Add TW 2019 RAV4H FP

Merge branch 'devel-en' into devel-zhs
Fix GreyPandaMode logic
2026-06-13 05:04:40 +08:00 · 2019-10-09 14:49:36 +10:00 · 2019-09-09 14:25:23 +10:00 · 2019-09-09 14:25:07 +10:00 · 2019-09-09 14:18:08 +10:00 · 2019-09-09 14:17:24 +10:00
58 changed files with 5325 additions and 1146 deletions
--- a/apk/ai.comma.plus.black.apk
+++ b/apk/ai.comma.plus.black.apk
--- a/apk/ai.comma.plus.frame.apk
+++ b/apk/ai.comma.plus.frame.apk
--- a/apk/ai.comma.plus.offroad.apk
+++ b/apk/ai.comma.plus.offroad.apk
--- a/apk/com.autonavi.amapauto.apk
+++ b/apk/com.autonavi.amapauto.apk
--- a/apk/com.mixplorer.apk
+++ b/apk/com.mixplorer.apk
--- a/apk/com.tomtom.speedcams.android.map.apk
+++ b/apk/com.tomtom.speedcams.android.map.apk
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -79,6 +79,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    tooDistracted @54;
    posenetInvalid @55;
    soundsUnavailable @56;
+    manualSteeringRequired @57;
+    manualSteeringRequiredBlinkersOn @58;
  }
 }

--- a/cereal/log.capnp
+++ b/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
--- a/common/params.py
+++ b/common/params.py
@@ -82,6 +82,43 @@ keys = {
  "TermsVersion": [TxType.PERSISTENT],
  "TrainingVersion": [TxType.PERSISTENT],
  "Version": [TxType.PERSISTENT],
+  #dragonpilot config
+  "DragonEnableDashcam": [TxType.PERSISTENT],
+  "DragonDisableDriverSafetyCheck": [TxType.PERSISTENT], # deprecated
+  "DragonEnableDriverSafetyCheck": [TxType.PERSISTENT],
+  "DragonAutoShutdownAt": [TxType.PERSISTENT],
+  "DragonTempDisableSteerOnSignal": [TxType.PERSISTENT], # deprecated
+  "DragonEnableSteeringOnSignal": [TxType.PERSISTENT],
+  "DragonDisableLogger": [TxType.PERSISTENT], # deprecated
+  "DragonEnableLogger": [TxType.PERSISTENT],
+  "DragonDisableUploader": [TxType.PERSISTENT], # deprecated
+  "DragonEnableUploader": [TxType.PERSISTENT],
+  "DragonNoctuaMode": [TxType.PERSISTENT],
+  "DragonCacheCar": [TxType.PERSISTENT],
+  "DragonCachedModel": [TxType.PERSISTENT],
+  "DragonCachedFP": [TxType.PERSISTENT],
+  "DragonCachedVIN": [TxType.PERSISTENT],
+  "DragonAllowGas": [TxType.PERSISTENT],
+  "DragonBBUI": [TxType.PERSISTENT], # deprecated
+  "DragonToyotaStockDSU": [TxType.PERSISTENT],
+  "DragonLatCtrl": [TxType.PERSISTENT],
+  "DragonUIEvent": [TxType.PERSISTENT],
+  "DragonUIMaxSpeed": [TxType.PERSISTENT],
+  "DragonUIFace": [TxType.PERSISTENT],
+  "DragonUIDev": [TxType.PERSISTENT],
+  "DragonUIDevMini": [TxType.PERSISTENT],
+  "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],
 }


