):
                          K=[[0.12287673], [0.29666309]])
     self.v_ego = 0.0
 
+    self.dragon_toyota_stock_dsu = False
+    self.ts_last_check = 0.
+
   def update(self, cp):
+    # dragonpilot, don't check for param too often as it's a kernel call
+    ts = sec_since_boot()
+    if ts - self.ts_last_check > 5.:
+      self.dragon_toyota_stock_dsu = False if params.get("DragonToyotaStockDSU") == "0" else True
+      self.ts_last_check = ts
+
     # update prevs, update must run once per loop
     self.prev_left_blinker_on = self.left_blinker_on
     self.prev_right_blinker_on = self.right_blinker_on
@@ -130,6 +159,8 @@ class CarState(object):
     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 == CAR.LEXUS_ISH:
+      self.pedal_gas = cp.vl["GAS_PEDAL_ALT"]['GAS_PEDAL']
     else:
       self.pedal_gas = cp.vl["GAS_PEDAL"]['GAS_PEDAL']
     self.car_gas = self.pedal_gas
@@ -154,7 +185,7 @@ class CarState(object):
 
     if self.CP.carFingerprint in TSS2_CAR:
       self.angle_steers = cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE']
-    elif self.CP.carFingerprint in NO_DSU_CAR:
+    elif self.CP.carFingerprint in NO_DSU_CAR or self.CP.carFingerprint == CAR.LEXUS_ISH:
       # cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE'] is zeroed to where the steering angle is at start.
       # need to apply an offset as soon as the steering angle measurements are both received
       self.angle_steers = cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE'] - self.angle_offset
@@ -169,6 +200,8 @@ class CarState(object):
     self.gear_shifter = parse_gear_shifter(can_gear, self.shifter_values)
     if self.CP.carFingerprint == CAR.LEXUS_IS:
       self.main_on = cp.vl["DSU_CRUISE"]['MAIN_ON']
+    elif self.CP.carFingerprint == CAR.LEXUS_ISH:
+      self.main_on = cp.vl["PCM_CRUISE_ALT"]['MAIN_ON']
     else:
       self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
     self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
@@ -188,13 +221,32 @@ class CarState(object):
     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 == CAR.LEXUS_ISH:
+      self.v_cruise_pcm = cp.vl["PCM_CRUISE_ALT"]['SET_SPEED']
+      self.low_speed_lockout = False
     else:
       self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
       self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
-    self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
+    if self.CP.carFingerprint == CAR.LEXUS_ISH:
+      # 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 == CAR.LEXUS_ISH:
+      self.generic_toggle = bool(cp.vl["LIGHT_STALK_ISH"]['AUTO_HIGH_BEAM'])
     else:
       self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
+
+    if self.dragon_toyota_stock_dsu and self.generic_toggle and self.main_on:
+      enable_acc = True
+      if not self.gear_shifter == GearShifter.drive or not self.seatbelt or not self.door_all_closed:
+       enable_acc = False
+      self.pcm_acc_active = enable_acc
+      if self.standstill:
+        self.pcm_acc_status = 7
+      else:
+        self.pcm_acc_status = 1

selfdrive/car/toyota/interface.py

@@ -7,6 +7,9 @@ from selfdrive.car.toyota.carstate import CarState, get_can_parser, get_cam_can_
 from selfdrive.car.toyota.values import ECU, check_ecu_msgs, CAR, NO_STOP_TIMER_CAR, TSS2_CAR
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness
 from selfdrive.swaglog import cloudlog
+from common.realtime import sec_since_boot
+from common.params import Params
+params = Params()
 
 ButtonType = car.CarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
@@ -33,6 +36,13 @@ class CarInterface(object):
     if CarController is not None:
       self.CC = CarController(self.cp.dbc_name, CP.carFingerprint, CP.enableCamera, CP.enableDsu, CP.enableApgs)
 
+    # dragonpilot
+    self.dragon_toyota_stock_dsu = False
+    self.dragon_enable_steering_on_signal = False
+    self.dragon_allow_gas = False
+    self.ts_last_check = 0.
+    self.dragon_lat_ctrl = True
+
   @staticmethod
   def compute_gb(accel, speed):
     return float(accel) / 3.0
@@ -219,6 +229,26 @@ class CarInterface(object):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
       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_CTH:
+      stop_and_go = True
+      ret.safetyParam = 100  # see conversion factor for STEER_TORQUE_EPS in dbc file
+      ret.wheelbase = 2.60
+      ret.steerRatio = 18.6  # 0.5.10
+      tire_stiffness_factor = 0.517  # 0.5.10
+      ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
+      ret.lateralTuning.pid.kf = 0.00007  # full torque for 10 deg at 80mph means 0.00007818594
+
     ret.steerRateCost = 1.
     ret.centerToFront = ret.wheelbase * 0.44
 
@@ -281,6 +311,15 @@ class CarInterface(object):
 
   # returns a car.CarState
   def update(self, c, can_strings):
+    # dragonpilot, don't check for param too often as it's a kernel call
+    ts = sec_since_boot()
+    if ts - self.ts_last_check > 5.:
+      self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
+      self.dragon_allow_gas = False if params.get("DragonAllowGas") == "0" else True
+      self.dragon_toyota_stock_dsu = True if params.get("DragonToyotaStockDSU") == "1" else False
+      self.dragon_lat_ctrl = False if params.get("DragonLatCtrl") == "0" else True
+      self.ts_last_check = ts
+
     # ******************* do can recv *******************
     self.cp.update_strings(can_strings)
 
@@ -383,7 +422,11 @@ class CarInterface(object):
       events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
     if ret.gearShifter == GearShifter.reverse and self.CP.enableDsu:
       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.enableDsu:
       events.append(create_event('lowSpeedLockout', [ET.NO_ENTRY, ET.PERMANENT]))
@@ -402,13 +445,19 @@ class CarInterface(object):
     elif not ret.cruiseState.enabled:
       events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
 
-    # disable on pedals rising edge or when brake is pressed and speed isn't zero
-    if (ret.gasPressed and not self.gas_pressed_prev) or \
-       (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
-      events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
+    if not self.dragon_toyota_stock_dsu:
+      # DragonAllowGas
+      if not self.dragon_allow_gas:
+        # disable on pedals rising edge or when brake is pressed and speed isn't zero
+        if (ret.gasPressed and not self.gas_pressed_prev) or \
+           (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
+          events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
 
-    if ret.gasPressed:
-      events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
+        if ret.gasPressed:
+          events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
+      else:
+        if ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001):
+          events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
 
     ret.events = events
 

selfdrive/car/toyota/values.py

@@ -18,6 +18,8 @@ class CAR:
   LEXUS_ESH_TSS2 = "LEXUS ES 300H 2019"
   SIENNA = "TOYOTA SIENNA XLE 2018"
   LEXUS_IS = "LEXUS IS300 2018"
+  LEXUS_ISH = "LEXUS IS300h 2017"
+  LEXUS_CTH = "LEXUS CT 200H 2018"
 
 
 class ECU:
@@ -28,39 +30,39 @@ class ECU:
 
 # addr: (ecu, cars, bus, 1/freq*100, vl)
 STATIC_MSGS = [
-  (0x130, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'),
-  (0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-  (0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-  (0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-  (0x245, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
-  (0x248, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1,   5, '\x00\x00\x00\x00\x00\x00\x01'),
-  (0x367, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0,  40, '\x06\x00'),
-  (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
-  (0x466, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x20\x20\xAD'),
+  (0x130, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1, 100, '\x00\x00\x00\x00\x00\x00\x38'),
+  (0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x241, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x244, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x245, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1,   5, '\x00\x10\x01\x00\x10\x01\x00'),
+  (0x248, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 1,   5, '\x00\x00\x00\x00\x00\x00\x01'),
+  (0x367, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0,  40, '\x06\x00'),
+  (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x00\x00\x00\x00\x00\x00\x17\x00'),
+  (0x466, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.HIGHLANDER, CAR.HIGHLANDERH), 1, 100, '\x20\x20\xAD'),
   (0x466, ECU.CAM, (CAR.COROLLA, CAR.AVALON), 1, 100, '\x24\x20\xB1'),
-  (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
-  (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
-  (0x48b, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'),
-  (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
+  (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
+  (0x48a, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x00\x00\x00\x00\x00\x00\x00'),
+  (0x48b, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON), 0, 100, '\x66\x06\x08\x0a\x02\x00\x00\x00'),
+  (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 0, 100, '\x1C\x00\x00\x01\x00\x00\x00\x00'),
 
