boardd: check fw version when connecting (#28823)

* Check fw version when connecting

* apply reviews

* mv to boardd

* don't keep looping

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: b9cffac29c013b82c33d03710e294677cf50b395

selfdrive/boardd/boardd.cc

@@ -200,6 +200,10 @@ Panda *connect(std::string serial="", uint32_t index=0) {
   }
   //panda->enable_deepsleep();
 
+  if (!panda->up_to_date()) {
+    throw std::runtime_error("Panda firmware out of date. Run pandad.py to update.");
+  }
+
   sync_time(panda.get(), SyncTimeDir::FROM_PANDA);
   return panda.release();
 }

selfdrive/boardd/panda.cc

@@ -22,7 +22,6 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
   }
 
   hw_type = get_hw_type();
-
   has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) ||
             (hw_type == cereal::PandaState::PandaType::DOS) ||
             (hw_type == cereal::PandaState::PandaType::TRES);
@@ -153,6 +152,19 @@ std::optional<std::string> Panda::get_serial() {
   return err >= 0 ? std::make_optional(serial_buf) : std::nullopt;
 }
 
+bool Panda::up_to_date() {
+  if (auto fw_sig = get_firmware_version()) {
+    for (auto fn : { "panda.bin.signed", "panda_h7.bin.signed" }) {
+      auto content = util::read_file(std::string("../../panda/board/obj/") + fn);
+      if (content.size() >= fw_sig->size() &&
+          memcmp(content.data() + content.size() - fw_sig->size(), fw_sig->data(), fw_sig->size()) == 0) {
+        return true;
+      }
+    }
+  }
+  return false;
+}
+
 void Panda::set_power_saving(bool power_saving) {
   handle->control_write(0xe7, power_saving, 0);
 }

selfdrive/boardd/panda.h

@@ -72,6 +72,7 @@ public:
   std::optional<can_health_t> get_can_state(uint16_t can_number);
   void set_loopback(bool loopback);
   std::optional<std::vector<uint8_t>> get_firmware_version();
+  bool up_to_date();
   std::optional<std::string> get_serial();
   void set_power_saving(bool power_saving);
   void enable_deepsleep();