--- a/dragonpilot/chinese-fonts/Miui-Bold.ttf
+++ b/dragonpilot/chinese-fonts/Miui-Bold.ttf
--- a/dragonpilot/chinese-fonts/Miui-Regular.ttf
+++ b/dragonpilot/chinese-fonts/Miui-Regular.ttf
--- a/dragonpilot/chinese-fonts/fonts.xml
+++ b/dragonpilot/chinese-fonts/fonts.xml
@@ -0,0 +1,371 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!--
+    NOTE: this is the newer (L) version of the system font configuration,
+    supporting richer weight selection. Some apps will expect the older
+    version, so please keep system_fonts.xml and fallback_fonts.xml in sync
+    with any changes, even though framework will only read this file.
+
+    All fonts withohut names are added to the default list. Fonts are chosen
+    based on a match: full BCP-47 language tag including script, then just
+    language, and finally order (the first font containing the glyph).
+
+    Order of appearance is also the tiebreaker for weight matching. This is
+    the reason why the 900 weights of Roboto precede the 700 weights - we
+    prefer the former when an 800 weight is requested. Since bold spans
+    effectively add 300 to the weight, this ensures that 900 is the bold
+    paired with the 500 weight, ensuring adequate contrast.
+-->
+<familyset version="22">
+    <!-- first font is default -->
+    <family name="sans-serif">
+        <font weight="100" style="normal">Roboto-Thin.ttf</font>
+        <font weight="100" style="italic">Roboto-ThinItalic.ttf</font>
+        <font weight="300" style="normal">Roboto-Light.ttf</font>
+        <font weight="300" style="italic">Roboto-LightItalic.ttf</font>
+        <font weight="400" style="normal">Roboto-Regular.ttf</font>
+        <font weight="400" style="italic">Roboto-Italic.ttf</font>
+        <font weight="500" style="normal">Roboto-Medium.ttf</font>
+        <font weight="500" style="italic">Roboto-MediumItalic.ttf</font>
+        <font weight="900" style="normal">Roboto-Black.ttf</font>
+        <font weight="900" style="italic">Roboto-BlackItalic.ttf</font>
+        <font weight="700" style="normal">Roboto-Bold.ttf</font>
+        <font weight="700" style="italic">Roboto-BoldItalic.ttf</font>
+    </family>
+
+    <!-- Note that aliases must come after the fonts they reference. -->
+    <alias name="sans-serif-thin" to="sans-serif" weight="100" />
+    <alias name="sans-serif-light" to="sans-serif" weight="300" />
+    <alias name="sans-serif-medium" to="sans-serif" weight="500" />
+    <alias name="sans-serif-black" to="sans-serif" weight="900" />
+    <alias name="arial" to="sans-serif" />
+    <alias name="helvetica" to="sans-serif" />
+    <alias name="tahoma" to="sans-serif" />
+    <alias name="verdana" to="sans-serif" />
+
+    <family name="sans-serif-condensed">
+        <font weight="300" style="normal">RobotoCondensed-Light.ttf</font>
+        <font weight="300" style="italic">RobotoCondensed-LightItalic.ttf</font>
+        <font weight="400" style="normal">RobotoCondensed-Regular.ttf</font>
+        <font weight="400" style="italic">RobotoCondensed-Italic.ttf</font>
+        <font weight="700" style="normal">RobotoCondensed-Bold.ttf</font>
+        <font weight="700" style="italic">RobotoCondensed-BoldItalic.ttf</font>
+    </family>
+    <alias name="sans-serif-condensed-light" to="sans-serif-condensed" weight="300" />
+
+    <family name="serif">
+        <font weight="400" style="normal">NotoSerif-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSerif-Bold.ttf</font>
+        <font weight="400" style="italic">NotoSerif-Italic.ttf</font>
+        <font weight="700" style="italic">NotoSerif-BoldItalic.ttf</font>
+    </family>
+    <alias name="times" to="serif" />
+    <alias name="times new roman" to="serif" />
+    <alias name="palatino" to="serif" />
+    <alias name="georgia" to="serif" />
+    <alias name="baskerville" to="serif" />
+    <alias name="goudy" to="serif" />
+    <alias name="fantasy" to="serif" />
+    <alias name="ITC Stone Serif" to="serif" />
+
+    <family name="monospace">
+        <font weight="400" style="normal">DroidSansMono.ttf</font>
+    </family>
+    <alias name="sans-serif-monospace" to="monospace" />
+    <alias name="monaco" to="monospace" />
+
+    <family name="serif-monospace">
+        <font weight="400" style="normal">CutiveMono.ttf</font>
+    </family>
+    <alias name="courier" to="serif-monospace" />
+    <alias name="courier new" to="serif-monospace" />
+
+    <family name="casual">
+        <font weight="400" style="normal">ComingSoon.ttf</font>
+    </family>
+
+    <family name="cursive">
+        <font weight="400" style="normal">DancingScript-Regular.ttf</font>
+        <font weight="700" style="normal">DancingScript-Bold.ttf</font>
+    </family>
+
+    <family name="sans-serif-smallcaps">
+        <font weight="400" style="normal">CarroisGothicSC-Regular.ttf</font>
+    </family>
+
+    <!-- fallback fonts -->
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoNaskhArabic-Regular.ttf</font>
+        <font weight="700" style="normal">NotoNaskhArabic-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoNaskhArabicUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoNaskhArabicUI-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansEthiopic-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansEthiopic-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansHebrew-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansHebrew-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansThai-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansThai-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansThaiUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansThaiUI-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansArmenian-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansArmenian-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansGeorgian-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansGeorgian-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansDevanagari-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansDevanagari-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansDevanagariUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansDevanagariUI-Bold.ttf</font>
+    </family>
+    <!-- Gujarati should come after Devanagari -->
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansGujarati-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansGujarati-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansGujaratiUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansGujaratiUI-Bold.ttf</font>
+    </family>
+    <!-- Gurmukhi should come after Devanagari -->
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansGurmukhi-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansGurmukhi-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansGurmukhiUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansGurmukhiUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansTamil-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansTamil-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansTamilUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansTamilUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansMalayalam-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansMalayalam-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansMalayalamUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansMalayalamUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansBengali-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansBengali-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansBengaliUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansBengaliUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansTelugu-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansTelugu-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansTeluguUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansTeluguUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansKannada-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansKannada-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansKannadaUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansKannadaUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansOriya-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansOriya-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansOriyaUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansOriyaUI-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSinhala-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansSinhala-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansKhmer-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansKhmer-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansKhmerUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansKhmerUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansLao-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansLao-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansLaoUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansLaoUI-Bold.ttf</font>
+    </family>
+    <family variant="elegant">
+        <font weight="400" style="normal">NotoSansMyanmar-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansMyanmar-Bold.ttf</font>
+    </family>
+    <family variant="compact">
+        <font weight="400" style="normal">NotoSansMyanmarUI-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansMyanmarUI-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansThaana-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansThaana-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansCham-Regular.ttf</font>
+        <font weight="700" style="normal">NotoSansCham-Bold.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansBalinese-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansBamum-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansBatak-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansBuginese-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansBuhid-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansCanadianAboriginal-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansCherokee-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansCoptic-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansGlagolitic-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansHanunoo-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansJavanese-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansKayahLi-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansLepcha-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansLimbu-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansLisu-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansMandaic-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansMeeteiMayek-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansNewTaiLue-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansNKo-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansOlChiki-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansRejang-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSaurashtra-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSundanese-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSylotiNagri-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSyriacEstrangela-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansTagbanwa-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansTaiTham-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansTaiViet-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansTibetan-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansTifinagh-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansVai-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansYi-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansSymbols-Regular-Subsetted.ttf</font>
+    </family>
+    <family lang="zh-Hans">
+        <font weight="400" style="normal">NotoSansSC-Regular.otf</font>
+    </family>
+    <family lang="zh-Hant">
+        <font weight="400" style="normal">NotoSansTC-Regular.otf</font>
+    </family>
+    <family lang="ja">
+        <font weight="400" style="normal">NotoSansJP-Regular.otf</font>
+    </family>
+    <family lang="ko">
+        <font weight="400" style="normal">NotoSansKR-Regular.otf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NanumGothic.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoColorEmoji.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">Miui-Regular.ttf</font>
+    </family>
+    <family lang="ja">
+        <font weight="400" style="normal">MTLmr3m.ttf</font>
+    </family>
+    <!--
+        Tai Le and Mongolian are intentionally kept last, to make sure they don't override
+        the East Asian punctuation for Chinese.
+    -->
+    <family>
+        <font weight="400" style="normal">NotoSansTaiLe-Regular.ttf</font>
+    </family>
+    <family>
+        <font weight="400" style="normal">NotoSansMongolian-Regular.ttf</font>
+    </family>
+</familyset>
--- a/dragonpilot/chinese-fonts/installer.sh
+++ b/dragonpilot/chinese-fonts/installer.sh
@@ -0,0 +1,52 @@
+#!/usr/bin/bash
+
+# Anndroid system locale, zh-TW = Traditional Chinese, zh-CN = Simplified Chinese
+lang=zh-CN
+
+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
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -12,18 +12,18 @@ fi

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

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

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

--- a/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc
+++ b/opendbc/generator/toyota/lexus_is_hybrid_2017_pt.dbc
@@ -10,7 +10,7 @@ BO_ 550 BRAKE_MODULE: 8 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- (0.66,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (1.0,0) [-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
--- a/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
+++ b/opendbc/lexus_is_hybrid_2017_pt_generated.dbc
@@ -357,7 +357,7 @@ BO_ 550 BRAKE_MODULE: 8 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- (0.66,0) [-20000|20000] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (1.0,0) [-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
--- a/panda/board/safety/safety_honda.h
+++ b/panda/board/safety/safety_honda.h
@@ -17,7 +17,7 @@ bool honda_alt_brake_msg = false;
 static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {

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

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

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

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

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

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


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

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

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

-    for can in a.can:
-      # need to independently try to fingerprint both bus 0 and 1 to work
-      # for the combo black_panda and honda_bosch. Ignore extended messages
-      # and VIN query response.
-      # Include bus 2 for toyotas to disambiguate cars using camera messages
-      # (ideally should be done for all cars but we can't for Honda Bosch)
+      for can in a.can:
+        # need to independently try to fingerprint both bus 0 and 1 to work
+        # for the combo black_panda and honda_bosch. Ignore extended messages
+        # and VIN query response.
+        # Include bus 2 for toyotas to disambiguate cars using camera messages
+        # (ideally should be done for all cars but we can't for Honda Bosch)
+        for b in candidate_cars:
+          if (can.src == b or (only_toyota_left(candidate_cars[b]) and can.src == 2)) and \
+             can.address < 0x800 and can.address not in [0x7df, 0x7e0, 0x7e8]:
+            finger[can.src][can.address] = len(can.dat)
+            candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])
+
+      # if we only have one car choice and the time since we got our first
+      # message has elapsed, exit
      for b in candidate_cars:
-        if (can.src == b or (only_toyota_left(candidate_cars[b]) and can.src == 2)) and \
-           can.address < 0x800 and can.address not in [0x7df, 0x7e0, 0x7e8]:
-          finger[can.src][can.address] = len(can.dat)
-          candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])
+        # Toyota needs higher time to fingerprint, since DSU does not broadcast immediately
+        if only_toyota_left(candidate_cars[b]):
+          frame_fingerprint = 100  # 1s
+        if len(candidate_cars[b]) == 1:
+          if frame > frame_fingerprint:
+            # fingerprint done
+            car_fingerprint = candidate_cars[b][0]

-    # if we only have one car choice and the time since we got our first
-    # message has elapsed, exit
-    for b in candidate_cars:
-      # Toyota needs higher time to fingerprint, since DSU does not broadcast immediately
-      if only_toyota_left(candidate_cars[b]):
-        frame_fingerprint = 100  # 1s
-      if len(candidate_cars[b]) == 1:
-        if frame > frame_fingerprint:
-          # fingerprint done
-          car_fingerprint = candidate_cars[b][0]
+      # bail if no cars left or we've been waiting for more than 2s
+      failed = all(len(cc) == 0 for cc in candidate_cars.itervalues()) or frame > 200
+      succeeded = car_fingerprint is not None
+      done = failed or succeeded

