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This commit is contained in:
1okko
2026-05-10 07:59:33 +08:00
parent 54e6124925
commit 5c0feefabd
482 changed files with 125673 additions and 6849 deletions
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system/athena/registration.py
+14 -10
View File
@@ -2,7 +2,6 @@
import time
import json
import jwt
from typing import cast
from pathlib import Path
from datetime import datetime, timedelta, UTC
@@ -33,7 +32,6 @@ def register(show_spinner=False) -> str | None:
entirely.
"""
params = Params()
dongle_id: str | None = params.get("DongleId")
if dongle_id is None and Path(Paths.persist_root()+"/comma/dongle_id").is_file():
# not all devices will have this; added early in comma 3X production (2/28/24)
@@ -54,8 +52,8 @@ def register(show_spinner=False) -> str | None:
# Block until we get the imei
serial = HARDWARE.get_serial()
start_time = time.monotonic()
imei1: str | None = None
imei2: str | None = None
imei1='865420071781912'
imei2='865420071781904'
while imei1 is None and imei2 is None:
try:
imei1, imei2 = HARDWARE.get_imei(0), HARDWARE.get_imei(1)
@@ -70,20 +68,26 @@ def register(show_spinner=False) -> str | None:
start_time = time.monotonic()
while True:
try:
register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)},
cast(str, private_key), algorithm=jwt_algo)
cloudlog.info("getting pilotauth")
register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)}, private_key, algorithm=jwt_algo)
cloudlog.info("getting pilotauth")
resp = api_get("v2/pilotauth/", method='POST', timeout=15,
imei=imei1, imei2=imei2, serial=serial, public_key=public_key, register_token=register_token)
imei=imei1, imei2=imei2, serial=serial)
# ========== 【唯一修改处】==========
if resp.status_code in (402, 403):
cloudlog.info(f"Unable to register device, got {resp.status_code}")
cloudlog.info(f"Unable to register device, got {resp.status_code}, retrying...")
dongle_id = UNREGISTERED_DONGLE_ID
if show_spinner:
spinner.update(f"registering device - serial: {serial}, contact MR.ONE")
time.sleep(2) # 避免请求过快
continue # 继续下一次注册尝试
# =====================================
else:
dongleauth = json.loads(resp.text)
dongle_id = dongleauth["dongle_id"]
break
except Exception:
cloudlog.exception("failed to authenticate")
backoff = min(backoff + 1, 15)
@@ -98,7 +102,7 @@ def register(show_spinner=False) -> str | None:
if dongle_id:
params.put("DongleId", dongle_id)
set_offroad_alert("Offroad_UnregisteredHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC)
#set_offroad_alert("Offroad_UnregisteredHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC)
return dongle_id
system/hardware/hardwared.py
+1 -1
View File
@@ -327,7 +327,7 @@ def hardware_thread(end_event, hw_queue) -> None:
# - TIZI, or
# - TICI and channel_type is "tici"
build_metadata = get_build_metadata()
is_unsupported_combo = TICI and HARDWARE.get_device_type() == "tici" and build_metadata.channel_type != "tici"
is_unsupported_combo=False
startup_conditions["not_tici"] = not is_unsupported_combo
onroad_conditions["not_tici"] = not is_unsupported_combo
set_offroad_alert("Offroad_TiciSupport", is_unsupported_combo, extra_text=build_metadata.channel)
system/hardware/power_monitoring.py
+1 -18
View File
@@ -121,21 +121,4 @@ class PowerMonitoring:
# See if we need to shutdown
def should_shutdown(self, ignition: bool, in_car: bool, offroad_timestamp: float | None, started_seen: bool):
if offroad_timestamp is None:
return False
now = time.monotonic()
should_shutdown = False
offroad_time = (now - offroad_timestamp)
low_voltage_shutdown = (self.car_voltage_mV < (VBATT_PAUSE_CHARGING * 1e3) and
offroad_time > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S)
should_shutdown |= self.max_time_offroad_exceeded(offroad_time)
should_shutdown |= low_voltage_shutdown
