pandad: only reset pandas on first run (#23511)

old-commit-hash: 15380139ef

selfdrive/pandad.py

@@ -54,6 +54,7 @@ def flash_panda(panda_serial : str) -> Panda:
 
   return panda
 
+
 def panda_sort_cmp(a: Panda, b: Panda):
   a_type = a.get_type()
   b_type = b.get_type()
@@ -71,7 +72,10 @@ def panda_sort_cmp(a : Panda, b : Panda):
   # last resort: sort by serial number
   return a.get_usb_serial() < b.get_usb_serial()
 
+
 def main() -> NoReturn:
+  first_run = True
+
   while True:
     try:
       # Flash all Pandas in DFU mode
@@ -98,6 +102,7 @@ def main() -> NoReturn:
           Params().put_bool("PandaHeartbeatLost", True)
           cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial())
 
+        if first_run:
           cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
           panda.reset()
 
@@ -113,6 +118,8 @@ def main() -> NoReturn:
       cloudlog.exception("Panda USB exception while setting up")
       continue
 
+    first_run = False
+
     # run boardd with all connected serials as arguments
     os.chdir(os.path.join(BASEDIR, "selfdrive/boardd"))
     subprocess.run(["./boardd", *panda_serials], check=True)