-  (0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, '\xf4\x01\x90\x83\x00\x37'),
+  (0x128, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, '\xf4\x01\x90\x83\x00\x37'),
   (0x128, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA), 1,   3, '\x03\x00\x20\x00\x00\x52'),
-  (0x141, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA), 1,   2, '\x00\x00\x00\x46'),
-  (0x160, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA), 1,   7, '\x00\x00\x08\x12\x01\x31\x9c\x51'),
-  (0x161, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   7, '\x00\x1e\x00\x00\x00\x80\x07'),
+  (0x141, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA), 1,   2, '\x00\x00\x00\x46'),
+  (0x160, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA), 1,   7, '\x00\x00\x08\x12\x01\x31\x9c\x51'),
+  (0x161, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   7, '\x00\x1e\x00\x00\x00\x80\x07'),
   (0X161, ECU.DSU, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA), 1,  7, '\x00\x1e\x00\xd4\x00\x00\x5b'),
-  (0x283, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA), 0,   3, '\x00\x00\x00\x00\x00\x00\x8c'),
-  (0x2E6, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, '\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
-  (0x2E7, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, '\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
-  (0x33E, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,  20, '\x0f\xff\x26\x40\x00\x1f\x00'),
-  (0x344, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA), 0,   5, '\x00\x00\x01\x00\x00\x00\x00\x50'),
-  (0x365, ECU.DSU, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.HIGHLANDERH), 0,  20, '\x00\x00\x00\x80\x03\x00\x08'),
+  (0x283, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA), 0,   3, '\x00\x00\x00\x00\x00\x00\x8c'),
+  (0x2E6, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH), 0,   3, '\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
+  (0x2E7, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH), 0,   3, '\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
+  (0x33E, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH), 0,  20, '\x0f\xff\x26\x40\x00\x1f\x00'),
+  (0x344, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA), 0,   5, '\x00\x00\x01\x00\x00\x00\x00\x50'),
+  (0x365, ECU.DSU, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.HIGHLANDERH), 0,  20, '\x00\x00\x00\x80\x03\x00\x08'),
   (0x365, ECU.DSU, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA), 0,  20, '\x00\x00\x00\x80\xfc\x00\x08'),
-  (0x366, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.HIGHLANDERH), 0,  20, '\x00\x00\x4d\x82\x40\x02\x00'),
+  (0x366, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.HIGHLANDERH), 0,  20, '\x00\x00\x4d\x82\x40\x02\x00'),
   (0x366, ECU.DSU, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA), 0,  20, '\x00\x72\x07\xff\x09\xfe\x00'),
-  (0x470, ECU.DSU, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, '\x00\x00\x02\x7a'),
+  (0x470, ECU.DSU, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_CTH), 1, 100, '\x00\x00\x02\x7a'),
   (0x470, ECU.DSU, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA), 1,  100, '\x00\x00\x01\x79'),
-  (0x4CB, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA), 0, 100, '\x0c\x00\x00\x00\x00\x00\x00\x00'),
+  (0x4CB, ECU.DSU, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_CTH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA), 0, 100, '\x0c\x00\x00\x00\x00\x00\x00\x00'),
 
   (0x292, ECU.APGS, (CAR.PRIUS), 0,   3, '\x00\x00\x00\x00\x00\x00\x00\x9e'),
   (0x32E, ECU.APGS, (CAR.PRIUS), 0,  20, '\x00\x00\x00\x00\x00\x00\x00\x00'),
@@ -99,6 +101,10 @@ FINGERPRINTS = {
   # with ipas
     36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 512: 6, 513: 6, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 814: 8, 824: 2, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2,898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 974: 8, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   },
+  {
+    # Taiwan Prius 4.5
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 512: 6, 513: 6, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 740: 5, 742: 8, 743: 8, 764: 8, 800: 8, 810: 2, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 889: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1227: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1777: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1872: 8, 1880: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+  },
   #2019 LE
   {
     36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8, 740: 5, 742: 8, 743: 8, 800: 8, 810: 2, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1777: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
@@ -177,11 +183,23 @@ FINGERPRINTS = {
   # XLE, Limited, and AWD
   {
     36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 565: 8, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 889: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1063: 8, 1076: 8, 1077: 8, 1082: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1696: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
+  },
+  # Taiwan 2019 RAV4H from Max Duan
+  {
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 401: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 810: 2, 812: 8, 829: 2, 830: 7, 835: 8, 836: 8, 863: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 882: 8, 885: 8, 896: 8, 898: 8, 913: 8, 921: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1063: 8, 1071: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1696: 8, 1745: 8, 1775: 8, 1779: 8
   }],
   CAR.COROLLA_TSS2: [
   # hatch 2019+ and sedan 2020+
   {
     36: 8, 37: 8, 114: 5, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 764: 8, 765: 8, 800: 8, 810: 2, 812: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1172: 8, 1235: 8, 1237: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1595: 8, 1649: 8, 1745: 8, 1775: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1809: 8, 1816: 8, 1817: 8, 1840: 8, 1848: 8, 1904: 8, 1912: 8, 1940: 8, 1941: 8, 1948: 8, 1949: 8, 1952: 8, 1960: 8, 1981: 8, 1986: 8, 1990: 8, 1994: 8, 1998: 8, 2004: 8
+  },
+  {
+    # 2019 Taiwan Altis
+    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 401: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 705: 8, 728: 8, 740: 5, 742: 8, 743: 8, 761: 8, 765: 8, 800: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 877: 8, 881: 8, 885: 8, 896: 8, 898: 8, 918: 7, 921: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 987: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1082: 8, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1172: 8, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1745: 8, 1775: 8, 1779: 8
+  },
+  {
+    # 2019 Taiwan Altis Hybrid (?)
+    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, 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, 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, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1082: 8, 1112: 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, 1745: 8, 1775: 8, 1779: 8
   }],
   CAR.LEXUS_ESH_TSS2: [
   {
@@ -194,11 +212,20 @@ FINGERPRINTS = {
   # IS300 2018
   {
     36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 400: 6, 426: 6, 452: 8, 464: 8, 466: 8, 467: 5, 544: 4, 550: 8, 552: 4, 608: 8, 610: 5, 643: 7, 705: 8, 740: 5, 800: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1009: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1182: 8, 1183: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1590: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1648: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
-  },
+  }],
+  CAR.LEXUS_ISH: [
   # IS300H 2017
   {
     36: 8, 37: 8, 170: 8, 180: 8, 295: 8, 296: 8, 400: 6, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 836: 8, 845: 5, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 913: 8, 916: 3, 918: 7, 921: 7, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 3, 955: 8, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1009: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1112: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1168: 1, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1187: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1208: 8, 1212: 8, 1227: 8, 1232: 8, 1235: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1599: 8, 1728: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   }],
+  CAR.LEXUS_CTH: [{
+    # Taiwan CT200h FP from CloudJ
+    36: 8, 37: 8, 170: 8, 180: 8, 288: 8, 426: 6, 452: 8, 466: 8, 467: 8, 548: 8, 552: 4, 560: 7, 581: 5, 608: 8, 610: 5, 643: 7, 713: 8, 740: 5, 800: 8, 810: 2, 832: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 900: 6, 902: 6, 905: 8, 911: 8, 916: 1, 918: 7, 921: 8, 933: 8, 944: 6, 945: 8, 950: 8, 951: 8, 953: 3, 955: 4, 956: 8, 979: 2, 992: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1056: 8, 1057: 8, 1059: 1, 1076: 8, 1077: 8, 1112: 8, 1114: 8, 1116: 8, 1160: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1184: 8, 1185: 8, 1186: 8, 1190: 8, 1191: 8, 1192: 8, 1227: 8, 1235: 8, 1279: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1558: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1575: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1664: 8, 1728: 8, 1779: 8
+  },
+  {
+    # CT200h FP from thomaspich
+    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
+  }],
 }
 
 STEER_THRESHOLD = 100
@@ -221,6 +248,8 @@ DBC = {
   CAR.LEXUS_ESH_TSS2: dbc_dict('toyota_nodsu_hybrid_pt_generated', 'toyota_tss2_adas'),
   CAR.SIENNA: dbc_dict('toyota_sienna_xle_2018_pt_generated', 'toyota_adas'),
   CAR.LEXUS_IS: dbc_dict('lexus_is_2018_pt_generated', 'toyota_adas'),
+  CAR.LEXUS_ISH: dbc_dict('lexus_is_2018_pt_generated', 'toyota_adas'),
+  CAR.LEXUS_CTH: dbc_dict('lexus_ct200h_2018_pt_generated', 'toyota_adas'),
 }
 
 NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2]

selfdrive/controls/controlsd.py

@@ -123,8 +123,8 @@ def data_sample(CI, CC, sm, can_sock, cal_status, cal_perc, overtemp, free_space
   if sm.updated['driverMonitoring']:
     driver_status.get_pose(sm['driverMonitoring'], cal_rpy, CS.vEgo, enabled)
 
-  if driver_status.terminal_alert_cnt >= MAX_TERMINAL_ALERTS:
-    events.append(create_event("tooDistracted", [ET.NO_ENTRY]))
+  # if driver_status.terminal_alert_cnt >= MAX_TERMINAL_ALERTS:
+  #   events.append(create_event("tooDistracted", [ET.NO_ENTRY]))
 
   return CS, events, cal_status, cal_perc, overtemp, free_space, low_battery, mismatch_counter
 