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

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

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

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


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

 HUDData = namedtuple("HUDData",
                     ["pcm_accel", "v_cruise", "mini_car", "car", "X4",
-                      "lanes", "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 % 100 == 0:
+      self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
+      self.dragon_allow_gas = False if params.get("DragonAllowGas") == "0" else True
+      self.dragon_lat_ctrl = False if params.get("DragonLatCtrl") == "0" else True

    # *** apply brake hysteresis ***
    brake, self.braking, self.brake_steady = actuator_hystereses(actuators.brake, self.braking, self.brake_steady, CS.v_ego, CS.CP.carFingerprint)
@@ -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
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -206,6 +206,8 @@ class CarState(object):
                         K=[[0.12287673], [0.29666309]])
    self.v_ego = 0.0

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

    # car params
@@ -276,6 +278,13 @@ class CarState(object):
    self.angle_steers = cp.vl["STEERING_SENSORS"]['STEER_ANGLE']
    self.angle_steers_rate = cp.vl["STEERING_SENSORS"]['STEER_ANGLE_RATE']

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

--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -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))

--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -12,6 +12,8 @@ from selfdrive.car.honda.carstate import CarState, get_can_parser, get_cam_can_p
 from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, VISUAL_HUD, CAMERA_MSGS
 from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness
 from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING
+from common.params import Params
+params = Params()

 A_ACC_MAX = max(_A_CRUISE_MAX_V_FOLLOWING)

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

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

@@ -373,6 +380,13 @@ class CarInterface(object):

  # returns a car.CarState
  def update(self, c, can_strings):
+    # dragonpilot, don't check for param too often as it's a kernel call
+    ts = sec_since_boot()
+    if ts - self.ts_last_check > 3.:
+      self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
+      self.dragon_allow_gas = False if params.get("DragonAllowGas") == "0" else True
+      self.ts_last_check = ts
+
    # ******************* do can recv *******************
    self.cp.update_strings(int(sec_since_boot() * 1e9), can_strings)
    self.cp_cam.update_strings(int(sec_since_boot() * 1e9), can_strings)
@@ -487,7 +501,11 @@ class CarInterface(object):
    # wait 1.0s before throwing the alert to avoid it popping when you turn off the car
    if self.cp_cam.can_invalid_cnt >= 100 and self.CS.CP.carFingerprint not in HONDA_BOSCH and self.CP.enableCamera:
      events.append(create_event('invalidGiraffeHonda', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
-    if self.CS.steer_error:
+    if not self.CS.lkMode:
+      events.append(create_event('manualSteeringRequired', [ET.WARNING]))
+    elif self.CS.lkMode and (self.CS.left_blinker_on or self.CS.right_blinker_on) and self.dragon_enable_steering_on_signal:
+      events.append(create_event('manualSteeringRequiredBlinkersOn', [ET.WARNING]))
+    elif self.CS.steer_error:
      events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
    elif self.CS.steer_warning:
      events.append(create_event('steerTempUnavailable', [ET.WARNING]))
@@ -513,13 +531,18 @@ class CarInterface(object):
    if self.CP.enableCruise and ret.vEgo < self.CP.minEnableSpeed:
      events.append(create_event('speedTooLow', [ET.NO_ENTRY]))

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

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

    # it can happen that car cruise disables while comma system is enabled: need to
    # keep braking if needed or if the speed is very low
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -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, 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: [{
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -8,6 +8,9 @@ from selfdrive.car.toyota.toyotacan import make_can_msg, create_video_target,\
                                           create_fcw_command
 from selfdrive.car.toyota.values import ECU, STATIC_MSGS, TSS2_CAR
 from selfdrive.can.packer import CANPacker
+from common.params import Params
+params = Params()
+

 VisualAlert = car.CarControl.HUDControl.VisualAlert

@@ -114,9 +117,20 @@ class CarController(object):

    self.packer = CANPacker(dbc_name)

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

    # *** compute control surfaces ***

@@ -188,6 +202,28 @@ 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)

@@ -206,6 +242,19 @@ class CarController(object):
    elif ECU.APGS in self.fake_ecus:
      can_sends.append(create_ipas_steer_command(self.packer, 0, 0, True))

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

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

  val_to_capnp = {'P': 'park', 'R': 'reverse', 'N': 'neutral',
@@ -37,25 +41,17 @@ def get_can_parser(CP):
    ("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
    ("CRUISE_ACTIVE", "PCM_CRUISE", 0),
    ("CRUISE_STATE", "PCM_CRUISE", 0),
-    ("MAIN_ON", "PCM_CRUISE_2", 0),
-    ("SET_SPEED", "PCM_CRUISE_2", 0),
-    ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
    ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
    ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
    ("TURN_SIGNALS", "STEERING_LEVERS", 3),   # 3 is no blinkers
    ("LKA_STATE", "EPS_STATUS", 0),
-    ("IPAS_STATE", "EPS_STATUS", 1),
    ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
-    ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
  ]

  checks = [
-    ("BRAKE_MODULE", 40),
-    ("GAS_PEDAL", 33),
    ("WHEEL_SPEEDS", 80),
    ("STEER_ANGLE_SENSOR", 80),
    ("PCM_CRUISE", 33),
-    ("PCM_CRUISE_2", 33),
    ("STEER_TORQUE_SENSOR", 50),
    ("EPS_STATUS", 25),
  ]
@@ -63,6 +59,32 @@ def get_can_parser(CP):
  if CP.carFingerprint in NO_DSU_CAR:
    signals += [("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0)]

+  if CP.carFingerprint == CAR.LEXUS_ISH:
+    checks += [
+      ("BRAKE_MODULE", 50),
+      ("GAS_PEDAL", 50),
+      ("PCM_CRUISE_ISH", 1),
+    ]
+
+    signals += [
+      ("MAIN_ON", "PCM_CRUISE_ISH", 0),
+      ("SET_SPEED", "PCM_CRUISE_ISH", 0),
+      ("AUTO_HIGH_BEAM", "LIGHT_STALK_ISH", 0),
+    ]
+  else:
+    checks += [
+      ("BRAKE_MODULE", 40),
+      ("GAS_PEDAL", 33),
+      ("PCM_CRUISE_2", 33),
+    ]
+    signals += [
+      ("MAIN_ON", "PCM_CRUISE_2", 0),
+      ("SET_SPEED", "PCM_CRUISE_2", 0),
+      ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0),
+      ("IPAS_STATE", "EPS_STATUS", 1),
+      ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
+    ]
+
  if CP.carFingerprint == CAR.PRIUS:
    signals += [("STATE", "AUTOPARK_STATUS", 0)]

@@ -109,7 +131,16 @@ 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 > 3.:
+      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
@@ -158,14 +189,20 @@ class CarState(object):
    self.angle_steers_rate = cp.vl["STEER_ANGLE_SENSOR"]['STEER_RATE']
    can_gear = int(cp.vl["GEAR_PACKET"]['GEAR'])
    self.gear_shifter = parse_gear_shifter(can_gear, self.shifter_values)
-    self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
+    if self.CP.carFingerprint == CAR.LEXUS_ISH:
+      self.main_on = cp.vl["PCM_CRUISE_ISH"]['MAIN_ON']
+    else:
+      self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
    self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
    self.right_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2

    # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
    self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
    self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
-    self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
+    if self.CP.carFingerprint == CAR.LEXUS_ISH:
+      self.ipas_active = False
+    else:
+      self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
    self.brake_error = 0
    self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']
    self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
@@ -173,12 +210,30 @@ class CarState(object):
    self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD

    self.user_brake = 0
-    self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
-    self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
+    if self.CP.carFingerprint == CAR.LEXUS_ISH:
+      self.v_cruise_pcm = cp.vl["PCM_CRUISE_ISH"]['SET_SPEED']
+      # 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']
+      self.low_speed_lockout = False
+    else:
+      self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
+      self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
+      self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
    self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
-    self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
    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 == 'drive' or not self.seatbelt or not self.door_all_closed:
+        enable_acc = False
+      self.pcm_acc_active = enable_acc
+      if self.standstill:
+        self.pcm_acc_status = 7
+      else:
+        self.pcm_acc_status = 1
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -8,6 +8,8 @@ from selfdrive.car.toyota.carstate import CarState, get_can_parser, get_cam_can_
 from selfdrive.car.toyota.values import ECU, check_ecu_msgs, CAR, NO_STOP_TIMER_CAR
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness
 from selfdrive.swaglog import cloudlog
+from common.params import Params
+params = Params()