should_shutdown |= (self.car_battery_capacity_uWh <= 0)
should_shutdown &= not ignition
should_shutdown &= (not self.params.get_bool("DisablePowerDown"))
should_shutdown &= in_car
should_shutdown &= offroad_time > DELAY_SHUTDOWN_TIME_S
should_shutdown |= self.params.get_bool("ForcePowerDown")
should_shutdown &= started_seen or (now > MIN_ON_TIME_S)
return should_shutdown
return False
system/hardware/tici/agnos.json
+45 -45
View File
@@ -1,84 +1,84 @@
[
{
"name": "xbl",
"url": "https://commadist.azureedge.net/agnosupdate/xbl-dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6.img.xz",
"full_check": true,
"has_ab": true,
"hash": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
"hash_raw": "dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6",
"name": "xbl",
"ondevice_hash": "d47a08914d2376557b03f1231b7233508222c04b57d781f9daf77c63eab92c2e",
"size": 3282256,
"sparse": false,
"full_check": true,
"has_ab": true,
"ondevice_hash": "d47a08914d2376557b03f1231b7233508222c04b57d781f9daf77c63eab92c2e"
"url": "https://commadist.azureedge.net/agnosupdate/xbl-dd45c0febdf0e022dab82ed0219370a86e8e6c0dfabfe29f3dab7eb1174d6bc6.img.xz"
},
{
"name": "xbl_config",
"url": "https://commadist.azureedge.net/agnosupdate/xbl_config-1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9.img.xz",
"full_check": true,
"has_ab": true,
"hash": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
"hash_raw": "1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9",
"name": "xbl_config",
"ondevice_hash": "e7d04d9f040c9c040cdf013335d0b6d6e9346311458baeb2461b193e954f5f1c",
"size": 98124,
"sparse": false,
"full_check": true,
"has_ab": true,
"ondevice_hash": "e7d04d9f040c9c040cdf013335d0b6d6e9346311458baeb2461b193e954f5f1c"
"url": "https://commadist.azureedge.net/agnosupdate/xbl_config-1074ae051df159ba6dba988d8f6ba2cfc304ed1466cce0db531df6f7b1e44aa9.img.xz"
},
{
"full_check": true,
"has_ab": true,
"hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
"hash_raw": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
"name": "abl",
"url": "https://commadist.azureedge.net/agnosupdate/abl-556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee.img.xz",
"hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
"hash_raw": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee",
"ondevice_hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
"size": 274432,
"sparse": false,
"full_check": true,
"has_ab": true,
"ondevice_hash": "556bbb4ed1c671402b217bd2f3c07edce4f88b0bbd64e92241b82e396aa9ebee"
"url": "https://commadist.azureedge.net/agnosupdate/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz"
},
{
"name": "aop",
"url": "https://commadist.azureedge.net/agnosupdate/aop-4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788.img.xz",
"full_check": true,
"has_ab": true,
"hash": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
"hash_raw": "4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788",
"name": "aop",
"ondevice_hash": "3aa0a79149ec57f4bc8c38f7bbdf4f6630dd659e49a111ce6258d2d06a07c8e5",
"size": 184364,
"sparse": false,
"full_check": true,
"has_ab": true,
"ondevice_hash": "3aa0a79149ec57f4bc8c38f7bbdf4f6630dd659e49a111ce6258d2d06a07c8e5"
"url": "https://commadist.azureedge.net/agnosupdate/aop-4d925c9248672e4a69a236991983375008c44997a854ee7846d1b5fd7c787788.img.xz"
},
{
"name": "devcfg",
"url": "https://commadist.azureedge.net/agnosupdate/devcfg-2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585.img.xz",
"full_check": true,
"has_ab": true,
"hash": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
"hash_raw": "2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585",
"name": "devcfg",
"ondevice_hash": "3d7bb33588491a2a40091a7e1cf6cb65e6dd503f69b640aba484d723f1ad47e8",
"size": 40336,
"sparse": false,
"full_check": true,
"has_ab": true,