@@ -217,7 +217,7 @@ def state_transition(frame, CS, CP, state, events, soft_disable_timer, v_cruise_
 
 
 def state_control(frame, rcv_frame, plan, path_plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last,
-                  AM, rk, driver_status, LaC, LoC, VM, read_only, is_metric, cal_perc):
+                  AM, rk, driver_status, LaC, LoC, VM, read_only, is_metric, cal_perc, dragon_lat_control, dragon_display_steering_limit_alert):
   """Given the state, this function returns an actuators packet"""
 
   actuators = car.CarControl.Actuators.new_message()
@@ -267,8 +267,9 @@ def state_control(frame, rcv_frame, plan, path_plan, CS, CP, state, events, v_cr
   actuators.steer, actuators.steerAngle, lac_log = LaC.update(active, CS.vEgo, CS.steeringAngle, CS.steeringRate, CS.steeringTorqueEps, CS.steeringPressed, CP, VM, path_plan)
 
   # Send a "steering required alert" if saturation count has reached the limit
-  if LaC.sat_flag and CP.steerLimitAlert:
-    AM.add(frame, "steerSaturated", enabled)
+  if dragon_display_steering_limit_alert:
+    if dragon_lat_control and LaC.sat_flag and CP.steerLimitAlert:
+      AM.add(frame, "steerSaturated", enabled)
 
   # Parse permanent warnings to display constantly
   for e in get_events(events, [ET.PERMANENT]):
@@ -502,7 +503,21 @@ def controlsd_thread(sm=None, pm=None, can_sock=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
+
   while True:
+    # dragonpilot, don't check for param too often as it's a kernel call
+    ts = sec_since_boot()
+    if ts - ts_last_check > 5.:
+      dragon_toyota_stock_dsu = False if params.get("DragonToyotaStockDSU") == "0" else True
+      dragon_lat_control = False if params.get("DragonLatCtrl") == "0" else True
+      dragon_display_steering_limit_alert = False if params.get("DragonDisplaySteeringLimitAlert") == "0" else True
+      ts_last_check = ts
+
     start_time = sec_since_boot()
     prof.checkpoint("Ratekeeper", ignore=True)
 
@@ -532,9 +547,10 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
     if not sounds_available:
       events.append(create_event('soundsUnavailable', [ET.NO_ENTRY, 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 not read_only:
       # update control state
@@ -545,7 +561,7 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
     # Compute actuators (runs PID loops and lateral MPC)
     actuators, v_cruise_kph, driver_status, v_acc, a_acc, lac_log = \
       state_control(sm.frame, sm.rcv_frame, sm['plan'], sm['pathPlan'], CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk,
-                    driver_status, LaC, LoC, VM, read_only, is_metric, cal_perc)
+                    driver_status, LaC, LoC, VM, read_only, is_metric, cal_perc, dragon_lat_control, dragon_display_steering_limit_alert)
 
     prof.checkpoint("State Control")
 

selfdrive/controls/lib/alerts.py

@@ -1,3 +1,5 @@
+# This Python file uses the following encoding: utf-8
+# -*- coding: utf-8 -*-
 from cereal import car, log
 
 # Priority
@@ -694,4 +696,18 @@ ALERTS = [
       "",
       AlertStatus.normal, AlertSize.small,
       Priority.LOWEST, VisualAlert.steerRequired, AudibleAlert.none, .0, .0, .1),
+
+  Alert(
+    "manualSteeringRequired",
+    "STEERING REQUIRED: Lane Keeping OFF",
+    "",
+    AlertStatus.normal, AlertSize.small,
+    Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),
+
+  Alert(
+    "manualSteeringRequiredBlinkersOn",
+    "STEERING REQUIRED: Blinkers ON",
+    "",
+    AlertStatus.normal, AlertSize.small,
+    Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),
 ]

selfdrive/controls/lib/driver_monitor.py

@@ -3,6 +3,8 @@ from common.realtime import DT_CTRL, DT_DMON
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from common.filter_simple import FirstOrderFilter
 from common.stat_live import RunningStatFilter
+from common.params import Params
+params = Params()
 
 _AWARENESS_TIME = 100.  # 1.6 minutes limit without user touching steering wheels make the car enter a terminal status
 _AWARENESS_PRE_TIME_TILL_TERMINAL = 25.  # a first alert is issued 25s before expiration
@@ -94,6 +96,12 @@ class DriverStatus():
     self.is_rhd_region = False
     self.is_rhd_region_checked = False
 
+    # dragonpilot
+    self.awareness_time = float(params.get("DragonSteeringMonitorTimer"))
+    self.awareness_time = 86400 if self.awareness_time <= 0. else self.awareness_time * 60.
+    self.dragon_enable_driver_safety_check = False if params.get("DragonEnableDriverSafetyCheck") == "0" else True
+    self.dragon_enable_driver_monitoring = False if params.get("DragonEnableDriverMonitoring") == "0" else True
+
     self._set_timers(active_monitoring=True)
 
   def _set_timers(self, active_monitoring):
@@ -121,9 +129,9 @@ class DriverStatus():
         self.awareness_active = self.awareness
         self.awareness = self.awareness_passive
 
-      self.threshold_pre = _AWARENESS_PRE_TIME_TILL_TERMINAL / _AWARENESS_TIME
-      self.threshold_prompt = _AWARENESS_PROMPT_TIME_TILL_TERMINAL / _AWARENESS_TIME
-      self.step_change = DT_CTRL / _AWARENESS_TIME
+      self.threshold_pre = _AWARENESS_PRE_TIME_TILL_TERMINAL / self.awareness_time
+      self.threshold_prompt = _AWARENESS_PROMPT_TIME_TILL_TERMINAL / self.awareness_time
+      self.step_change = DT_CTRL / self.awareness_time
       self.active_monitoring_mode = False
 
   def _is_driver_distracted(self, pose, blink):
@@ -155,6 +163,9 @@ class DriverStatus():
     self.pose.roll, self.pose.pitch, self.pose.yaw = head_orientation_from_descriptor(driver_monitoring.faceOrientation, driver_monitoring.facePosition, cal_rpy)
     self.blink.left_blink = driver_monitoring.leftBlinkProb * (driver_monitoring.leftEyeProb>_EYE_THRESHOLD)
     self.blink.right_blink = driver_monitoring.rightBlinkProb * (driver_monitoring.rightEyeProb>_EYE_THRESHOLD)
+    # we simply set to rhd to avoid driver monitoring
+    if not self.dragon_enable_driver_monitoring:
+      self.is_rhd_region = True
     self.face_detected = driver_monitoring.faceProb > _FACE_THRESHOLD and not self.is_rhd_region
 
     self.driver_distracted = self._is_driver_distracted(self.pose, self.blink)>0
@@ -173,7 +184,7 @@ class DriverStatus():
     self._set_timers(self.face_detected)
 
   def update(self, events, driver_engaged, ctrl_active, standstill):
-    if (driver_engaged and self.awareness > 0) or not ctrl_active:
+    if (driver_engaged and self.awareness > 0) or not ctrl_active or not self.dragon_enable_driver_safety_check:
       # reset only when on disengagement if red reached
       self.awareness = 1.
       self.awareness_active = 1.

selfdrive/controls/lib/lane_planner.py

@@ -1,5 +1,8 @@
 from common.numpy_fast import interp
 import numpy as np
+from common.realtime import sec_since_boot
+from common.params import Params
+params = Params()
 
 CAMERA_OFFSET = 0.06  # m from center car to camera
 
@@ -49,6 +52,9 @@ class LanePlanner(object):
     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)
@@ -62,9 +68,13 @@ class LanePlanner(object):
     self.r_prob = md.rightLane.prob  # right line prob
 
   def update_lane(self, v_ego):
+    ts = sec_since_boot()
+    if ts - self.ts_last_check > 5.:
+      self.camera_offset = int(params.get("DragonCameraOffset")) * 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)

selfdrive/controls/lib/pathplanner.py

@@ -10,6 +10,7 @@ from selfdrive.controls.lib.drive_helpers import MPC_COST_LAT
 from selfdrive.controls.lib.lane_planner import LanePlanner
 import selfdrive.messaging as messaging
 
+
 LOG_MPC = os.environ.get('LOG_MPC', False)
 
 

selfdrive/crash.py

@@ -1,8 +1,9 @@
 """Install exception handler for process crash."""
 import os
 import sys
+import json
+#from subprocess import check_output
 import threading
-import capnp
 from selfdrive.version import version, dirty
 
 from selfdrive.swaglog import cloudlog
@@ -19,13 +20,42 @@ if os.getenv("NOLOG") or os.getenv("NOCRASH"):
 else:
   from raven import Client
   from raven.transport.http import HTTPTransport
-  client = Client('https://1994756b5e6f41cf939a4c65de45f4f2:cefebaf3a8aa40d182609785f7189bd7@app.getsentry.com/77924',
-                  install_sys_hook=False, transport=HTTPTransport, release=version, tags={'dirty': dirty})
+
+  error_tags = {'dirty': dirty, 'username': 'char_error'}
+
+  try:
+    with open("/data/data/ai.comma.plus.offroad/files/persistStore/persist-auth", "r") as f:
+      auth = json.loads(f.read())
+    auth = json.loads(auth['commaUser'])
+    tags = ['username', 'email']
+    for tag in tags:
+      try:
+        error_tags[tag] = ''.join(char for char in auth[tag].decode('utf-8', 'ignore') if char.isalnum())
+      except:
+        pass
+  except:
+    pass
+
+  logging_data = {"branch": "/data/params/d/GitBranch", "commit": "/data/params/d/GitCommit", "remote": "/data/params/d/GitRemote"}
+
+  for key in logging_data:
+    try:
+      with open(logging_data[key], "r") as f:
+        error_tags[key] = str(f.read())
+    except:
+      error_tags[key] = "unknown"
+
+  client = Client('https://980a0cba712a4c3593c33c78a12446e1:fecab286bcaf4dba8b04f7cff0188e2d@sentry.io/1488600',
+                  install_sys_hook=False, transport=HTTPTransport, release=version, tags=error_tags)
+
+  def capture_warning(warning_string):
+    client.captureMessage(warning_string, level='warning')
+
+  def capture_info(info_string):
+    client.captureMessage(info_string, level='info')
 
