Merge pull request #9 from arne182/release2

Merge release2

selfdrive/car/gm/carstate.py

@@ -11,6 +11,7 @@
 from selfdrive.car.gm.values import DBC, CAR, parse_gear_shifter, \
                                     CruiseButtons, is_eps_status_ok, \
                                     STEER_THRESHOLD, SUPERCRUISE_CARS
+from selfdrive.kegman_conf import kegman_conf
 
 def get_powertrain_can_parser(CP, canbus):
   # this function generates lists for signal, messages and initial values
@@ -58,10 +59,11 @@ def get_powertrain_can_parser(CP, canbus):
 
 class CarState(object):
   def __init__(self, CP, canbus):
+    self.kegman = kegman_conf()
     self.CP = CP
     # initialize can parser
     self.alcaLabels = ["MadMax","Normal","Wifey"]
-    self.alcaMode = 2
+    self.alcaMode = int(self.kegman.conf['lastALCAMode'])     # default to last ALCAmode on startup
     self.car_fingerprint = CP.carFingerprint
     self.cruise_buttons = CruiseButtons.UNPRESS
     self.prev_distance_button = 0
@@ -70,7 +72,7 @@ def __init__(self, CP, canbus):
     self.prev_left_blinker_on = False
     self.right_blinker_on = False
     self.prev_right_blinker_on = False
-    self.follow_level = 2
+    self.follow_level = int(self.kegman.conf['lastTrMode'])
     self.prev_lka_button = 0
     self.lka_button = 0
     self.lkMode = True
@@ -149,8 +151,12 @@ def update_ui_buttons(self,id,btn_status):
       if (id == 1) and (btn_status == 0) and self.cstm_btns.btns[id].btn_name=="alca":
           if self.cstm_btns.btns[id].btn_label2 == self.alcaLabels[self.alcaMode]:
             self.alcaMode = (self.alcaMode + 1 ) % 3
+            self.kegman.conf['lastALCAMode'] = str(self.alcaMode)   # write last distance bar setting to file
+            self.kegman.write_config(self.kegman.conf)
           else:
             self.alcaMode = 0
+            self.kegman.conf['lastALCAMode'] = str(self.alcaMode)   # write last distance bar setting to file
+            self.kegman.write_config(self.kegman.conf)
           self.cstm_btns.btns[id].btn_label2 = self.alcaLabels[self.alcaMode]
           self.cstm_btns.hasChanges = True
       else:

selfdrive/car/gm/interface.py

@@ -6,6 +6,9 @@
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.gm.values import DBC, CAR, STOCK_CONTROL_MSGS, AUDIO_HUD, SUPERCRUISE_CARS
 from selfdrive.car.gm.carstate import CarState, CruiseButtons, get_powertrain_can_parser
+from selfdrive.kegman_conf import kegman_conf
+
+kegman = kegman_conf()
 
 try:
   from selfdrive.car.gm.carcontroller import CarController
@@ -229,7 +232,7 @@ def update(self, c):
     ret.brakePressed = self.CS.brake_pressed
 
     # steering wheel
-    ret.steeringAngle = self.CS.angle_steers
+    ret.steeringAngle = self.CS.angle_steers + float(kegman.conf['angle_steers_offset'])  # deg offset
 
     # torque and user override. Driver awareness
     # timer resets when the user uses the steering wheel.
@@ -303,6 +306,8 @@ def update(self, c):
       self.CS.follow_level -= 1
       if self.CS.follow_level < 1:
         self.CS.follow_level = 3
+      self.kegman.conf['lastTrMode'] = str(self.CS.follow_level)   # write last distance bar setting to file
+      self.kegman.write_config(self.kegman.conf) 
     ret.gasbuttonstatus = self.CS.cstm_btns.get_button_status("gas")
     events = []
     if not self.CS.can_valid:

selfdrive/car/gm/values.py

@@ -78,7 +78,7 @@ def parse_gear_shifter(can_gear):
   },
   # Volt Premier w/ ACC 2018
   {
-    170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
+    170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 578: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2020: 8, 2024: 8, 2028: 8
   }],
   CAR.BUICK_REGAL : [
   # Regal TourX Essence w/ ACC 2018