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

+    # dragonpilot
+    self.dragon_toyota_stock_dsu = False
+    self.dragon_enable_steering_on_signal = False
+    self.dragon_allow_gas = False
+    self.ts_last_check = 0.
+
  @staticmethod
  def compute_gb(accel, speed):
    return float(accel) / 3.0
@@ -207,6 +215,16 @@ class CarInterface(object):
      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
      ret.lateralTuning.pid.kf = 0.00007818594

+    elif candidate == CAR.LEXUS_ISH:
+      stop_and_go = True
+      ret.safetyParam = 100
+      ret.wheelbase = 2.80 # in spec
+      ret.steerRatio = 13.3 # in spec
+      tire_stiffness_factor = 0.444 # from camry
+      ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG # in spec, mean of is300 (1680 kg) / is300h (1720 kg) / is350 (1685 kg)
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.04]]
+      ret.lateralTuning.pid.kf = 0.00006 # from camry
+
    ret.steerRateCost = 1.
    ret.centerToFront = ret.wheelbase * 0.44

@@ -269,6 +287,14 @@ 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 > 3.:
+      self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
+      self.dragon_allow_gas = False if params.get("DragonAllowGas") == "0" else True
+      self.dragon_toyota_stock_dsu = False if params.get("DragonToyotaStockDSU") == "0" else True
+      self.ts_last_check = ts
+
    # ******************* do can recv *******************
    self.cp.update_strings(int(sec_since_boot() * 1e9), can_strings)

@@ -371,7 +397,9 @@ class CarInterface(object):
      events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
    if ret.gearShifter == 'reverse' and self.CP.enableDsu:
      events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
-    if self.CS.steer_error:
+    if (self.CS.left_blinker_on or self.CS.right_blinker_on) and self.dragon_enable_steering_on_signal:
+      events.append(create_event('manualSteeringRequiredBlinkersOn', [ET.WARNING]))
+    elif self.CS.steer_error:
      events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
    if self.CS.low_speed_lockout and self.CP.enableDsu:
      events.append(create_event('lowSpeedLockout', [ET.NO_ENTRY, ET.PERMANENT]))
@@ -390,13 +418,19 @@ class CarInterface(object):
    elif not ret.cruiseState.enabled:
      events.append(create_event('pcmDisable', [ET.USER_DISABLE]))

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

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

    ret.events = events

--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -17,7 +17,7 @@ class CAR:
  COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019"
  LEXUS_ESH_TSS2 = "LEXUS ES 300H 2019"
  SIENNA = "TOYOTA SIENNA XLE 2018"
-
+  LEXUS_ISH = "LEXUS IS HYBRID 2017"

 class ECU:
  CAM = 0 # camera
@@ -28,19 +28,25 @@ 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'),
+  (0x130, ECU.CAM, (CAR.LEXUS_ISH), 1, 100, '\x00\x00\x03\xff\x00\x00\x3a'),
+  (0x240, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.LEXUS_ISH), 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, CAR.LEXUS_ISH), 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, CAR.LEXUS_ISH), 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'),
+  (0x245, ECU.CAM, (CAR.LEXUS_ISH), 1,   5, '\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'),
+  (0x248, ECU.CAM, (CAR.LEXUS_ISH), 1,   5, '\x00\x01\x00\x00\x00\x00\x00'),
  (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'),
+  (0x367, ECU.CAM, (CAR.LEXUS_ISH), 0,  40, '\x02\x00'),
+  (0x414, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.LEXUS_ISH), 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'),
  (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'),
+  (0x466, ECU.CAM, (CAR.LEXUS_ISH), 1, 100, '\x41\x20\xce'),
+  (0x489, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.LEXUS_ISH), 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, CAR.LEXUS_ISH), 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'),
+  (0x48b, ECU.CAM, (CAR.LEXUS_ISH), 0, 100, '\x66\x07\x0a\x0f\x01\x00\x00\x00'),
+  (0x4d3, ECU.CAM, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_ISH), 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.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA), 1,   3, '\x03\x00\x20\x00\x00\x52'),
@@ -83,6 +89,9 @@ def check_ecu_msgs(fingerprint, ecu):


 FINGERPRINTS = {
+  CAR.LEXUS_ISH: [{
+    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.RAV4: [{
    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 512: 6, 513: 6, 547: 8, 548: 8, 552: 4, 562: 4, 608: 8, 610: 5, 643: 7, 705: 8, 725: 2, 740: 5, 800: 8, 835: 8, 836: 8, 849: 4, 869: 7, 870: 7, 871: 2, 896: 8, 897: 8, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 918: 7, 921: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 4, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1008: 2, 1014: 8, 1017: 8, 1041: 8, 1042: 8, 1043: 8, 1044: 8, 1056: 8, 1059: 1, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1176: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1181: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 1562: 8, 1568: 8, 1569: 8, 1570: 8, 1571: 8, 1572: 8, 1584: 8, 1589: 8, 1592: 8, 1593: 8, 1595: 8, 1596: 8, 1597: 8, 1600: 8, 1656: 8, 1664: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8, 2015: 8, 2024: 8
  }],
@@ -169,11 +178,22 @@ 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
-  }],
-  CAR.COROLLA_TSS2: [
-  # hatch 2019+ and sedan 2020+
+  },
+  # 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, 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: [
  {
@@ -203,8 +223,9 @@ DBC = {
  CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
  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_ISH: dbc_dict('lexus_is_hybrid_2017_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]
 TSS2_CAR = [CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2]
-NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA]  # no resume button press required
+NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA, CAR.LEXUS_ISH]  # no resume button press required
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -120,8 +120,8 @@ 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'], params, cal_rpy)

-  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

@@ -214,7 +214,7 @@ 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):
  """Given the state, this function returns an actuators packet"""

  actuators = car.CarControl.Actuators.new_message()
@@ -264,7 +264,7 @@ 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:
+  if dragon_lat_control and LaC.sat_flag and CP.steerLimitAlert:
    AM.add(frame, "steerSaturated", enabled)

  # Parse permanent warnings to display constantly
@@ -502,7 +502,18 @@ def controlsd_thread(gctx=None):

  prof = Profiler(False)  # off by default

+  # dragonpilot
+  ts_last_check = 0.
+  dragon_toyota_stock_dsu = False
+
  while True:
+    # dragonpilot, don't check for param too often as it's a kernel call
+    ts = sec_since_boot()
+    if ts - ts_last_check > 3.:
+      dragon_toyota_stock_dsu = False if params.get("DragonToyotaStockDSU") == "0" else True
+      dragon_lat_control = False if params.get("DragonLatCtrl") == "0" else True
+      ts_last_check = ts
+
    start_time = sec_since_boot()
    prof.checkpoint("Ratekeeper", ignore=True)

@@ -532,9 +543,10 @@ def controlsd_thread(gctx=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 +557,7 @@ def controlsd_thread(gctx=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)

    prof.checkpoint("State Control")

--- a/selfdrive/controls/lib/alerts.py
+++ b/selfdrive/controls/lib/alerts.py
@@ -1,3 +1,5 @@
+# This Python file uses the following encoding: utf-8
+# -*- coding: utf-8 -*-
 from cereal import car, log

 # Priority
@@ -75,154 +77,154 @@ ALERTS = [

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

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

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

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

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

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

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

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

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

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

  Alert(
      "driverMonitorOff",
-      "DRIVER MONITOR IS UNAVAILABLE",
-      "Accuracy Is Low",
+      "驾驶监控暂时停用",
+      "监控准确率：低",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .4, 0., 4.),

  Alert(
      "driverMonitorOn",
-      "DRIVER MONITOR IS AVAILABLE",
-      "Accuracy Is High",
+      "驾驶监控已启用",
+      "监控准确率：高",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .4, 0., 4.),