   def capture_exception(*args, **kwargs):
-    exc_info = sys.exc_info()
-    if not exc_info[0] is capnp.lib.capnp.KjException:
-      client.captureException(*args, **kwargs)
+    client.captureException(*args, **kwargs)
     cloudlog.error("crash", exc_info=kwargs.get('exc_info', 1))
 
   def bind_user(**kwargs):

selfdrive/dragonpilot/appd/appd.py

@@ -0,0 +1,172 @@
+#!/usr/bin/env python2.7
+
+import time
+import selfdrive.messaging as messaging
+from selfdrive.services import service_list
+import subprocess
+import cereal
+ThermalStatus = cereal.log.ThermalData.ThermalStatus
+from selfdrive.swaglog import cloudlog
+from common.params import Params, put_nonblocking
+params = Params()
+
+# v1.16.2
+tomtom = "com.tomtom.speedcams.android.map"
+tomtom_main = "com.tomtom.speedcams.android.activities.SpeedCamActivity"
+
+# v4.1.0.20047
+autonavi = "com.autonavi.amapauto"
+autonavi_main = "com.autonavi.amapauto.MainMapActivity"
+
+# v6.39.2
+mixplorer = "com.mixplorer"
+mixplorer_main = "com.mixplorer.activities.BrowseActivity"
+
+gpsservice = "cn.dragonpilot.gpsservice"
+gpsservice_main = "cn.dragonpilot.gpsservice.MainService"
+
+def main(gctx=None):
+
+  dragon_enable_tomtom = True if params.get('DragonEnableTomTom') == "1" else False
+  dragon_enable_autonavi = True if params.get('DragonEnableAutonavi') == "1" else False
+  dragon_enable_mixplorer = True if params.get('DragonEnableMixplorer') == "1" else False
+  dragon_boot_tomtom = True if params.get("DragonBootTomTom") == "1" else False
+  dragon_boot_autonavi = True if params.get("DragonBootAutonavi") == "1" else False
+  dragon_greypanda_mode = True if params.get("DragonGreyPandaMode") == "1" else False
+  dragon_grepanda_mode_started = False
+  tomtom_is_running = False
+  autonavi_is_running = False
+  mixplorer_is_running = False
+  allow_auto_boot = True
+  manual_tomtom = False
+  manual_autonavi = False
+  last_started = False
+  frame = 0
+  start_delay = None
+  stop_delay = None
+
+  put_nonblocking('DragonRunTomTom', '0')
+  put_nonblocking('DragonRunAutonavi', '0')
+  put_nonblocking('DragonRunMixplorer', '0')
+
+  # we want to disable all app when boot
+  system("pm disable %s" % tomtom)
+  system("pm disable %s" % autonavi)
+  system("pm disable %s" % mixplorer)
+  system("pm disable %s" % gpsservice)
+
+  thermal_sock = messaging.sub_sock(service_list['thermal'].port)
+
+  while dragon_enable_tomtom or dragon_enable_autonavi or dragon_enable_mixplorer or dragon_greypanda_mode:
+
+    # allow user to manually start/stop app
+    if dragon_enable_tomtom:
+      status = params.get('DragonRunTomTom')
+      if not status == "0":
+        tomtom_is_running = exec_app(status, tomtom, tomtom_main)
+        params.put('DragonRunTomTom', '0')
+        manual_tomtom = status != "0"
+
+    if dragon_enable_autonavi:
+      status = params.get('DragonRunAutonavi')
+      if not status == "0":
+        autonavi_is_running = exec_app(status, autonavi, autonavi_main)
+        params.put('DragonRunAutonavi', '0')
+        manual_autonavi = status != "0"
+
+    if dragon_enable_mixplorer:
+      status = params.get('DragonRunMixplorer')
+      if not status == "0":
+        mixplorer_is_running = exec_app(status, mixplorer, mixplorer_main)
+        params.put('DragonRunMixplorer', '0')
+
+    # if manual control is set, we do not allow any of the auto actions
+    auto_tomtom = not manual_tomtom and dragon_enable_tomtom and dragon_boot_tomtom
+    auto_autonavi = not manual_autonavi and dragon_enable_autonavi and dragon_boot_autonavi
+
+    msg = messaging.recv_sock(thermal_sock, wait=True)
+    started = msg.thermal.started
+    # car on
+    if started:
+      if dragon_greypanda_mode and not dragon_grepanda_mode_started:
+        dragon_grepanda_mode_started = True
+        system("pm enable %s" % gpsservice)
+        system("am startservice %s/%s" % (gpsservice, gpsservice_main))
+
+      stop_delay = None
+      if start_delay is None:
+        start_delay = frame + 5
+      #
+      # Logic:
+      # if temp reach red, we disable all 3rd party apps.
+      # once the temp drop below yellow, we then re-enable them
+      #
+      # set allow_auto_boot back to True once the thermal status is < yellow
+      thermal_status = msg.thermal.thermalStatus
+      if not allow_auto_boot and thermal_status < ThermalStatus.yellow:
+        allow_auto_boot = True
+      if allow_auto_boot:
+        # only allow auto boot when thermal status is < red
+        if thermal_status < ThermalStatus.red:
+          if auto_tomtom and not tomtom_is_running and frame > start_delay:
+            tomtom_is_running = exec_app('1', tomtom, tomtom_main)
+          if auto_autonavi and not autonavi_is_running and frame > start_delay:
+            autonavi_is_running = exec_app('1', autonavi, autonavi_main)
+        else:
+          if auto_tomtom and tomtom_is_running:
+            tomtom_is_running = exec_app('-1', tomtom, tomtom_main)
+          if auto_autonavi and autonavi_is_running:
+            autonavi_is_running = exec_app('-1', autonavi, autonavi_main)
+          # set allow_auto_boot to False once the thermal status is >= red
+          allow_auto_boot = False
+
+      # kill mixplorer when car started
+      if mixplorer_is_running:
+        mixplorer_is_running = exec_app('-1', mixplorer, mixplorer_main)
+
+    # car off
+    else:
+      if dragon_greypanda_mode and dragon_grepanda_mode_started:
+        dragon_grepanda_mode_started = False
+        system("pm disable %s" % gpsservice)
+
+      start_delay = None
+      if stop_delay is None:
+        stop_delay = frame + 30
+      if auto_tomtom and tomtom_is_running and frame > stop_delay:
+        tomtom_is_running = exec_app('-1', tomtom, tomtom_main)
+      if auto_autonavi and autonavi_is_running and frame > stop_delay:
+        autonavi_is_running = exec_app('-1', autonavi, autonavi_main)
+
+    # if car state changed, we remove manual control state
+    if not last_started == started:
+      manual_tomtom = False
+      manual_autonavi = False
+
+    last_started = started
+    frame += 3
+    # every 3 seconds, we re-check status
+    time.sleep(3)
+
+def exec_app(status, app, app_main):
+  if status == "1":
+    system("pm enable %s" % app)
+    system("am start -n %s/%s" % (app, app_main))
+    return True
+  if status == "-1":
+    system("pm disable %s" % app)
+    return False
+
+
+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()

selfdrive/dragonpilot/dashcamd/dashcamd.py

@@ -0,0 +1,80 @@
+#!/usr/bin/env python2.7
+#
+# courtesy of pjlao307 (https://github.com/pjlao307/)
+# this is just his original implementation but
+# in openpilot service form so it's always on
+#
+# with the highest bit rates, the video is approx. 0.5MB per second
+# the default value is set to 2.56Mbps = 0.32MB per second
+#
+import os
+import time
+import datetime
+import selfdrive.messaging as messaging
+from selfdrive.services import service_list
+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(service_list['thermal'].port)
+  while 1:
+    if params.get("DragonEnableDashcam") == "1":
+      now = datetime.datetime.now()
+      file_name = now.strftime("%Y-%m-%d_%H-%M-%S")
+      os.system("screenrecord --bit-rate %s --time-limit %s %s%s.mp4 &" % (bit_rates, duration, dashcam_videos, file_name))
+
+      used_spaces = get_used_spaces()
+      last_used_spaces = used_spaces
+
+      # we should clean up files here if use too much spaces
+      # when used spaces greater than max available storage
+      # or when free space is less than 10%
+
+      # get health of board, log this in "thermal"
+      start_time = time.time()
+      msg = messaging.recv_sock(thermal_sock, wait=True)
+      if used_spaces >= max_storage or (msg is not None and msg.thermal.freeSpace < freespace_limit):
+        # get all the files in the dashcam_videos path
+        files = [f for f in sorted(os.listdir(dashcam_videos)) if os.path.isfile(dashcam_videos + f)]
+        for file in files:
+          msg = messaging.recv_sock(thermal_sock, wait=True)
+          # delete file one by one and once it has enough space for 1 video, we stop deleting
+          if used_spaces - last_used_spaces < max_size_per_file or msg.thermal.freeSpace < freespace_limit:
+            system("rm -fr %s" % (dashcam_videos + file))
+            last_used_spaces = get_used_spaces()
+          else:
+            break
+      time_diff = int(time.time()-start_time)
+      # we start the process 1 second before screenrecord ended
+      # to make sure there are no missing footage
+      time.sleep(duration-1-time_diff)
+    else:
+      time.sleep(1)
+
+def get_used_spaces():
+  return sum(os.path.getsize(dashcam_videos + f) for f in os.listdir(dashcam_videos) if os.path.isfile(dashcam_videos + f))
+
+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()

