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99 lines
2.5 KiB
99 lines
2.5 KiB
#!/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 panda import BASEDIR as PANDA_BASEDIR, Panda, PandaDFU
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from common.basedir import BASEDIR
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from selfdrive.swaglog import cloudlog
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PANDA_FW_FN = os.path.join(PANDA_BASEDIR, "board", "obj", "panda.bin.signed")
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def get_expected_signature() -> bytes:
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try:
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return Panda.get_signature_from_firmware(PANDA_FW_FN)
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except Exception:
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cloudlog.exception("Error computing expected signature")
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return b""
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def update_panda() -> Panda:
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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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time.sleep(1)
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fw_signature = get_expected_signature()
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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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panda_version = "bootstub" if panda.bootstub else panda.get_version()
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panda_signature = b"" if panda.bootstub else panda.get_signature()
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cloudlog.warning("Panda %s connected, version: %s, signature %s, expected %s" % (
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serial,
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panda_version,
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panda_signature.hex(),
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fw_signature.hex(),
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))
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if panda.bootstub or panda_signature != fw_signature:
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cloudlog.info("Panda firmware out of date, update required")
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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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bootstub_version = panda.get_version()
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cloudlog.info(f"Flashed firmware not booting, flashing development bootloader. Bootstub version: {bootstub_version}")
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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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panda_signature = panda.get_signature()
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if panda_signature != fw_signature:
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cloudlog.info("Version mismatch after flashing, exiting")
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raise AssertionError
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return panda
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def main() -> None:
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panda = update_panda()
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# check health for lost heartbeat
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health = panda.health()
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if health["heartbeat_lost"]:
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cloudlog.event("heartbeat lost", deviceState=health)
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cloudlog.info("Resetting panda")
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panda.reset()
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os.chdir(os.path.join(BASEDIR, "selfdrive/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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