  Alert(
      "geofence",
-      "DISENGAGEMENT REQUIRED",
-      "Not in Geofenced Area",
+      "请求解除",
+      "不在地理围栏区域之内",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, .1, .1),

  Alert(
      "startup",
-      "Be ready to take over at any time",
-      "Always keep hands on wheel and eyes on road",
+      "随时准备好接管",
+      "请您将手放在方向盘上并持续注意路况",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., 15.),

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

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

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

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

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

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

  Alert(
      "belowSteerSpeed",
-      "TAKE CONTROL",
-      "Steer Unavailable Below ",
+      "接管控制",
+      "转向控制暂时失效，车速低于",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarning1, 0., 0., .1),

  Alert(
      "debugAlert",
-      "DEBUG ALERT",
+      "DEBUG提示",
      "",
      AlertStatus.userPrompt, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.none, .1, .1, .1),
@@ -230,71 +232,71 @@ ALERTS = [
  # Non-entry only alerts
  Alert(
      "wrongCarModeNoEntry",
-      "openpilot Unavailable",
-      "Main Switch Off",
+      "无法使用openpilot",
+      "主开关关闭",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),

  Alert(
      "dataNeededNoEntry",
-      "openpilot Unavailable",
-      "Data Needed for Calibration. Upload Drive, Try Again",
+      "无法使用openpilot",
+      "需要更多的数据来协助校准，请将行车记录上传后再试",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, .4, 0., 3.),

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

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

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

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

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

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

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

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

@@ -315,78 +317,78 @@ ALERTS = [
  # Cancellation alerts causing soft disabling
  Alert(
      "overheat",
-      "TAKE CONTROL IMMEDIATELY",
-      "System Overheated",
+      "即刻接管控制",
+      "系统过热",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

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

  Alert(
      "calibrationInvalid",
-      "TAKE CONTROL IMMEDIATELY",
-      "Calibration Invalid: Reposition EON and Recalibrate",
+      "即刻接管控制",
+      "校准无效：请将传感器放于新的位置并重新校准",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

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

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

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

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

  Alert(
      "lowBattery",
-      "TAKE CONTROL IMMEDIATELY",
-      "Low Battery",
+      "即刻接管控制",
+      "电池电量过低",
      AlertStatus.critical, AlertSize.full,
      Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, .1, 2., 2.),

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

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

@@ -400,157 +402,157 @@ ALERTS = [
  # Cancellation alerts causing immediate disabling
  Alert(
      "controlsFailed",
-      "TAKE CONTROL IMMEDIATELY",
-      "Controls Failed",
+      "即刻接管控制",
+      "控制错误",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 4.),

  Alert(
      "controlsMismatch",
-      "TAKE CONTROL IMMEDIATELY",
-      "Controls Mismatch",
+      "即刻接管控制",
+      "控制不匹配",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 4.),

  Alert(
      "canError",
-      "TAKE CONTROL IMMEDIATELY",
-      "CAN Error: Check Connections",
+      "即刻接管控制",
+      "CAN错误：请检查连接",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 4.),

  Alert(
      "steerUnavailable",
-      "TAKE CONTROL IMMEDIATELY",
-      "LKAS Fault: Restart the Car",
+      "即刻接管控制",
+      "LKAS错误：请重新发动车辆",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 4.),

  Alert(
      "brakeUnavailable",
-      "TAKE CONTROL IMMEDIATELY",
-      "Cruise Fault: Restart the Car",
+      "即刻接管控制",
+      "巡航系统错误：请重新发动车辆",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 4.),

  Alert(
      "gasUnavailable",
-      "TAKE CONTROL IMMEDIATELY",
-      "Gas Fault: Restart the Car",
+      "即刻接管控制",
+      "油门错误：请重新发动车辆",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 4.),

  Alert(
      "reverseGear",
-      "TAKE CONTROL IMMEDIATELY",
-      "Reverse Gear",
+      "即刻接管控制",
+      "切换至倒车档",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 4.),

  Alert(
      "cruiseDisabled",
-      "TAKE CONTROL IMMEDIATELY",
-      "Cruise Is Off",
+      "即刻接管控制",
+      "巡航系统关闭",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 4.),

  Alert(
      "plannerError",
-      "TAKE CONTROL IMMEDIATELY",
-      "Planner Solution Error",
+      "即刻接管控制",
+      "Planner Solution 错误",
      AlertStatus.critical, AlertSize.full,
      Priority.HIGHEST, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeat, 1., 3., 4.),

  # not loud cancellations (user is in control)
  Alert(
      "noTarget",
-      "openpilot Canceled",
-      "No close lead car",
+      "openpilot已取消",
+      "没有侦测到前车",
      AlertStatus.normal, AlertSize.mid,
      Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

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

  Alert(
      "invalidGiraffeHonda",
-      "Invalid Giraffe Configuration",
-      "Set 0111 for openpilot. 1011 for stock",
+      "Giraffe开关错误",
+      "openpilot模式为0111，原厂模式为1011",
      AlertStatus.normal, AlertSize.mid,
      Priority.HIGH, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

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

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

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

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

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

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

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

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

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

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

@@ -563,77 +565,77 @@ ALERTS = [

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

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

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

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

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

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

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

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

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

  Alert(
      "invalidGiraffeHondaNoEntry",
-      "openpilot Unavailable",
-      "Set 0111 for openpilot. 1011 for stock",
+      "无法使用openpilot",
+      "openpilot模式为0111，原厂模式为1011",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),

  Alert(
      "commIssueNoEntry",
-      "openpilot unavailable",
+      "无法使用openpilot",
      "Communication Issue between Processes",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW, VisualAlert.none, AudibleAlert.chimeDisengage, .4, 2., 3.),
@@ -641,43 +643,43 @@ ALERTS = [
  # permanent alerts
  Alert(
      "steerUnavailablePermanent",
-      "LKAS Fault: Restart the car to engage",
+      "LKAS错误: 请重新发动车辆",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

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

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

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

  Alert(
      "invalidGiraffeHondaPermanent",
-      "Invalid Giraffe Configuration",
-      "Set 0111 for openpilot. 1011 for stock",
+      "Giraffe 开关错误",
+      "openpilot模式为0111，原厂模式为1011",
      AlertStatus.normal, AlertSize.mid,
      Priority.LOW_LOWEST, VisualAlert.none, AudibleAlert.none, 0., 0., .2),

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

@@ -690,8 +692,22 @@ ALERTS = [

  Alert(
      "vehicleModelInvalid",
-      "Vehicle Parameter Identification Failed",
+      "车辆参数识别失败",
      "",
      AlertStatus.normal, AlertSize.small,
      Priority.LOWEST, VisualAlert.steerRequired, AudibleAlert.none, .0, .0, .1),
+
+  Alert(
+    "manualSteeringRequired",
+    "STEERING REQUIRED: Lane Keeping OFF",
+    "",
+    AlertStatus.normal, AlertSize.small,
+    Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),
+
+  Alert(
+    "manualSteeringRequiredBlinkersOn",
+    "STEERING REQUIRED: Blinkers ON",
+    "",
+    AlertStatus.normal, AlertSize.small,
+    Priority.LOW, VisualAlert.none, AudibleAlert.none, .0, .1, .1, alert_rate=0.25),
 ]
--- a/selfdrive/controls/lib/driver_monitor.py
+++ b/selfdrive/controls/lib/driver_monitor.py
@@ -2,8 +2,10 @@ import numpy as np
 from common.realtime import sec_since_boot, DT_CTRL, DT_DMON
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from common.filter_simple import FirstOrderFilter
-
-_AWARENESS_TIME = 90.        # 1.5 minutes limit without user touching steering wheels make the car enter a terminal status
+from common.params import Params
+params = Params()
+_Timer = int(params.get("DragonSteeringMonitorTimer")) * 60
+_AWARENESS_TIME = _Timer if _Timer > 0 else 86400
 _AWARENESS_PRE_TIME_TILL_TERMINAL = 20.    # a first alert is issued 20s before expiration
 _AWARENESS_PROMPT_TIME_TILL_TERMINAL = 5.  # a second alert is issued 5s before start decelerating the car
 _DISTRACTED_TIME = 10.
@@ -93,6 +95,10 @@ class DriverStatus():
    self.step_change = 0.
    self._set_timers(self.monitor_on)

