diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 1cd48e6360df7c..21ca224d2c514a 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -57,6 +57,8 @@ bool loopback_can = false;
 cereal::HealthData::HwType hw_type = cereal::HealthData::HwType::UNKNOWN;
 bool is_pigeon = false;
 const uint32_t NO_IGNITION_CNT_MAX = 2 * 60 * 60 * 24 * 1;  // turn off charge after 1 days
+const uint32_t VBATT_START_CHARGING = 12000;
+const uint32_t VBATT_PAUSE_CHARGING = 10500;
 uint32_t no_ignition_cnt = 0;
 bool connected_once = false;
 bool ignition_last = false;
@@ -353,11 +355,20 @@ void can_health(PubSocket *publisher) {
   }
 
 #ifndef __x86_64__
-  if ((no_ignition_cnt > NO_IGNITION_CNT_MAX) && (health.usb_power_mode == (uint8_t)(cereal::HealthData::UsbPowerMode::CDP))){
-    printf("TURN OFF CHARGING!\n");
-    pthread_mutex_lock(&usb_lock);
-    libusb_control_transfer(dev_handle, 0xc0, 0xe6, (uint16_t)(cereal::HealthData::UsbPowerMode::CLIENT), 0, NULL, 0, TIMEOUT);
-    pthread_mutex_unlock(&usb_lock);
+  bool cdp_mode = health.usb_power_mode == (uint8_t)(cereal::HealthData::UsbPowerMode::CDP);
+  bool no_ignition_exp = no_ignition_cnt > NO_IGNITION_CNT_MAX;
+  if ((no_ignition_exp || (health.voltage <  VBATT_PAUSE_CHARGING)) && cdp_mode && !ignition) {
+     printf("TURN OFF CHARGING!\n");
+     pthread_mutex_lock(&usb_lock);
+     libusb_control_transfer(dev_handle, 0xc0, 0xe6, (uint16_t)(cereal::HealthData::UsbPowerMode::CLIENT), 0, NULL, 0, TIMEOUT);
+     pthread_mutex_unlock(&usb_lock);
+   }
+  if (!no_ignition_exp && (health.voltage >  VBATT_START_CHARGING) && !cdp_mode) {
+      
+     printf("TURN ON CHARGING!\n");
+     pthread_mutex_lock(&usb_lock);
+     libusb_control_transfer(dev_handle, 0xc0, 0xe6, (uint16_t)(cereal::HealthData::UsbPowerMode::CDP), 0, NULL, 0, TIMEOUT);
+     pthread_mutex_unlock(&usb_lock);
   }
 #endif
 
diff --git a/selfdrive/thermald.py b/selfdrive/thermald.py
index 7c42004d3267e4..4fa856c8161f9a 100755
--- a/selfdrive/thermald.py
+++ b/selfdrive/thermald.py
@@ -327,13 +327,6 @@ def thermald_thread():
     elif usb_power and not usb_power_prev:
       params.delete("Offroad_ChargeDisabled")
       
-    if msg.thermal.batteryVoltage < 11500:
-      alert_connectivity_prompt = copy.copy(OFFROAD_ALERTS["Offroad_VoltageLow"])
-      alert_connectivity_prompt["text"] += str(msg.thermal.batteryVoltage) + " Volts."
-      params.delete("Offroad_VoltageLow")
-      params.put("Offroad_VoltageLow", json.dumps(alert_connectivity_prompt))
-    else:
-      params.delete("Offroad_VoltageLow")
     
     thermal_status_prev = thermal_status
     usb_power_prev = usb_power
@@ -343,6 +336,13 @@ def thermald_thread():
 
