StarPilot/selfdrive/pandad/panda_firmware.py

"""Firmware selection shared by pandad and the parked updater."""

import os

from cereal import car
from openpilot.common.basedir import BASEDIR
from openpilot.common.params import Params, UnknownKeyName
from openpilot.common.swaglog import cloudlog


FW_PATH = os.path.join(BASEDIR, "panda", "board", "obj")

TESLA_CAN_WAKE_PLATFORMS = {"TESLA_MODEL_3", "TESLA_MODEL_Y", "TESLA_MODEL_X"}


def supports_tesla_can_wake(params: Params) -> bool:
  try:
    selected_make = params.get("CarMake") or ""
    selected_model = params.get("CarModel") or ""
    if isinstance(selected_make, bytes):
      selected_make = selected_make.decode("utf-8")
    if isinstance(selected_model, bytes):
      selected_model = selected_model.decode("utf-8")
    if selected_make and selected_make.strip().lower() != "tesla":
      return False
    cp_bytes = params.get("CarParams")
    if cp_bytes is None:
      cp_bytes = params.get("CarParamsPersistent")
    if not cp_bytes:
      return False
    with car.CarParams.from_bytes(cp_bytes) as CP:
      return (CP.brand == "tesla" and CP.carFingerprint in TESLA_CAN_WAKE_PLATFORMS and
              (not selected_model or selected_model == CP.carFingerprint))
  except Exception:
    return False


def get_tesla_wake_on_can(params: Params) -> bool:
  try:
    return params.get_bool("TeslaWakeOnCAN") and supports_tesla_can_wake(params)
  except UnknownKeyName:
    return False


def firmware_flags_conflict(params: Params, key: str, enabled: bool) -> bool:
  if not enabled:
    return False
  try:
    if key == "TeslaWakeOnCAN":
      return params.get_bool("RemoteStartBootsComma") or params.get_bool("HKGRemoteStartBootsComma")
    if key in {"RemoteStartBootsComma", "HKGRemoteStartBootsComma"}:
      return params.get_bool("TeslaWakeOnCAN")
  except UnknownKeyName:
    return False
  return False


def get_selected_firmware_name(app_fn: str, remote_start: bool, hkg_remote_start: bool, ignore_ignition_line: bool,
                               tesla_wake: bool = False) -> str:
  if tesla_wake and (remote_start or hkg_remote_start):
    raise ValueError("Tesla wake firmware cannot be combined with remote-start firmware")
  if not remote_start and not hkg_remote_start and not ignore_ignition_line and not tesla_wake:
    return app_fn

  name_parts = ["panda_h7" if app_fn == "panda_h7.bin.signed" else "panda"]
  if tesla_wake:
    name_parts.extend(["tesla", "wake"])
  elif hkg_remote_start:
    name_parts.extend(["hkg", "remote"])
  elif remote_start:
    name_parts.append("remote")
  if ignore_ignition_line:
    name_parts.append("can_ignition_only")
  return "_".join(name_parts) + ".bin.signed"


def get_firmware_path(fw_path: str, app_fn: str, remote_start: bool, hkg_remote_start: bool, ignore_ignition_line: bool,
                      tesla_wake: bool = False) -> str:
  selected_fn = get_selected_firmware_name(app_fn, remote_start, hkg_remote_start, ignore_ignition_line, tesla_wake)
  selected_path = os.path.join(fw_path, selected_fn)
  if selected_fn != app_fn and not os.path.isfile(selected_path):
    if tesla_wake:
      raise FileNotFoundError(f"Tesla wake firmware not found: {selected_path}")
    cloudlog.warning(f"Selected panda firmware not found: {selected_path}, falling back to default")
    return os.path.join(fw_path, app_fn)
  return selected_path


def validate_tesla_can_wake_firmware(params: Params, enabled: bool) -> None:
  """Verify both Tesla wake images before changing the setting."""
  remote_start = params.get_bool("RemoteStartBootsComma")
  hkg_remote_start = params.get_bool("HKGRemoteStartBootsComma")
  ignore_ignition_line = params.get_bool("IgnoreIgnitionLine")
  if enabled and (remote_start or hkg_remote_start):
    raise RuntimeError("Tesla wake cannot be enabled while remote-start firmware is enabled")
  for app_fn in ("panda.bin.signed", "panda_h7.bin.signed"):
    selected_fn = get_selected_firmware_name(app_fn, remote_start, hkg_remote_start, ignore_ignition_line, enabled)
    selected_path = os.path.join(FW_PATH, selected_fn)
    if not os.path.isfile(selected_path) or os.path.getsize(selected_path) == 0:
      raise RuntimeError(f"Required Panda firmware is missing or empty: {selected_fn}. Update the device firmware package before changing Wake on CAN.")