+    # dragonpilot
+    self.dp_last_check = 0.
+    self.dragon_enable_driver_safety_check = True
+
  def _reset_filters(self):
    self.driver_distraction_filter.x = 0.
    self.variance_filter.x = 0.
@@ -122,7 +128,7 @@ class DriverStatus():
    pose_metric = np.sqrt(yaw_error**2 + pitch_error**2)

    if pose_metric > _METRIC_THRESHOLD:
-      return DistractedType.BAD_POSE 
+      return DistractedType.BAD_POSE
    elif blink.left_blink>_BLINK_THRESHOLD and blink.right_blink>_BLINK_THRESHOLD:
      return DistractedType.BAD_BLINK
    else:
@@ -146,7 +152,7 @@ class DriverStatus():

    # don't check for param too often as it's a kernel call
    ts = sec_since_boot()
-    if ts - self.ts_last_check > 1.:
+    if ts - self.ts_last_check > 3.:
      self.monitor_param_on = params.get("IsDriverMonitoringEnabled") == "1"
      self.ts_last_check = ts

@@ -161,6 +167,15 @@ class DriverStatus():
      self.awareness = 1.
      return events

+    # don't check for param too often as it's a kernel call
+    ts = sec_since_boot()
+    if ts - self.dp_last_check > 3.:
+      self.dragon_enable_driver_safety_check = False if params.get("DragonEnableDriverSafetyCheck") == "0" else True
+      self.dp_last_check = ts
+
+    if not self.dragon_enable_driver_safety_check:
+      return events
+
    driver_engaged |= (self.driver_distraction_filter.x < 0.37 and self.monitor_on)
    awareness_prev = self.awareness

@@ -185,7 +200,6 @@ class DriverStatus():
    elif self.awareness <= self.threshold_pre:
      # pre green alert
      alert = 'preDriverDistracted' if self.monitor_on else 'preDriverUnresponsive'
-
    if alert is not None:
      events.append(create_event(alert, [ET.WARNING]))

--- a/selfdrive/controls/lib/lane_planner.py
+++ b/selfdrive/controls/lib/lane_planner.py
@@ -1,6 +1,9 @@
 from common.numpy_fast import interp
 import numpy as np
 from selfdrive.controls.lib.latcontrol_helpers import model_polyfit, compute_path_pinv
+from common.realtime import sec_since_boot
+from common.params import Params
+params = Params()

 CAMERA_OFFSET = 0.06  # m from center car to camera

@@ -40,6 +43,9 @@ 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)
@@ -53,9 +59,13 @@ 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 > 3.:
+      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

    self.lr_prob = self.l_prob + self.r_prob - self.l_prob * self.r_prob

--- a/selfdrive/crash.py
+++ b/selfdrive/crash.py
@@ -1,8 +1,9 @@
 """Install exception handler for process crash."""
 import os
 import sys
+import json
+#from subprocess import check_output
 import threading
-import capnp
 from selfdrive.version import version, dirty