selfdrive/car/honda/carstate.py

@@ -3,6 +3,7 @@
 from selfdrive.can.parser import CANParser, CANDefine
 from selfdrive.config import Conversions as CV
 from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR, HONDA_BOSCH
+from selfdrive.kegman_conf import kegman_conf
 from selfdrive.car.modules.UIBT_module import UIButtons,UIButton
 from selfdrive.car.modules.UIEV_module import UIEvents
 import numpy as np
@@ -147,14 +148,15 @@ def get_cam_can_parser(CP):
 
 class CarState(object):
   def __init__(self, CP):
+    self.kegman = kegman_conf()
     self.Angle = [0, 5, 10, 15,20,25,30,35,60,100,180,270,500]
     self.Angle_Speed = [255,160,100,80,70,60,55,50,40,30,20,10,5]
     self.blind_spot_on = bool(0)
     #labels for ALCA modes
     self.alcaLabels = ["MadMax","Normal","Wifey"]
     self.trLabels = ["0.9","dyn","2.7"]
-    self.alcaMode = 0
-    self.trMode = 1
+    self.alcaMode = int(self.kegman.conf['lastALCAMode'])     # default to last ALCA Mode on startup
+    self.trMode = int(self.kegman.conf['lastTrMode'])     # default to last distance interval on startup
     #if (CP.carFingerprint == CAR.MODELS):
     # ALCA PARAMS
     # max REAL delta angle for correction vs actuator
@@ -251,16 +253,24 @@ def update_ui_buttons(self,id,btn_status):
       if (id == 0) and (btn_status == 0) and self.cstm_btns.btns[id].btn_name=="alca":
           if self.cstm_btns.btns[id].btn_label2 == self.alcaLabels[self.alcaMode]:
             self.alcaMode = (self.alcaMode + 1 ) % 3
+            self.kegman.conf['lastALCAMode'] = str(self.alcaMode)   # write last distance bar setting to file
+            self.kegman.write_config(self.kegman.conf) 
           else:
             self.alcaMode = 0
+            self.kegman.conf['lastALCAMode'] = str(self.alcaMode)   # write last distance bar setting to file
+            self.kegman.write_config(self.kegman.conf) 
           self.cstm_btns.btns[id].btn_label2 = self.alcaLabels[self.alcaMode]
           self.cstm_btns.hasChanges = True
 
       elif (id == 4) and (btn_status == 0) and self.cstm_btns.btns[id].btn_name=="tr":
           if self.cstm_btns.btns[id].btn_label2 == self.trLabels[self.trMode]:
             self.trMode = (self.trMode + 1 ) % 3
+            self.kegman.conf['lastTrMode'] = str(self.trMode)   # write last distance bar setting to file
+            self.kegman.write_config(self.kegman.conf)
           else:
             self.trMode = 0
+            self.kegman.conf['lastTrMode'] = str(self.trMode)   # write last distance bar setting to file
+            self.kegman.write_config(self.kegman.conf)
           self.cstm_btns.btns[id].btn_label2 = self.trLabels[self.trMode]
           self.cstm_btns.hasChanges = True
 
@@ -403,6 +413,8 @@ def update(self, cp, cp_cam):
     if self.cruise_setting == 3:
       if cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"] == 0:
         self.trMode = (self.trMode + 1 ) % 3
+        self.kegman.conf['lastTrMode'] = str(self.trMode)   # write last distance bar setting to file
+        self.kegman.write_config(self.kegman.conf) 
         self.cstm_btns.btns[4].btn_label2 = self.trLabels[self.trMode]
     self.prev_cruise_setting = self.cruise_setting
     self.cruise_setting = cp.vl["SCM_BUTTONS"]['CRUISE_SETTING']

selfdrive/car/honda/interface.py

@@ -11,6 +11,9 @@
 from selfdrive.car.honda.carstate import CarState, get_can_parser, get_cam_can_parser
 from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, AUDIO_HUD, VISUAL_HUD
 from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING
+from selfdrive.kegman_conf import kegman_conf
+
+kegman = kegman_conf()
 
 try:
   from selfdrive.car.honda.carcontroller import CarController
@@ -424,7 +427,7 @@ def update(self, c):
                            c.actuators.brake > brakelights_threshold)
 