selfdrive/dragonpilot/dragonconf/__init__.py

@@ -0,0 +1,94 @@
+#!/usr/bin/env python2.7
+from common.params import Params, put_nonblocking
+
+default_conf = {
+  'DragonEnableDashcam': '1',
+  'DragonDisableDriverSafetyCheck': '0', # deprecated
+  'DragonEnableDriverSafetyCheck': '1',
+  'DragonAutoShutdownAt': '30', # in minute
+  'DragonTempDisableSteerOnSignal': '0', # deprecated
+  'DragonEnableSteeringOnSignal': '0',
+  'DragonDisableLogger': '0', # deprecated
+  'DragonEnableLogger': '1',
+  'DragonDisableUploader': '0', # deprecated
+  'DragonEnableUploader': '1',
+  'DragonNoctuaMode': '0',
+  'DragonCacheCar': '0',
+  'DragonCachedModel': '', # for cache car
+  'DragonCachedFP': '', # for cache car
+  'DragonCachedVIN': '', # for cache car
+  'DragonAllowGas': '0',
+  'DragonBBUI': '0', # deprecated
+  'DragonToyotaStockDSU': '0',
+  'DragonLatCtrl': '1',
+  'DragonUISpeed': '1',
+  'DragonUIEvent': '0',
+  'DragonUIMaxSpeed': '0',
+  'DragonUIFace': '0',
+  'DragonUIDev': '0',
+  'DragonUIDevMini': '1',
+  # 3rd party app
+  'DragonEnableTomTom': '0',
+  'DragonBootTomTom': '0',
+  'DragonRunTomTom': '0',
+  'DragonEnableAutonavi': '0',
+  'DragonBootAutonavi': '0',
+  'DragonRunAutonavi': '0',
+  'DragonEnableMixplorer': '0',
+  'DragonRunMixplorer': '0',
+  'DragonSteeringMonitorTimer': '3',
+  'DragonCameraOffset': '6',
+  'DragonUIVolumeBoost': '0',
+  'DragonGreyPandaMode': '0',
+  'DragonDrivingUI': '1',
+  'DragonDisplaySteeringLimitAlert': '1',
+  'DragonChargingCtrl': '0',
+  'DragonCharging': 70,
+  'DragonDisCharging': 60,
+  'DragonToyotaLaneDepartureWarning': '1',
+  'DragonUILane': '1',
+  'DragonUILead': '1',
+  'DragonUIPath': '1',
+  'DragonUIBlinker': '0',
+  'DragonEnableDriverMonitoring': '1',
+}
+
+deprecated_conf = {
+  'DragonDisableDriverSafetyCheck': 'DragonEnableDriverSafetyCheck',
+  'DragonTempDisableSteerOnSignal': 'DragonEnableSteeringOnSignal',
+  'DragonDisableLogger': 'DragonEnableLogger',
+  'DragonDisableUploader': 'DragonEnableUploader',
+  'DragonBBUI': 'DragonUIDev',
+}
+
+deprecated_conf_invert = {
+  'DragonDisableDriverSafetyCheck': True,
+  'DragonTempDisableSteerOnSignal': False,
+  'DragonDisableLogger': True,
+  'DragonDisableUploader': True,
+  'DragonBBUI': False
+}
+
+def dragonpilot_set_params(params):
+  # remove deprecated params
+  for old, new in deprecated_conf.items():
+    if params.get(old) is not None:
+      if new is not None:
+        old_val = str(params.get(old))
+        new_val = old_val
+        # invert the value if true
+        if old in deprecated_conf_invert and deprecated_conf_invert[old] is True:
+          new_val = "1" if old_val == "0" else "0"
+        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)

selfdrive/dragonpilot/safeguardd/safeguardd.py

@@ -0,0 +1,47 @@
+#!/usr/bin/env python2.7
+#
+# I had a few incidents where OP suddenly stopped while cruising.
+# This script is used to detect such event
+#
+
+import os
+import subprocess
+
+import zmq
+from selfdrive.services import service_list
+import selfdrive.messaging as messaging
+
+mediaplayer = '/data/openpilot/selfdrive/dragonpilot/mediaplayer/'
+
+def main(gctx=None):
+
+  poller = zmq.Poller()
+  sock = messaging.sub_sock(service_list['controlsState'].port, poller)
+  poller.poll(timeout=1000)
+
+  last_v_ego = 0.
+  last_active = False
+
+  env = dict(os.environ)
+  env['LD_LIBRARY_PATH'] = mediaplayer
+
+  while 1:
+
+    v_ego = 0
+    active = False
+    controls_state = messaging.recv_sock(sock, wait=True)
+
+    if controls_state is not None:
+      v_ego = controls_state.controlsState.vEgo
+      active = controls_state.controlsState.active
+
+      # we are driving and all of sudden we dont have any speed at all
+      # we better warn the driver before it's too late
+      if last_active and last_v_ego >= 5 and v_ego == 0:
+        subprocess.Popen([mediaplayer + 'mediaplayer', '/data/openpilot/selfdrive/dragonpilot/safeguardd/error.wav'], shell = False, stdin=None, stdout=None, stderr=None, env = env, close_fds=True)
+
+    last_active = active
+    last_v_ego = v_ego
+
+if __name__ == "__main__":
+  main()

selfdrive/dragonpilot/shutdownd/shutdownd.py

@@ -0,0 +1,48 @@
+#!/usr/bin/env python2.7
+
+import os
+import time
+from common.params import Params
+params = Params()
+
+def main(gctx=None):
+
+  shutdown_count = 0
+  auto_shutdown_at = get_shutdown_val()
+  frame = 0
+  last_shutdown_val = get_shutdown_val()
+
+  while 1:
+    with open("/sys/class/power_supply/usb/present") as f:
+      usb_online = bool(int(f.read()))
+
+    if not usb_online:
+      # we update the value every 5 seconds in case of user updates it
+      if frame % 5 == 0:
+        auto_shutdown_at = get_shutdown_val()
+      shutdown_count += 1
+    else:
+      shutdown_count = 0
+
+    if not last_shutdown_val == auto_shutdown_at:
+      shutdown_count = 0
+      last_shutdown_val = auto_shutdown_at
+
+    if auto_shutdown_at is None:
+      auto_shutdown_at = get_shutdown_val()
+    else:
+      if shutdown_count >= auto_shutdown_at > 0:
+        os.system('LD_LIBRARY_PATH="" svc power shutdown')
+
+    time.sleep(1)
+
+def get_shutdown_val():
+  val = params.get("DragonAutoShutdownAt")
+  if val is None:
+    return None
+  else:
+    return int(val)*60 # convert to seconds
+
+
+if __name__ == "__main__":
+  main()

selfdrive/manager.py

@@ -10,6 +10,8 @@ from common.basedir import BASEDIR
 sys.path.append(os.path.join(BASEDIR, "pyextra"))
 os.environ['BASEDIR'] = BASEDIR
 
+from selfdrive.dragonpilot.dragonconf import dragonpilot_set_params
+
 def unblock_stdout():
   # get a non-blocking stdout
   child_pid, child_pty = os.forkpty()
@@ -116,12 +118,15 @@ managed_processes = {
   "visiond": ("selfdrive/visiond", ["./visiond"]),
   "sensord": ("selfdrive/sensord", ["./start_sensord.py"]),
   "gpsd": ("selfdrive/sensord", ["./start_gpsd.py"]),
-  "updated": "selfdrive.updated",
+  #"updated": "selfdrive.updated",
+  "dashcamd": "selfdrive.dragonpilot.dashcamd.dashcamd",
+  "shutdownd": "selfdrive.dragonpilot.shutdownd.shutdownd",
+  "appd": "selfdrive.dragonpilot.appd.appd",
 }
 daemon_processes = {
   "athenad": "selfdrive.athena.athenad",
 }
-android_packages = ("ai.comma.plus.offroad", "ai.comma.plus.frame")
+android_packages = ("cn.dragonpilot.gpsservice", "com.autonavi.amapauto", "com.mixplorer", "com.tomtom.speedcams.android.map", "ai.comma.plus.offroad", "ai.comma.plus.frame")
 
 running = {}
 def get_running():
@@ -143,7 +148,9 @@ persistent_processes = [
   'tombstoned',
   'uploader',
   'ui',
-  'updated',
+  #'updated',
+  'shutdownd',
+  'appd',
 ]
 
 car_started_processes = [
@@ -159,6 +166,7 @@ car_started_processes = [
   'ubloxd',
   'gpsd',
   'deleter',
+  'dashcamd',
 ]
 
 def register_managed_process(name, desc, car_started=False):
@@ -578,6 +586,8 @@ def main():
   if params.get("LimitSetSpeedNeural") is None:
     params.put("LimitSetSpeedNeural", "0")
 