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

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

  def bind_user(**kwargs):
--- a/selfdrive/dragonpilot/init.py
+++ b/selfdrive/dragonpilot/init.py
--- a/selfdrive/dragonpilot/appd/init.py
+++ b/selfdrive/dragonpilot/appd/init.py
--- a/selfdrive/dragonpilot/appd/appd.py
+++ b/selfdrive/dragonpilot/appd/appd.py
@@ -0,0 +1,163 @@
+#!/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
+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"
+
+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
+  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
+  high_accuracy_mode_enabled = False
+
+  params.put('DragonRunTomTom', '0')
+  params.put('DragonRunAutonavi', '0')
+  params.put('DragonRunMixplorer', '0')
+
+  # we want to disable all app when boot
+  system("pm disable %s ; pm disable %s ; pm disable %s" % (tomtom, autonavi, mixplorer))
+
+  thermal_sock = messaging.sub_sock(service_list['thermal'].port)
+
+  while dragon_enable_tomtom or dragon_enable_autonavi or dragon_enable_mixplorer:
+    if (dragon_enable_tomtom or dragon_enable_autonavi) and not high_accuracy_mode_enabled:
+      if dragon_greypanda_mode:
+        system("settings put secure location_providers_allowed -gps,network,wifi")
+        system("settings put secure location_providers_allowed +gps")
+      else:
+        system("settings put secure location_providers_allowed +gps,network,wifi")
+      high_accuracy_mode_enabled = True
+
+    # allow user to manually start/stop app
+    if dragon_enable_tomtom:
+      status = params.get('DragonRunTomTom')
+      if not status == "0":
+        tomtom_is_running = execApp(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 = execApp(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 = execApp(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:
+      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 = execApp('1', tomtom, tomtom_main)
+          if auto_autonavi and not autonavi_is_running and frame > start_delay:
+            autonavi_is_running = execApp('1', autonavi, autonavi_main)
+        else:
+          if auto_tomtom and tomtom_is_running:
+            tomtom_is_running = execApp('-1', tomtom, tomtom_main)
+          if auto_autonavi and autonavi_is_running:
+            autonavi_is_running = execApp('-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 = execApp('-1', mixplorer, mixplorer_main)
+
+    # car off
+    else:
+      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 = execApp('-1', tomtom, tomtom_main)
+      if auto_autonavi and autonavi_is_running and frame > stop_delay:
+        autonavi_is_running = execApp('-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 execApp(status, app, app_main):
+  if status == "1":
+    system("pm enable %s && am start -n %s/%s" % (app, 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()
--- a/selfdrive/dragonpilot/dashcamd/init.py
+++ b/selfdrive/dragonpilot/dashcamd/init.py
--- a/selfdrive/dragonpilot/dashcamd/dashcamd.py
+++ b/selfdrive/dragonpilot/dashcamd/dashcamd.py
@@ -0,0 +1,80 @@
+#!/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()
--- a/selfdrive/dragonpilot/dragonconf/init.py
+++ b/selfdrive/dragonpilot/dragonconf/init.py
@@ -0,0 +1,82 @@
+#!/usr/bin/env python2.7
+from common.params import Params
+
+default_conf = {
+  'DragonEnableDashcam': '1',
+  'DragonDisableDriverSafetyCheck': '0', # deprecated
+  'DragonEnableDriverSafetyCheck': '1',
+  'DragonAutoShutdownAt': '30', # in minute
+  'DragonTempDisableSteerOnSignal': '0', # deprecated
+  'DragonEnableSteeringOnSignal': '0',
+  'DragonDisableLogger': '0', # deprecated
+  'DragonEnableLogger': '1',
+  'DragonDisableUploader': '0', # deprecated
+  'DragonEnableUploader': '1',
+  'DragonNoctuaMode': '0',
+  'DragonCacheCar': '0',
+  'DragonCachedModel': '', # for cache car
+  'DragonCachedFP': '', # for cache car
+  'DragonCachedVIN': '', # for cache car
+  'DragonAllowGas': '0',
+  'DragonBBUI': '0', # deprecated
+  'DragonToyotaStockDSU': '0',
+  'DragonLatCtrl': '1',
+  'DragonUIEvent': '0',
+  'DragonUIMaxSpeed': '0',
+  'DragonUIFace': '0',
+  'DragonUIDev': '0',
+  'DragonUIDevMini': '1',
+  # 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',
+}
+
+deprecated_conf = {
+  'DragonDisableDriverSafetyCheck': 'DragonEnableDriverSafetyCheck',
+  'DragonTempDisableSteerOnSignal': 'DragonEnableSteeringOnSignal',
+  'DragonDisableLogger': 'DragonEnableLogger',
+  'DragonDisableUploader': 'DragonEnableUploader',
+  'DragonBBUI': 'DragonUIDev',
+}
+
+deprecated_conf_invert = {
+  'DragonDisableDriverSafetyCheck': True,
+  'DragonTempDisableSteerOnSignal': False,
+  'DragonDisableLogger': True,
+  'DragonDisableUploader': True,
+  'DragonBBUI': False
+}
+
+def dragonpilot_set_params(params):
+  # remove deprecated params
+  for old, new in deprecated_conf.items():
+    if params.get(old) is not None:
+      if new is not None:
+        old_val = str(params.get(old))
+        new_val = old_val
+        # invert the value if true
+        if old in deprecated_conf_invert and deprecated_conf_invert[old] is True:
+          new_val = "1" if old_val == "0" else "0"
+        params.put(new, new_val)
+      params.delete(old)
+
+  # set params
+  for key, val in default_conf.items():
+    if params.get(key) is None and key not in deprecated_conf:
+      params.put(key, str(val))
+
+if __name__ == "__main__":
+  params = Params()
+  params.manager_start()
+
+  dragonpilot_set_params(params)
--- a/selfdrive/dragonpilot/mediaplayer/libnative-lib.so
+++ b/selfdrive/dragonpilot/mediaplayer/libnative-lib.so
--- a/selfdrive/dragonpilot/mediaplayer/mediaplayer
+++ b/selfdrive/dragonpilot/mediaplayer/mediaplayer
--- a/selfdrive/dragonpilot/safeguardd/init.py
+++ b/selfdrive/dragonpilot/safeguardd/init.py
--- a/selfdrive/dragonpilot/safeguardd/error.wav
+++ b/selfdrive/dragonpilot/safeguardd/error.wav
--- a/selfdrive/dragonpilot/safeguardd/safeguardd.py
+++ b/selfdrive/dragonpilot/safeguardd/safeguardd.py
@@ -0,0 +1,47 @@
+#!/usr/bin/env python2.7
+#
+# I had a few incidents where OP suddenly stopped while cruising.
+# This script is used to detect such event
+#
+
+import os
+import subprocess
+
+import zmq
+from selfdrive.services import service_list
+import selfdrive.messaging as messaging
+
+mediaplayer = '/data/openpilot/selfdrive/dragonpilot/mediaplayer/'
+
+def main(gctx=None):
+
+  poller = zmq.Poller()
+  sock = messaging.sub_sock(service_list['controlsState'].port, poller)
+  poller.poll(timeout=1000)
+
+  last_v_ego = 0.
+  last_active = False
+
+  env = dict(os.environ)
+  env['LD_LIBRARY_PATH'] = mediaplayer
+
+  while 1:
+
+    v_ego = 0
+    active = False
+    controls_state = messaging.recv_sock(sock, wait=True)
+
+    if controls_state is not None:
+      v_ego = controls_state.controlsState.vEgo
+      active = controls_state.controlsState.active
+
+      # we are driving and all of sudden we dont have any speed at all
+      # we better warn the driver before it's too late
+      if last_active and last_v_ego >= 5 and v_ego == 0:
+        subprocess.Popen([mediaplayer + 'mediaplayer', '/data/openpilot/selfdrive/dragonpilot/safeguardd/error.wav'], shell = False, stdin=None, stdout=None, stderr=None, env = env, close_fds=True)
+
+    last_active = active
+    last_v_ego = v_ego
+
+if __name__ == "__main__":
+  main()
--- a/selfdrive/dragonpilot/shutdownd/init.py
+++ b/selfdrive/dragonpilot/shutdownd/init.py
--- a/selfdrive/dragonpilot/shutdownd/shutdownd.py
+++ b/selfdrive/dragonpilot/shutdownd/shutdownd.py
@@ -0,0 +1,43 @@
+#!/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
+
+  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 3 seconds in case of user updates it
+      if frame % 3 == 0:
+        auto_shutdown_at = get_shutdown_val()
+      shutdown_count += 1
+    else:
+      shutdown_count = 0
+
+    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()
--- a/selfdrive/locationd/paramsd.cc
+++ b/selfdrive/locationd/paramsd.cc
@@ -150,13 +150,13 @@ int main(int argc, char *argv[]) {
            live_params.setValid(valid);
            live_params.setYawRate(localizer.x[0]);
            live_params.setGyroBias(localizer.x[1]);
-            live_params.setSensorValid(sensor_data_age < 5.0);
+            live_params.setSensorValid(sensor_data_age < 10.0);
            live_params.setAngleOffset(angle_offset_degrees);
            live_params.setAngleOffsetAverage(angle_offset_average_degrees);
            live_params.setStiffnessFactor(learner.x);
            live_params.setSteerRatio(learner.sR);
            live_params.setPosenetSpeed(localizer.posenet_speed);
-            live_params.setPosenetValid(posenet_invalid_count < 4);
+            live_params.setPosenetValid(posenet_invalid_count < 8);

            auto words = capnp::messageToFlatArray(msg);
            auto bytes = words.asBytes();
--- a/selfdrive/manager.py
+++ b/selfdrive/manager.py
@@ -10,6 +10,8 @@ from common.basedir import BASEDIR
 sys.path.append(os.path.join(BASEDIR, "pyextra"))
 os.environ['BASEDIR'] = BASEDIR

+from selfdrive.dragonpilot.dragonconf import dragonpilot_set_params
+
 def unblock_stdout():
  # get a non-blocking stdout
  child_pid, child_pty = os.forkpty()
@@ -93,6 +95,7 @@ from selfdrive.version import version, dirty
 import selfdrive.crash as crash

 from selfdrive.loggerd.config import ROOT
+from common.realtime import sec_since_boot

 # comment out anything you don't want to run
 managed_processes = {
@@ -116,12 +119,15 @@ 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 = ("com.autonavi.amapauto", "com.mixplorer", "com.tomtom.speedcams.android.map", "ai.comma.plus.offroad", "ai.comma.plus.frame")

 running = {}
 def get_running():
@@ -143,7 +149,9 @@ persistent_processes = [
  'tombstoned',
  'uploader',
  'ui',
-  'updated',
+  #'updated',
+  'shutdownd',
+  'appd',
 ]

 car_started_processes = [
@@ -159,6 +167,7 @@ car_started_processes = [
  'ubloxd',
  'gpsd',
  'deleter',
+  'dashcamd',
 ]

 def register_managed_process(name, desc, car_started=False):
@@ -576,6 +585,8 @@ 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"))))
@@ -587,10 +598,18 @@ def main():
  if os.getenv("PREPAREONLY") is not None:
    spinner_proc = None
  else:
-    spinner_text = "chffrplus" if params.get("Passive")=="1" else "openpilot"
-    spinner_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)
+
+  if params.get("DragonEnableLogger") == "0":
+    del managed_processes['loggerd']
+    del managed_processes['tombstoned']
+
+  if params.get("DragonEnableUploader") == "0":
+    del managed_processes['uploader']
+
  try:
    manager_update()
    manager_init()
--- a/selfdrive/thermald.py
+++ b/selfdrive/thermald.py
@@ -11,6 +11,10 @@ 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):
@@ -145,8 +152,9 @@ def thermald_thread():
  # Make sure charging is enabled
  charging_disabled = False
  os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled')
-
-  params = Params()
+  ts_last_ip = 0.
+  last_ip_addr = '255.255.255.255'
+  ip_addr = '255.255.255.255'

  while 1:
    health = messaging.recv_sock(health_sock, wait=True)
@@ -174,6 +182,26 @@ def thermald_thread():
      msg.thermal.batteryVoltage = int(f.read())
    with open("/sys/class/power_supply/usb/present") as f:
      msg.thermal.usbOnline = bool(int(f.read()))
+    # update ip every 5 seconds
+    ts = sec_since_boot()
+    if ts - ts_last_ip > 5.:
+      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 = ' '
+      ts_last_ip = ts
+    else:
+      ip_addr = last_ip_addr
+    msg.thermal.ipAddr = ip_addr
+    last_ip_addr = ip_addr

    current_filter.update(msg.thermal.batteryCurrent / 1e6)