     # steering wheel
-    ret.steeringAngle = self.CS.angle_steers
+    ret.steeringAngle = self.CS.angle_steers + float(kegman.conf['angle_steers_offset'])  # deg offset
     ret.steeringRate = self.CS.angle_steers_rate
 
     # gear shifter lever

selfdrive/car/toyota/carstate.py

@@ -9,6 +9,7 @@
 from selfdrive.config import Conversions as CV
 from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD
 from common.kalman.simple_kalman import KF1D
+from selfdrive.kegman_conf import kegman_conf
 from selfdrive.car.modules.UIBT_module import UIButtons,UIButton
 from selfdrive.car.modules.UIEV_module import UIEvents
 import os
@@ -133,6 +134,7 @@ def get_cam_can_parser(CP):
 
 class CarState(object):
   def __init__(self, CP):
+    self.kegman = kegman_conf()
     self.trfix = False
     self.Angles = np.zeros(250)
     self.Angles_later = np.zeros(250)
@@ -141,7 +143,7 @@ def __init__(self, CP):
     self.Angle_Speed = [255,160,100,80,70,60,55,50,40,33,27,17,12]
     #labels for ALCA modes
     self.alcaLabels = ["MadMax","Normal","Wifey"]
-    self.alcaMode = 1
+    self.alcaMode = int(self.kegman.conf['lastALCAMode'])     # default to last ALCAmode on startup
     #if (CP.carFingerprint == CAR.MODELS):
     # ALCA PARAMS
     # max REAL delta angle for correction vs actuator
@@ -244,8 +246,12 @@ def update_ui_buttons(self,id,btn_status):
       if (id == 1) and (btn_status == 0) and self.cstm_btns.btns[id].btn_name=="alca":
           if self.cstm_btns.btns[id].btn_label2 == self.alcaLabels[self.alcaMode]:
             self.alcaMode = (self.alcaMode + 1 ) % 3
+            self.kegman.conf['lastALCAMode'] = str(self.alcaMode)   # write last ALCAMode setting to file
+            self.kegman.write_config(self.kegman.conf)
           else:
             self.alcaMode = 0
+            self.kegman.conf['lastALCAMode'] = str(self.alcaMode)   # write last ALCAMode setting to file
+            self.kegman.write_config(self.kegman.conf)
           self.cstm_btns.btns[id].btn_label2 = self.alcaLabels[self.alcaMode]
           self.cstm_btns.hasChanges = True
       else:

selfdrive/car/toyota/interface.py

@@ -7,6 +7,9 @@
 from selfdrive.car.toyota.carstate import CarState, get_can_parser, get_cam_can_parser
 from selfdrive.car.toyota.values import ECU, check_ecu_msgs, CAR
 from selfdrive.swaglog import cloudlog
+from selfdrive.kegman_conf import kegman_conf
+
+kegman = kegman_conf()
 
 try:
   from selfdrive.car.toyota.carcontroller import CarController
@@ -328,7 +331,7 @@ def update(self, c):
     ret.brakeLights = self.CS.brake_lights
 
     # steering wheel
-    ret.steeringAngle = self.CS.angle_steers
+    ret.steeringAngle = self.CS.angle_steers + float(kegman.conf['angle_steers_offset'])  # deg offset
     ret.steeringRate = self.CS.angle_steers_rate
 