+  dragonpilot_set_params(params)
+
   # is this chffrplus?
   if os.getenv("PASSIVE") is not None:
     params.put("Passive", str(int(os.getenv("PASSIVE"))))
@@ -589,8 +599,8 @@ def main():
   if os.getenv("PREPAREONLY") is not None:
     spinner_proc = None
   else:
-    spinner_text = "chffrplus" if params.get("Passive")=="1" else "openpilot"
-    spinner_proc = subprocess.Popen(["./spinner", "loading %s"%spinner_text],
+    spinner_text = "chffrplus" if params.get("Passive")=="1" else "dragonpilot"
+    spinner_proc = subprocess.Popen(["./spinner", "http://dragonpilot.cn"],
       cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
       close_fds=True)
   try:
@@ -604,6 +614,13 @@ def main():
   if os.getenv("PREPAREONLY") is not None:
     return
 
+  if params.get("DragonEnableLogger") == "0":
+    del managed_processes['loggerd']
+    del managed_processes['tombstoned']
+
+  if params.get("DragonEnableUploader") == "0":
+    del managed_processes['uploader']
+
   # SystemExit on sigterm
   signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
 

selfdrive/thermald.py

@@ -11,6 +11,10 @@ from common.params import Params
 from common.realtime import sec_since_boot, DT_TRML
 from common.numpy_fast import clip
 from common.filter_simple import FirstOrderFilter
+params = Params()
+
+import subprocess
+import re
 
 ThermalStatus = log.ThermalData.ThermalStatus
 CURRENT_TAU = 15.   # 15s time constant
@@ -82,6 +86,9 @@ _TEMP_THRS_L = [42.5, 57.5, 72.5, 10000]
 _FAN_SPEEDS = [0, 16384, 32768, 65535]
 # max fan speed only allowed if battery is hot
 _BAT_TEMP_THERSHOLD = 45.
+if params.get('DragonNoctuaMode') == "1":
+  _FAN_SPEEDS = [65535, 65535, 65535, 65535]
+  _BAT_TEMP_THERSHOLD = 20.
 
 
 def handle_fan(max_cpu_temp, bat_temp, fan_speed):
@@ -146,7 +153,15 @@ def thermald_thread():
   charging_disabled = False
   os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled')
 
-  params = Params()
+  # dragonpilot
+  ts_last_ip = 0.
+  ts_last_update_vars = 0.
+  ts_last_charging_ctrl = 0.
+
+  ip_addr = '255.255.255.255'
+  dragon_charging_ctrl = True if params.get('DragonChargingCtrl') == "1" else False
+  dragon_charging_max = int(params.get('DragonCharging'))
+  dragon_discharging_min = int(params.get('DragonDisCharging'))
 
   while 1:
     health = messaging.recv_sock(health_sock, wait=True)
@@ -176,6 +191,25 @@ def thermald_thread():
     with open("/sys/class/power_supply/usb/present") as f:
       msg.thermal.usbOnline = bool(int(f.read()))
 
+    # dragonpilot ip Mod
+    # update ip every 10 seconds
+    ts = sec_since_boot()
+    if ts - ts_last_ip > 10.:
+      try:
+        result = subprocess.check_output(["service", "call", "connectivity", "2"]).strip().split("\n")
+      except subprocess.CalledProcessError:
+        return False
+
+      data = ''.join(''.join(w.decode("hex")[::-1] for w in l[14:49].split()) for l in result[1:])
+
+      if "\x00".join("WIFI") in data:
+        result = subprocess.check_output(["ifconfig", "wlan0"])
+        ip_addr = re.findall(r"inet addr:((\d+\.){3}\d+)", result)[0][0]
+      else:
+        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
@@ -266,6 +300,30 @@ def thermald_thread():
     thermal_sock.send(msg.to_bytes())
     print(msg)
 
+    # dragonpilot
+    ts = sec_since_boot()
+    # update variable status every 10 secs
+    if ts - ts_last_update_vars > 10.:
+      dragon_charging_ctrl = True if params.get('DragonChargingCtrl') == "1" else False
+      dragon_charging_max = int(params.get('DragonCharging'))
+      dragon_discharging_min = int(params.get('DragonDisCharging'))
+      ts_last_update_vars = ts
+
+    # we only update charging status once every min
+    if ts - ts_last_charging_ctrl > 60.:
+      if dragon_charging_ctrl:
+        if msg.thermal.batteryPercent >= dragon_charging_max and not charging_disabled:
+          os.system('echo "0" > /sys/class/power_supply/battery/charging_enabled')
+          charging_disabled = True
+        if msg.thermal.batteryPercent <= dragon_discharging_min and charging_disabled:
+          os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled')
+          charging_disabled = False
+      else:
+        if charging_disabled:
+          os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled')
+          charging_disabled = False
+      ts_last_charging_ctrl = ts
+
     # report to server once per minute
     if (count % int(60. / DT_TRML)) == 0:
       cloudlog.event("STATUS_PACKET",

selfdrive/tombstoned.py

@@ -104,7 +104,7 @@ def report_tombstone(fn, client):
 def main(gctx=None):
   initial_tombstones = set(get_tombstones())
 
-  client = Client('https://d3b175702f62402c91ade04d1c547e68:b20d68c813c74f63a7cdf9c4039d8f56@sentry.io/157615',
+  client = Client('https://980a0cba712a4c3593c33c78a12446e1:fecab286bcaf4dba8b04f7cff0188e2d@sentry.io/1488600',
                   install_sys_hook=False, transport=HTTPTransport, release=version, tags={'dirty': dirty}, string_max_length=10000)
 
   client.user_context({'id': os.environ.get('DONGLE_ID')})

selfdrive/ui/Makefile

@@ -16,7 +16,7 @@ CXXFLAGS = -std=c++11 -fPIC -O2 $(WARN_FLAGS)
 ZMQ_LIBS = -l:libczmq.a -l:libzmq.a -lgnustl_shared
 
 CEREAL_LIBS = -l:libcapn.a
-CEREAL_OBJS = ../../cereal/gen/c/log.capnp.o
+CEREAL_OBJS = ../../cereal/gen/c/log.capnp.o ../../cereal/gen/c/car.capnp.o
 
 NANOVG_FLAGS = -I$(PHONELIBS)/nanovg
 JSON_FLAGS = -I$(PHONELIBS)/json/src

selfdrive/ui/ui.c

@@ -35,6 +35,7 @@
 
 #include "cereal/gen/c/log.capnp.h"
 #include "slplay.h"
+#include <time.h>
 
 #define STATUS_STOPPED 0
 #define STATUS_DISENGAGED 1
@@ -67,6 +68,7 @@ const int viz_w = vwp_w-(bdr_s*2);
 const int header_h = 420;
 const int footer_h = 280;
 const int footer_y = vwp_h-bdr_s-footer_h;
+const int bdr_is = 30;
 
 const int UI_FREQ = 30;   // Hz
 
@@ -161,6 +163,16 @@ typedef struct UIScene {
 
   // Used to show gps planner status
   bool gps_planner_active;
+
+  // for minimal UI
+  float angleSteersDes;
+  float angleSteers;
+
+  // for blinker, from kegman
+  bool leftBlinker;
+  bool rightBlinker;
+  int blinker_blinkingrate;
+
 } UIScene;
 
 typedef struct {
@@ -208,6 +220,7 @@ typedef struct UIState {
   void *livempc_sock_raw;
   void *plus_sock_raw;
   void *map_data_sock_raw;
+  void *carstate_sock_raw;
 
   void *uilayout_sock_raw;
 
@@ -286,6 +299,36 @@ typedef struct UIState {
   model_path_vertices_data model_path_vertices[MODEL_LANE_PATH_CNT * 2];
 
   track_vertices_data track_vertices[2];
+
+  // dragonpilot
+  int dragon_ui_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;
+
+  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;
+
 } UIState;
 
 static int last_brightness = -1;
@@ -505,6 +548,7 @@ static void ui_init(UIState *s) {
   s->radarstate_sock_raw = sub_sock(s->ctx, "tcp://127.0.0.1:8012");
   s->livempc_sock_raw = sub_sock(s->ctx, "tcp://127.0.0.1:8035");
   s->plus_sock_raw = sub_sock(s->ctx, "tcp://127.0.0.1:8037");
+  s->carstate_sock_raw = sub_sock(s->ctx, "tcp://127.0.0.1:8021");
 
