Source code for selfdrive.boardd.pandad

#!/usr/bin/env python3
# simple boardd wrapper that updates the panda first
import os
import usb1
import time
import subprocess
from typing import List, NoReturn
from functools import cmp_to_key

from panda import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, Panda, PandaDFU
from common.basedir import BASEDIR
from common.params import Params
from system.hardware import HARDWARE
from system.swaglog import cloudlog


[docs]def get_expected_signature(panda: Panda) -> bytes: fn = DEFAULT_H7_FW_FN if (panda.get_mcu_type() == MCU_TYPE_H7) else DEFAULT_FW_FN try: return Panda.get_signature_from_firmware(fn) except Exception: cloudlog.exception("Error computing expected signature") return b""
[docs]def flash_panda(panda_serial: str) -> Panda: panda = Panda(panda_serial) fw_signature = get_expected_signature(panda) internal_panda = panda.is_internal() and not panda.bootstub panda_version = "bootstub" if panda.bootstub else panda.get_version() panda_signature = b"" if panda.bootstub else panda.get_signature() cloudlog.warning(f"Panda {panda_serial} connected, version: {panda_version}, signature {panda_signature.hex()[:16]}, expected {fw_signature.hex()[:16]}") if panda.bootstub or panda_signature != fw_signature: cloudlog.info("Panda firmware out of date, update required") panda.flash() cloudlog.info("Done flashing") if panda.bootstub: bootstub_version = panda.get_version() cloudlog.info(f"Flashed firmware not booting, flashing development bootloader. Bootstub version: {bootstub_version}") if internal_panda: HARDWARE.recover_internal_panda() panda.recover(reset=(not internal_panda)) cloudlog.info("Done flashing bootloader") if panda.bootstub: cloudlog.info("Panda still not booting, exiting") raise AssertionError panda_signature = panda.get_signature() if panda_signature != fw_signature: cloudlog.info("Version mismatch after flashing, exiting") raise AssertionError return panda
[docs]def panda_sort_cmp(a: Panda, b: Panda): a_type = a.get_type() b_type = b.get_type() # make sure the internal one is always first if a.is_internal() and not b.is_internal(): return -1 if not a.is_internal() and b.is_internal(): return 1 # sort by hardware type if a_type != b_type: return a_type < b_type # last resort: sort by serial number return a.get_usb_serial() < b.get_usb_serial()
[docs]def main() -> NoReturn: first_run = True params = Params() while True: try: params.delete("PandaSignatures") # Flash all Pandas in DFU mode for p in PandaDFU.list(): cloudlog.info(f"Panda in DFU mode found, flashing recovery {p}") PandaDFU(p).recover() time.sleep(1) panda_serials = Panda.list() if len(panda_serials) == 0: if first_run: cloudlog.info("Resetting internal panda") HARDWARE.reset_internal_panda() time.sleep(2) # wait to come back up continue cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}") # Flash pandas pandas: List[Panda] = [] for serial in panda_serials: pandas.append(flash_panda(serial)) # check health for lost heartbeat for panda in pandas: health = panda.health() if health["heartbeat_lost"]: 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() # sort pandas to have deterministic order pandas.sort(key=cmp_to_key(panda_sort_cmp)) panda_serials = list(map(lambda p: p.get_usb_serial(), pandas)) # type: ignore # log panda fw versions params.put("PandaSignatures", b','.join(p.get_signature() for p in pandas)) # close all pandas for p in pandas: p.close() except (usb1.USBErrorNoDevice, usb1.USBErrorPipe): # a panda was disconnected while setting everything up. let's try again cloudlog.exception("Panda USB exception while setting up") continue first_run = False # run boardd with all connected serials as arguments os.environ['MANAGER_DAEMON'] = 'boardd' os.chdir(os.path.join(BASEDIR, "selfdrive/boardd")) subprocess.run(["./boardd", *panda_serials], check=True)
if __name__ == "__main__": main()