     ret.steeringTorque = self.CS.steer_torque_driver

selfdrive/car/toyota/values.py

@@ -82,7 +82,7 @@ def check_ecu_msgs(fingerprint, ecu):
     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
   }],
   CAR.RAV4H: [{
-    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 296: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 548: 8, 550: 8, 552: 4, 560: 7, 562: 4, 581: 5, 608: 8, 610: 5, 643: 7, 705: 8, 713: 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, 950: 8, 951: 8, 953: 3, 955: 8, 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, 1184: 8, 1185: 8, 1186: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1212: 8, 1227: 8, 1228: 8, 1232: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 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
+    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 218: 8, 296: 8, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 547: 8, 548: 8, 550: 8, 552: 4, 560: 7, 562: 4, 581: 5, 608: 8, 610: 5, 643: 7, 705: 8, 713: 8, 725: 2, 740: 5, 742: 8, 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, 950: 8, 951: 8, 953: 3, 955: 8, 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, 1184: 8, 1185: 8, 1186: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1212: 8, 1227: 8, 1228: 8, 1232: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 8, 1555: 8, 1556: 8, 1557: 8, 1561: 8, 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, 2018: 8, 2026: 8
   },
   # Chinese RAV4
   {
@@ -137,6 +137,10 @@ def check_ecu_msgs(fingerprint, ecu):
   #LE
   {
     36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 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, 1235: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572:8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
+  },
+  #LE with Blind Spot Monitor
+  {
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296: 8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 643: 7, 713: 8, 728: 8, 740: 5, 761: 8, 764: 8, 800: 8, 810: 2, 812: 8, 818: 8, 824: 8, 829: 2, 830: 7, 835: 8, 836: 8, 869: 7, 870: 7, 871: 2, 889: 8, 898: 8, 900: 6, 902: 6, 905: 8, 921: 8, 933: 8, 934: 8, 935: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 983: 8, 984: 8, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1076: 8, 1077: 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, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1808: 8, 1810: 8, 1816: 8, 1818: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8
   }],
   CAR.HIGHLANDER: [{
     36: 8, 37: 8, 114: 5, 119: 6, 120: 4, 170: 8, 180: 8, 186: 4, 238: 4, 355: 5, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 545: 5, 550: 8, 552: 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, 900: 6, 902: 6, 905: 8, 911: 8, 916: 3, 921: 8, 922: 8, 933: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 979: 2, 998: 5, 999: 7, 1000: 8, 1001: 8, 1008: 2, 1014: 8, 1017: 8, 1020: 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, 1182: 8, 1183: 8, 1189: 8, 1190: 8, 1191: 8, 1192: 8, 1196: 8, 1197: 8, 1198: 8, 1199: 8, 1206: 8, 1207: 8, 1212: 8, 1227: 8, 1235: 8, 1237: 8, 1279: 8, 1408: 8, 1409: 8, 1410: 8, 1552: 8, 1553: 8, 1554: 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, 1599: 8, 1656: 8, 1666: 8, 1667: 8, 1728: 8, 1745: 8, 1779: 8, 1904: 8, 1912: 8, 1990: 8, 1998: 8

selfdrive/controls/lib/driver_monitor.py

@@ -2,10 +2,13 @@
 from common.realtime import sec_since_boot
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from common.filter_simple import FirstOrderFilter
+from selfdrive.kegman_conf import kegman_conf
+
+kegman = kegman_conf()
 
 _DT = 0.01                  # update runs at 100Hz
 _DTM = 0.1                  # DM runs at 10Hz
-_AWARENESS_TIME = 1800       # 3 minutes limit without user touching steering wheels make the car enter a terminal status
+_AWARENESS_TIME = int(kegman.conf['wheelTouchSeconds'])       # 3 minutes limit without user touching steering wheels make the car enter a terminal status
 _AWARENESS_PRE_TIME = 200.   # a first alert is issued 20s before expiration
 _AWARENESS_PROMPT_TIME = 50. # a second alert is issued 5s before start decelerating the car
 _DISTRACTED_TIME = 70.

selfdrive/controls/lib/longcontrol.py

@@ -1,7 +1,9 @@
 from cereal import log
 from common.numpy_fast import clip, interp
 from selfdrive.controls.lib.pid import PIController
+from selfdrive.kegman_conf import kegman_conf
 
+kegman = kegman_conf()
 LongCtrlState = log.Live100Data.LongControlState
 
 STOPPING_EGO_SPEED = 0.5
@@ -12,7 +14,7 @@
 
 STOPPING_BRAKE_RATE = 0.2  # brake_travel/s while trying to stop
 STARTING_BRAKE_RATE = 0.8  # brake_travel/s while releasing on restart
-BRAKE_STOPPING_TARGET = 0.25  # apply at least this amount of brake to maintain the vehicle stationary
+BRAKE_STOPPING_TARGET = float(kegman.conf['brakeStoppingTarget'])  # apply at least this amount of brake to maintain the vehicle stationary
 
 _MAX_SPEED_ERROR_BP = [0., 30.]  # speed breakpoints
 _MAX_SPEED_ERROR_V = [1.5, .8]  # max positive v_pid error VS actual speed; this avoids controls windup due to slow pedal resp