--- a/selfdrive/tombstoned.py
+++ b/selfdrive/tombstoned.py
@@ -104,7 +104,7 @@ def report_tombstone(fn, client):
 def main(gctx=None):
  initial_tombstones = set(get_tombstones())

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

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

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

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

 const int UI_FREQ = 30;   // Hz

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

  // Used to show gps planner status
  bool gps_planner_active;
+
+  // for minimal UI
+  float angleSteersDes;
+  float angleSteers;
+
 } UIScene;

 typedef struct {
@@ -285,6 +292,24 @@ typedef struct UIState {
  model_path_vertices_data model_path_vertices[MODEL_LANE_PATH_CNT * 2];

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

 static int last_brightness = -1;
@@ -505,11 +530,11 @@ 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);
@@ -650,11 +675,29 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
  read_param_bool(&s->is_metric, "IsMetric");
  read_param_bool(&s->longitudinal_control, "LongitudinalControl");
  read_param_bool(&s->limit_set_speed, "LimitSetSpeed");
+  // dragonpilot
+  read_param_bool(&s->dragon_ui_event, "DragonUIEvent");
+  read_param_bool(&s->dragon_ui_maxspeed, "DragonUIMaxSpeed");
+  read_param_bool(&s->dragon_ui_face, "DragonUIFace");
+  read_param_bool(&s->dragon_ui_dev, "DragonUIDev");
+  read_param_bool(&s->dragon_ui_dev_mini, "DragonUIDevMini");
+  read_param_bool(&s->dragon_enable_dashcam, "DragonEnableDashcam");
+  read_param_float(&s->dragon_ui_volume_boost, "DragonUIVolumeBoost");
+

  // 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_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;
 }

 static void ui_draw_transformed_box(UIState *s, uint32_t color) {
@@ -1395,13 +1438,297 @@ static void ui_draw_vision_header(UIState *s) {
  nvgRect(s->vg, ui_viz_rx, box_y, ui_viz_rw, header_h);
  nvgFill(s->vg);

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

 #ifdef SHOW_SPEEDLIMIT
  ui_draw_vision_speedlimit(s);
 #endif
  ui_draw_vision_speed(s);
-  ui_draw_vision_event(s);
+  if (s->dragon_ui_event) {
+    ui_draw_vision_event(s);
+  }
+}
+
+static void ui_draw_infobar(UIState *s) {
+  // timestamp from pjlao307 dashcam (https://github.com/pjlao307)
+  int rect_w = 1440; // 1920 * 0.75
+  int rect_h = 50;
+  int rect_x = (1920-rect_w)/2;
+  int rect_y = (1080-rect_h-50);
+  int sidebar_offset = 0;
+  bool hasSidebar = !s->scene.uilayout_sidebarcollapsed;
+  if (hasSidebar) {
+    sidebar_offset = 100;
+  }
+
+
+  // Get local time to display
+  char infobar[68];
+  time_t t = time(NULL);
+  struct tm tm = *localtime(&t);
+
+  if (s->dragon_ui_dev_mini) {
+      char rel_steer[9];
+      snprintf(rel_steer, sizeof(rel_steer), "%s%05.1f°", s->scene.angleSteers < 0? "-" : "+", fabs(s->scene.angleSteers));
+
+      char des_steer[9];
+      if (s->scene.engaged) {
+        snprintf(des_steer, sizeof(des_steer), "%s%05.1f°", s->scene.angleSteersDes < 0? "-" : "+", fabs(s->scene.angleSteersDes));
+      } else {
+        snprintf(des_steer, sizeof(des_steer), "%7s", "N/A");
+      }
+
+
+      char lead_dist[8];
+      if (s->scene.lead_status) {
+        snprintf(lead_dist, sizeof(lead_dist), "%06.2fm", s->scene.lead_d_rel);
+      } else {
+        snprintf(lead_dist, sizeof(lead_dist), "%7s", "N/A");
+      }
+
+
+      snprintf(
+        infobar,
+        sizeof(infobar),
+        "%04d/%02d/%02d %02d:%02d:%02d | REL: %s | DES: %s | DIST: %s",
+        tm.tm_year + 1900,
+        tm.tm_mon + 1,
+        tm.tm_mday,
+        tm.tm_hour,
+        tm.tm_min,
+        tm.tm_sec,
+        rel_steer,
+        des_steer,
+        lead_dist
+      );
+  } else {
+      snprintf(
+        infobar,
+        sizeof(infobar),
+        "%04d/%02d/%02d %02d:%02d:%02d",
+        tm.tm_year + 1900,
+        tm.tm_mon + 1,
+        tm.tm_mday,
+        tm.tm_hour,
+        tm.tm_min,
+        tm.tm_sec
+      );
+  }
+
+  nvgBeginPath(s->vg);
+  nvgRoundedRect(s->vg, rect_x + sidebar_offset, rect_y, rect_w, rect_h, 15);
+  nvgFillColor(s->vg, nvgRGBA(0, 0, 0, 100));
+  nvgFill(s->vg);
+
+  nvgFontSize(s->vg, 40);
+  nvgFontFace(s->vg, "courbd");
+  nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 175));
+  nvgText(s->vg, rect_x + 720 + sidebar_offset, rect_y + 35, infobar, NULL);
+}
+
+//BB START: functions added for the display of various items
+static int bb_ui_draw_measure(UIState *s,  const char* bb_value, const char* bb_uom, const char* bb_label,
+    int bb_x, int bb_y, int bb_uom_dx,
+    NVGcolor bb_valueColor, NVGcolor bb_labelColor, NVGcolor bb_uomColor,
+    int bb_valueFontSize, int bb_labelFontSize, int bb_uomFontSize ) {
+  const UIScene *scene = &s->scene;
+  nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
+  int dx = 0;
+  if (strlen(bb_uom) > 0) {
+    dx = (int)(bb_uomFontSize*2.5/2);
+  }
+  //print value
+  nvgFontFace(s->vg, "sans-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) {
@@ -1412,11 +1739,19 @@ 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,
@@ -1636,6 +1971,9 @@ void handle_message(UIState *s, void *which) {

    s->alert_sound_timeout = 1 * UI_FREQ;

+    s->scene.angleSteers = datad.angleSteers;
+    s->scene.angleSteersDes = datad.angleSteersDes;
+
    if (datad.alertSound != cereal_CarControl_HUDControl_AudibleAlert_none && datad.alertSound != s->alert_sound) {
      char* error = NULL;
      if (s->alert_sound != cereal_CarControl_HUDControl_AudibleAlert_none) {
@@ -2309,6 +2647,10 @@ 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);
    }

@@ -2330,6 +2672,14 @@ int main(int argc, char* argv[]) {
    read_param_bool_timeout(&s->longitudinal_control, "LongitudinalControl", &s->longitudinal_control_timeout);
    read_param_bool_timeout(&s->limit_set_speed, "LimitSetSpeed", &s->limit_set_speed_timeout);
    read_param_float_timeout(&s->speed_lim_off, "SpeedLimitOffset", &s->limit_set_speed_timeout);
+    // dragonpilot
+    read_param_bool_timeout(&s->dragon_ui_event, "DragonUIEvent", &s->dragon_ui_event_timeout);
+    read_param_bool_timeout(&s->dragon_ui_maxspeed, "DragonUIMaxSpeed", &s->dragon_ui_maxspeed_timeout);
+    read_param_bool_timeout(&s->dragon_ui_face, "DragonUIFace", &s->dragon_ui_face_timeout);
+    read_param_bool_timeout(&s->dragon_ui_dev, "DragonUIDev", &s->dragon_ui_dev_timeout);
+    read_param_bool_timeout(&s->dragon_ui_dev_mini, "DragonUIDevMini", &s->dragon_ui_dev_mini_timeout);
+    read_param_bool_timeout(&s->dragon_enable_dashcam, "DragonEnableDashcam", &s->dragon_enable_dashcam_timeout);
+    read_param_float_timeout(&s->dragon_ui_volume_boost, "DragonUIVolumeBoost", &s->dragon_ui_volume_boost_timeout);

    pthread_mutex_unlock(&s->lock);