 #ifdef SHOW_SPEEDLIMIT
   s->map_data_sock_raw = sub_sock(s->ctx, "tcp://127.0.0.1:8065");
@@ -525,11 +569,11 @@ static void ui_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", "../assets/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", "../assets/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", "../assets/fonts/NotoSansCJKtc-Bold.otf");
   assert(s->font_sans_bold >= 0);
 
   assert(s->img_wheel >= 0);
@@ -670,11 +714,41 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
   read_param_bool(&s->is_metric, "IsMetric");
   read_param_bool(&s->longitudinal_control, "LongitudinalControl");
   read_param_bool(&s->limit_set_speed, "LimitSetSpeed");
+  // dragonpilot
+  read_param_bool(&s->dragon_ui_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_float(&s->dragon_ui_volume_boost, "DragonUIVolumeBoost");
+  read_param_bool(&s->dragon_driving_ui, "DragonDrivingUI");
+  read_param_bool(&s->dragon_ui_lane, "DragonUILane");
+  read_param_bool(&s->dragon_ui_lead, "DragonUILead");
+  read_param_bool(&s->dragon_ui_path, "DragonUIPath");
+  read_param_bool(&s->dragon_ui_blinker, "DragonUIBlinker");
+
 
   // Set offsets so params don't get read at the same time
   s->longitudinal_control_timeout = UI_FREQ / 3;
   s->is_metric_timeout = UI_FREQ / 2;
   s->limit_set_speed_timeout = UI_FREQ;
+
+  // dragonpilot, 1hz
+  s->dragon_ui_speed_timeout = 100;
+  s->dragon_ui_event_timeout = 100;
+  s->dragon_ui_maxspeed_timeout = 100;
+  s->dragon_ui_face_timeout = 100;
+  s->dragon_ui_dev_timeout = 100;
+  s->dragon_ui_dev_mini_timeout = 100;
+  s->dragon_enable_dashcam_timeout = 100;
+  s->dragon_ui_volume_boost_timeout = 100;
+  s->dragon_driving_ui_timeout = 100;
+  s->dragon_ui_lane_timeout = 100;
+  s->dragon_ui_lead_timeout = 100;
+  s->dragon_ui_path_timeout = 100;
+  s->dragon_ui_blinker_timeout = 100;
 }
 
 // Projects a point in car to space to the corresponding point in full frame
@@ -994,27 +1068,30 @@ 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(
+  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(
+    // 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]);
+    }
   }
 }
 
@@ -1030,7 +1107,7 @@ static void ui_draw_world(UIState *s) {
     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.;
@@ -1233,28 +1310,57 @@ 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);
+  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);
 
-  nvgFontFace(s->vg, "sans-regular");
-  nvgFontSize(s->vg, 36*2.5);
-  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 200));
+    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);
 
-  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);
+    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);
+    }
   }
 }
 
@@ -1271,7 +1377,7 @@ static void ui_draw_vision_event(UIState *s) {
     const int img_turn_size = 160*1.5;
     const int img_turn_x = viz_event_x-(img_turn_size/4);
     const int img_turn_y = viz_event_y+bdr_s-25;
-    float img_turn_alpha = 1.0f;
+    float img_turn_alpha = 0.7f;
     nvgBeginPath(s->vg);
     NVGpaint imgPaint = nvgImagePattern(s->vg, img_turn_x, img_turn_y,
       img_turn_size, img_turn_size, 0, s->img_turn, img_turn_alpha);
@@ -1294,14 +1400,14 @@ static void ui_draw_vision_event(UIState *s) {
       nvgBeginPath(s->vg);
       nvgCircle(s->vg, bg_wheel_x, (bg_wheel_y + (bdr_s*1.5)), bg_wheel_size);
       if (is_engaged) {
-        nvgFillColor(s->vg, nvgRGBA(23, 134, 68, 255));
+        nvgFillColor(s->vg, nvgRGBA(23, 134, 68, 180));
       } else if (is_warning) {
-        nvgFillColor(s->vg, nvgRGBA(218, 111, 37, 255));
+        nvgFillColor(s->vg, nvgRGBA(218, 111, 37, 180));
       } else if (is_engageable) {
-        nvgFillColor(s->vg, nvgRGBA(23, 51, 73, 255));
+        nvgFillColor(s->vg, nvgRGBA(23, 51, 73, 180));
       }
       nvgFill(s->vg);
-      img_wheel_alpha = 1.0f;
+      img_wheel_alpha = 0.7f;
     }
     nvgBeginPath(s->vg);
     NVGpaint imgPaint = nvgImagePattern(s->vg, img_wheel_x, img_wheel_y,
@@ -1368,23 +1474,321 @@ static void ui_draw_vision_header(UIState *s) {
   const UIScene *scene = &s->scene;
   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);
-
-  ui_draw_vision_maxspeed(s);
+  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);
+  }
+  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 - (hasSidebar? sbr_w : 0);
+  if (s->dragon_driving_ui) {
+    // if driving ui is enabled, rect_w = rect_w - vision start x - small boarder
+    rect_w = rect_w - ui_viz_rx - bdr_s;
+  }
+  int rect_h = 80;
+  // rect_x = 0 + sidebar width
+  int rect_x = 0;
+  if (s->dragon_driving_ui) {
+    // if driving ui is enabled, rect_x = rect_x + vision start x
+    rect_x = rect_x + (hasSidebar? sbr_w : 0) + 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;
+  if (s->dragon_driving_ui) {
+    text_x = text_x + (hasSidebar? sbr_w : 0) + ui_viz_rx;
+  }
+  int text_y = rect_y + 55;
+
+  // Get local time to display
+  char infobar[68];
+  time_t t = time(NULL);
+  struct tm tm = *localtime(&t);
+
+  if (s->dragon_ui_dev_mini) {
+      char rel_steer[9];
+      snprintf(rel_steer, sizeof(rel_steer), "%s%05.1f°", s->scene.angleSteers < 0? "-" : "+", fabs(s->scene.angleSteers));
+
+      char des_steer[9];
+      if (s->scene.engaged) {
+        snprintf(des_steer, sizeof(des_steer), "%s%05.1f°", s->scene.angleSteersDes < 0? "-" : "+", fabs(s->scene.angleSteersDes));
+      } else {
+        snprintf(des_steer, sizeof(des_steer), "%7s", "N/A");
+      }
+
+
+      char lead_dist[8];
+      if (s->scene.lead_status) {
+        snprintf(lead_dist, sizeof(lead_dist), "%06.2fm", s->scene.lead_d_rel);
+      } else {
+        snprintf(lead_dist, sizeof(lead_dist), "%7s", "N/A");
+      }
+
+      snprintf(
+        infobar,
+        sizeof(infobar),
+        "%04d/%02d/%02d %02d:%02d:%02d | REL: %s | DES: %s | DIST: %s",
+        tm.tm_year + 1900,
+        tm.tm_mon + 1,
+        tm.tm_mday,
+        tm.tm_hour,
+        tm.tm_min,
+        tm.tm_sec,
+        rel_steer,
+        des_steer,
+        lead_dist
+      );
+  } else {
+      snprintf(
+        infobar,
+        sizeof(infobar),
+        "%04d/%02d/%02d %02d:%02d:%02d",
+        tm.tm_year + 1900,
+        tm.tm_mon + 1,
+        tm.tm_mday,
+        tm.tm_hour,
+        tm.tm_min,
+        tm.tm_sec
+      );
+  }
+
+  nvgBeginPath(s->vg);
+  nvgRoundedRect(s->vg, rect_x, rect_y, rect_w, rect_h, 15);
+  nvgFillColor(s->vg, nvgRGBA(0, 0, 0, 180));
+  nvgFill(s->vg);
+
+  nvgFontSize(s->vg, hasSidebar? 40:50);
+  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, "REL DIST",
+        bb_rx, bb_ry, bb_uom_dx,
+        val_color, lab_color, uom_color,
+        value_fontSize, label_fontSize, uom_fontSize );
+    bb_ry = bb_y + bb_h;
+  }
+
+  //add visual radar relative speed
+  if (true) {
+    char val_str[16];
+    char uom_str[6];
+    NVGcolor val_color = nvgRGBA(255, 255, 255, 200);
+    if (scene->lead_status) {
+      //show Orange if negative speed (approaching)
+      //show Orange if negative speed faster than 5mph (approaching fast)
+      if((int)(scene->lead_v_rel) < 0) {
+        val_color = nvgRGBA(255, 188, 3, 200);
+      }
+      if((int)(scene->lead_v_rel) < -5) {
+        val_color = nvgRGBA(255, 0, 0, 200);
+      }
+      // lead car relative speed is always in meters
+      if (s->is_metric) {
+         snprintf(val_str, sizeof(val_str), "%d", (int)(scene->lead_v_rel * 3.6 + 0.5));
+      } else {
+         snprintf(val_str, sizeof(val_str), "%d", (int)(scene->lead_v_rel * 2.2374144 + 0.5));
+      }
+    } else {
+       snprintf(val_str, sizeof(val_str), "-");
+    }
+    if (s->is_metric) {
+      snprintf(uom_str, sizeof(uom_str), "km/h");;
+    } else {
+      snprintf(uom_str, sizeof(uom_str), "mph");
+    }
+    bb_h +=bb_ui_draw_measure(s,  val_str, uom_str, "REL SPEED",
+        bb_rx, bb_ry, bb_uom_dx,
+        val_color, lab_color, uom_color,
+        value_fontSize, label_fontSize, uom_fontSize );
+    bb_ry = bb_y + bb_h;
+  }
+
+  //finally draw the frame
+  bb_h += 20;
+  nvgBeginPath(s->vg);
+    nvgRoundedRect(s->vg, bb_x, bb_y, bb_w, bb_h, 20);
+    nvgStrokeColor(s->vg, nvgRGBA(255,255,255,80));
+    nvgStrokeWidth(s->vg, 6);
+    nvgStroke(s->vg);
+}
+
+static void bb_ui_draw_measures_right(UIState *s, int bb_x, int bb_y, int bb_w ) {
+  const UIScene *scene = &s->scene;
+  int bb_rx = bb_x + (int)(bb_w/2);
+  int bb_ry = bb_y;
+  int bb_h = 5;
+  NVGcolor lab_color = nvgRGBA(255, 255, 255, 200);
+  NVGcolor uom_color = nvgRGBA(255, 255, 255, 200);
+  int value_fontSize=30;
+  int label_fontSize=15;
+  int uom_fontSize = 15;
+  int bb_uom_dx =  (int)(bb_w /2 - uom_fontSize*2.5) ;
+
+  //add  steering angle
+  if (true) {
+    char val_str[16];
+    char uom_str[6];
+    NVGcolor val_color = nvgRGBA(255, 255, 255, 200);
+      //show Orange if more than 6 degrees
+      //show red if  more than 12 degrees
+      if(((int)(scene->angleSteers) < -6) || ((int)(scene->angleSteers) > 6)) {
+        val_color = nvgRGBA(255, 188, 3, 200);
+      }
+      if(((int)(scene->angleSteers) < -12) || ((int)(scene->angleSteers) > 12)) {
+        val_color = nvgRGBA(255, 0, 0, 200);
+      }
+      // steering is in degrees
+      snprintf(val_str, sizeof(val_str), "%.1f°",(scene->angleSteers));
+
+      snprintf(uom_str, sizeof(uom_str), "");
+    bb_h +=bb_ui_draw_measure(s,  val_str, uom_str, "REAL STEER",
+      bb_rx, bb_ry, bb_uom_dx,
+      val_color, lab_color, uom_color,
+      value_fontSize, label_fontSize, uom_fontSize );
+    bb_ry = bb_y + bb_h;
+  }
+
+  //add  desired steering angle
+  if (true) {
+    char val_str[16];
+    char uom_str[6];
+    NVGcolor val_color = nvgRGBA(255, 255, 255, 200);
+    //show Orange if more than 6 degrees
+    //show red if  more than 12 degrees
+    if(((int)(scene->angleSteersDes) < -6) || ((int)(scene->angleSteersDes) > 6)) {
+      val_color = nvgRGBA(255, 188, 3, 200);
+    }
+    if(((int)(scene->angleSteersDes) < -12) || ((int)(scene->angleSteersDes) > 12)) {
+      val_color = nvgRGBA(255, 0, 0, 200);
+    }
+    // steering is in degrees
+    snprintf(val_str, sizeof(val_str), "%.1f°",(scene->angleSteersDes));
+
+    snprintf(uom_str, sizeof(uom_str), "");
+    bb_h +=bb_ui_draw_measure(s,  val_str, uom_str, "DESIR STEER",
+      bb_rx, bb_ry, bb_uom_dx,
+      val_color, lab_color, uom_color,
+      value_fontSize, label_fontSize, uom_fontSize );
+    bb_ry = bb_y + bb_h;
+  }
+
+  //finally draw the frame
+  bb_h += 20;
+  nvgBeginPath(s->vg);
+    nvgRoundedRect(s->vg, bb_x, bb_y, bb_w, bb_h, 20);
+    nvgStrokeColor(s->vg, nvgRGBA(255,255,255,80));
+    nvgStrokeWidth(s->vg, 6);
+    nvgStroke(s->vg);
+}
+
+static void ui_draw_bbui(UIState *s) {
+    const UIScene *scene = &s->scene;
+    const int bb_dml_w = 180;
+    const int bb_dml_x = (scene->ui_viz_rx + (bdr_is * 2));
+    const int bb_dml_y = (box_y + (bdr_is * 1.5)) + 220;
+
+    const int bb_dmr_w = 180;
+    const int bb_dmr_x = scene->ui_viz_rx + scene->ui_viz_rw - bb_dmr_w - (bdr_is * 2);
+    const int bb_dmr_y = (box_y + (bdr_is * 1.5)) + 220;
+
+    bb_ui_draw_measures_right(s, bb_dml_x, bb_dml_y, bb_dml_w);
+    bb_ui_draw_measures_left(s, bb_dmr_x, bb_dmr_y, bb_dmr_w);
 }
 