     # report to server once per minute
     if (count % int(60. / DT_TRML)) == 0:
+      if msg.thermal.batteryVoltage < 11500:
+        alert_connectivity_prompt = copy.copy(OFFROAD_ALERTS["Offroad_VoltageLow"])
+        alert_connectivity_prompt["text"] += str(msg.thermal.batteryVoltage) + " Volts."
+        params.delete("Offroad_VoltageLow")
+        params.put("Offroad_VoltageLow", json.dumps(alert_connectivity_prompt))
+      else:
+        params.delete("Offroad_VoltageLow")
       cloudlog.event("STATUS_PACKET",
         count=count,
         health=(health.to_dict() if health else None),
diff --git a/selfdrive/traffic.py b/selfdrive/traffic.py
new file mode 100644
index 00000000000000..7a22c540a9225d
--- /dev/null
+++ b/selfdrive/traffic.py
@@ -0,0 +1,120 @@
+import os
+import cv2
+import numpy as np
+import zmq
+
+def detect(source):
+
+    font = cv2.FONT_HERSHEY_SIMPLEX
+    img = cv2.imread(source)
+    
+    cimg = img
+    hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
+
+ 
+    lower_red1 = np.array([0,100,100])
+    upper_red1 = np.array([10,255,255])
+    lower_red2 = np.array([160,100,100])
+    upper_red2 = np.array([180,255,255])
+    lower_green = np.array([40,50,50])
+    upper_green = np.array([90,255,255])
+    lower_yellow = np.array([15,150,150])
+    upper_yellow = np.array([35,255,255])
+    mask1 = cv2.inRange(hsv, lower_red1, upper_red1)
+    mask2 = cv2.inRange(hsv, lower_red2, upper_red2)
+    maskg = cv2.inRange(hsv, lower_green, upper_green)
+    masky = cv2.inRange(hsv, lower_yellow, upper_yellow)
+    maskr = cv2.add(mask1, mask2)
+
+    size = img.shape
+
+    r_circles = cv2.HoughCircles(maskr, cv2.HOUGH_GRADIENT, 1, 80,
+                               param1=50, param2=10, minRadius=0, maxRadius=30)
+
+    g_circles = cv2.HoughCircles(maskg, cv2.HOUGH_GRADIENT, 1, 60,
+                                 param1=50, param2=10, minRadius=0, maxRadius=30)
+
+    y_circles = cv2.HoughCircles(masky, cv2.HOUGH_GRADIENT, 1, 30,
+                                 param1=50, param2=5, minRadius=0, maxRadius=30)
+
+    # traffic light detect
+    r = 5
+    bound = 4.0 / 10
+    if r_circles is not None:
+        r_circles = np.uint16(np.around(r_circles))
+
+        for i in r_circles[0, :]:
+            if i[0] > size[1] or i[1] > size[0]or i[1] > size[0]*bound:
+                continue
+
+            h, s = 0.0, 0.0
+            for m in range(-r, r):
+                for n in range(-r, r):
+
+                    if (i[1]+m) >= size[0] or (i[0]+n) >= size[1]:
+                        continue
+                    h += maskr[i[1]+m, i[0]+n]
+                    s += 1
+            if h / s > 50:
+                cv2.circle(cimg, (i[0], i[1]), i[2]+10, (0, 255, 0), 2)
+                cv2.circle(maskr, (i[0], i[1]), i[2]+30, (255, 255, 255), 2)
+                #cv2.putText(cimg,'RED',(i[0], i[1]), font, 1,(255,0,0),2,cv2.LINE_AA)
+                print("RED")
+    if g_circles is not None:
+        g_circles = np.uint16(np.around(g_circles))
+
+        for i in g_circles[0, :]:
+            if i[0] > size[1] or i[1] > size[0] or i[1] > size[0]*bound:
+                continue
+
+            h, s = 0.0, 0.0
+            for m in range(-r, r):
+                for n in range(-r, r):
+
+                    if (i[1]+m) >= size[0] or (i[0]+n) >= size[1]:
+                        continue
+                    h += maskg[i[1]+m, i[0]+n]
+                    s += 1
+            if h / s > 100:
+                cv2.circle(cimg, (i[0], i[1]), i[2]+10, (0, 255, 0), 2)
+                cv2.circle(maskg, (i[0], i[1]), i[2]+30, (255, 255, 255), 2)
+                #cv2.putText(cimg,'GREEN',(i[0], i[1]), font, 1,(255,0,0),2,cv2.LINE_AA)
+                print("GREEN")
+    if y_circles is not None:
+        y_circles = np.uint16(np.around(y_circles))
+
+        for i in y_circles[0, :]:
+            if i[0] > size[1] or i[1] > size[0] or i[1] > size[0]*bound:
+                continue
+
+            h, s = 0.0, 0.0
+            for m in range(-r, r):
+                for n in range(-r, r):
+
+                    if (i[1]+m) >= size[0] or (i[0]+n) >= size[1]:
+                        continue
+                    h += masky[i[1]+m, i[0]+n]
+                    s += 1
+            if h / s > 50:
+                cv2.circle(cimg, (i[0], i[1]), i[2]+10, (0, 255, 0), 2)
+                cv2.circle(masky, (i[0], i[1]), i[2]+30, (255, 255, 255), 2)
+                #cv2.putText(cimg,'YELLOW',(i[0], i[1]), font, 1,(255,0,0),2,cv2.LINE_AA)
+                print("YELLOW")
+    
+    
+    return cimg
+if __name__ == '__main__':
+    
+    
+    while True:
+        context = zmq.Context()
+        socket = context.socket(zmq.REP)
+        socket.bind("tcp://*:9000")
+        message = socket.recv()
+        print("Message is of type {}".format(type(message)))
+        print(message)
+        detectimg =detect(message)
+        sleep(0.05)
+    # This function either gives out "RED" "YELLOW" or "GREEN"
+    
+