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#!/usr/bin/env python3
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# simple boardd wrapper that updates the panda first
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import os
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import time
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from selfdrive.swaglog import cloudlog
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from panda import Panda, PandaDFU, BASEDIR
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def get_expected_version():
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with open(os.path.join(BASEDIR, "VERSION")) as f:
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repo_version = f.read()
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repo_version += "-EON" if os.path.isfile('/EON') else "-DEV"
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return repo_version
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def update_panda():
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repo_version = get_expected_version()
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panda = None
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panda_dfu = None
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cloudlog.info("Connecting to panda")
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while True:
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# break on normal mode Panda
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panda_list = Panda.list()
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if len(panda_list) > 0:
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cloudlog.info("Panda found, connecting")
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panda = Panda(panda_list[0])
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break
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# flash on DFU mode Panda
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panda_dfu = PandaDFU.list()
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if len(panda_dfu) > 0:
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cloudlog.info("Panda in DFU mode found, flashing recovery")
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panda_dfu = PandaDFU(panda_dfu[0])
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panda_dfu.recover()
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print("waiting for board...")
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time.sleep(1)
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try:
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serial = panda.get_serial()[0].decode("utf-8")
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except Exception:
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serial = None
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current_version = "bootstub" if panda.bootstub else panda.get_version()
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cloudlog.warning("Panda %s connected, version: %s, expected %s" % (serial, current_version, repo_version))
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if panda.bootstub or not current_version.startswith(repo_version):
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cloudlog.info("Panda firmware out of date, update required")
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signed_fn = os.path.join(BASEDIR, "board", "obj", "panda.bin.signed")
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if os.path.exists(signed_fn):
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cloudlog.info("Flashing signed firmware")
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panda.flash(fn=signed_fn)
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else:
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cloudlog.info("Building and flashing unsigned firmware")
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panda.flash()
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cloudlog.info("Done flashing")
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if panda.bootstub:
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cloudlog.info("Flashed firmware not booting, flashing development bootloader")
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panda.recover()
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cloudlog.info("Done flashing bootloader")
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if panda.bootstub:
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cloudlog.info("Panda still not booting, exiting")
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raise AssertionError
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version = panda.get_version()
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if not version.startswith(repo_version):
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cloudlog.info("Version mismatch after flashing, exiting")
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raise AssertionError
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def main(gctx=None):
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update_panda()
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os.chdir("boardd")
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os.execvp("./boardd", ["./boardd"])
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if __name__ == "__main__":
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main()
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