 static void ui_draw_vision_footer(UIState *s) {
@@ -1395,11 +1799,19 @@ static void ui_draw_vision_footer(UIState *s) {
   nvgBeginPath(s->vg);
   nvgRect(s->vg, ui_viz_rx, footer_y, ui_viz_rw, footer_h);
 
-  ui_draw_vision_face(s);
+  if (s->dragon_ui_face) {
+    ui_draw_vision_face(s);
+  }
 
 #ifdef SHOW_SPEEDLIMIT
   // ui_draw_vision_map(s);
 #endif
+  if (s->dragon_ui_dev) {
+    ui_draw_bbui(s);
+  }
+  if (s->dragon_ui_dev_mini || s->dragon_enable_dashcam) {
+    ui_draw_infobar(s);
+  }
 }
 
 static void ui_draw_vision_alert(UIState *s, int va_size, int va_color,
@@ -1471,7 +1883,9 @@ static void ui_draw_vision(UIState *s) {
   glScissor(ui_viz_rx, s->fb_h-(box_y+box_h), ui_viz_rw, box_h);
   glEnable(GL_BLEND);
   glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
-  draw_frame(s);
+  if (s->dragon_driving_ui) {
+    draw_frame(s);
+  }
   glViewport(0, 0, s->fb_w, s->fb_h);
   glDisable(GL_SCISSOR_TEST);
 
@@ -1479,14 +1893,15 @@ static void ui_draw_vision(UIState *s) {
 
   nvgBeginFrame(s->vg, s->fb_w, s->fb_h, 1.0f);
   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) {
+    // 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);
+    }
   }
 
   nvgRestore(s->vg);
@@ -1620,6 +2035,10 @@ void handle_message(UIState *s, void *which) {
 
     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);
@@ -1763,6 +2182,15 @@ void handle_message(UIState *s, void *which) {
     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);
   zmq_msg_close(&msg);
@@ -1921,12 +2349,16 @@ static void ui_update(UIState *s) {
     polls[6].socket = s->uilayout_sock_raw;
     polls[6].events = ZMQ_POLLIN;
 
-#ifdef SHOW_SPEEDLIMIT
+//#ifdef SHOW_SPEEDLIMIT
+//    plus_sock_num++;
+//    num_polls++;
+//    polls[7].socket = s->map_data_sock_raw;
+//    polls[7].events = ZMQ_POLLIN;
+//#endif
     plus_sock_num++;
     num_polls++;
-    polls[7].socket = s->map_data_sock_raw;
+    polls[7].socket = s->carstate_sock_raw;
     polls[7].events = ZMQ_POLLIN;
-#endif
 
     polls[plus_sock_num].socket = s->plus_sock_raw; // plus_sock should be last
     polls[plus_sock_num].events = ZMQ_POLLIN;
@@ -1942,6 +2374,7 @@ static void ui_update(UIState *s) {
 
     if (polls[0].revents || polls[1].revents || polls[2].revents ||
         polls[3].revents || polls[4].revents || polls[6].revents ||
+        polls[7].revents ||
         polls[plus_sock_num].revents) {
       // awake on any (old) activity
       set_awake(s, true);
@@ -2270,6 +2703,10 @@ int main(int argc, char* argv[]) {
       s->volume_timeout--;
     } else {
       int volume = min(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(s, volume);
     }
 
@@ -2304,6 +2741,20 @@ int main(int argc, char* argv[]) {
     read_param_bool_timeout(&s->longitudinal_control, "LongitudinalControl", &s->longitudinal_control_timeout);
     read_param_bool_timeout(&s->limit_set_speed, "LimitSetSpeed", &s->limit_set_speed_timeout);
     read_param_float_timeout(&s->speed_lim_off, "SpeedLimitOffset", &s->limit_set_speed_timeout);
+    // dragonpilot
+    read_param_bool_timeout(&s->dragon_ui_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_float_timeout(&s->dragon_ui_volume_boost, "DragonUIVolumeBoost", &s->dragon_ui_volume_boost_timeout);
+    read_param_bool_timeout(&s->dragon_driving_ui, "DragonDrivingUI", &s->dragon_driving_ui_timeout);
+    read_param_bool_timeout(&s->dragon_ui_lane, "DragonUILane", &s->dragon_ui_lane_timeout);
+    read_param_bool_timeout(&s->dragon_ui_lead, "DragonUILead", &s->dragon_ui_lead_timeout);
+    read_param_bool_timeout(&s->dragon_ui_path, "DragonUIPath", &s->dragon_ui_path_timeout);
+    read_param_bool_timeout(&s->dragon_ui_blinker, "DragonUIBlinker", &s->dragon_ui_blinker_timeout);
 
     pthread_mutex_unlock(&s->lock);