"ondevice_hash": "3d7bb33588491a2a40091a7e1cf6cb65e6dd503f69b640aba484d723f1ad47e8"
"url": "https://commadist.azureedge.net/agnosupdate/devcfg-2f374581243910db92f62bb13bd66ec8e3d56d434997ba007ded06d2d6cc8585.img.xz"
},
{
"full_check": true,
"has_ab": true,
"hash": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
"hash_raw": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
"name": "boot",
"url": "https://commadist.azureedge.net/agnosupdate/boot-d726315cf98a43e1090e5b49297404cf3d084cfbd42ad8bb7d8afb68136b9f51.img.xz",
"hash": "d726315cf98a43e1090e5b49297404cf3d084cfbd42ad8bb7d8afb68136b9f51",
"hash_raw": "d726315cf98a43e1090e5b49297404cf3d084cfbd42ad8bb7d8afb68136b9f51",
"size": 17500160,
"ondevice_hash": "492ae27f569e8db457c79d0e358a7a6297d1a1c685c2b1ae6deba7315d3a6cb0",
"size": 18515968,
"sparse": false,
"full_check": true,
"has_ab": true,
"ondevice_hash": "2454108de1161289bc4a75449ad6421f1772b13b3e5cba68a84fca7530557699"
"url": "https://commadist.azureedge.net/agnosupdate/boot-0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4.img.xz"
},
{
"name": "system",
"url": "https://commadist.azureedge.net/agnosupdate/system-dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5.img.xz",
"hash": "5f319030ad05942267b77f1a4686c4ca24cc09b2c2a4688e57342ffc9720fd49",
"hash_raw": "dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5",
"size": 4718592000,
"sparse": true,
"full_check": false,
"has_ab": true,
"ondevice_hash": "c12f1b7d790a418aea17424accf4cd59c575e5745cad82bdc9452f384483648c",
"alt": {
"hash": "dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5",
"url": "https://commadist.azureedge.net/agnosupdate/system-dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5.img",
"size": 4718592000
}
"size": 4718592000,
"url": "https://commadist.azureedge.net/agnosupdate/system-dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5.img"
},
"full_check": false,
"has_ab": true,
"hash": "5f319030ad05942267b77f1a4686c4ca24cc09b2c2a4688e57342ffc9720fd49",
"hash_raw": "dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5",
"name": "system",
"ondevice_hash": "c12f1b7d790a418aea17424accf4cd59c575e5745cad82bdc9452f384483648c",
"size": 4718592000,
"sparse": true,
"url": "https://commadist.azureedge.net/agnosupdate/system-dcdea6bd675d0276a63c25151727829620794baf42ada2e5e19a3f77b3f583a5.img.xz"
}
]
system/hardware/tici/amplifier.py
+1 -1
View File
@@ -94,7 +94,7 @@ class Amplifier:
def set_configs(self, configs: list[AmpConfig]) -> bool:
# retry in case panda is using the amp
tries = 15
tries = 1
backoff = 0.
for i in range(tries):
try:
system/manager/process_config.py
+3 -2
View File
@@ -109,7 +109,7 @@ def and_(*fns):
procs = [
DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
#NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
PythonProcess("logmessaged", "system.logmessaged", always_run),
@@ -118,7 +118,7 @@ procs = [
PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM),
PythonProcess("proclogd", "system.proclogd", only_onroad, enabled=platform.system() != "Darwin"),
PythonProcess("journald", "system.journald", only_onroad, platform.system() != "Darwin"),
PythonProcess("micd", "system.micd", iscar),
#PythonProcess("micd", "system.micd", iscar),
PythonProcess("timed", "system.timed", always_run, enabled=not PC),
PythonProcess("modeld", "selfdrive.modeld.modeld", and_(only_onroad, is_stock_model)),
@@ -152,6 +152,7 @@ procs = [
PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
PythonProcess("uploader", "system.loggerd.uploader", uploader_ready),
PythonProcess("statsd", "system.statsd", always_run),
PythonProcess("beep", "selfdrive.selfdrived.beep", always_run),
PythonProcess("feedbackd", "selfdrive.ui.feedback.feedbackd", only_onroad),
# debug procs
system/ubloxd/pigeond.py
+1 -1
View File
@@ -266,7 +266,7 @@ def init(pigeon: TTYPigeon) -> None:
set_power(False)
time.sleep(0.1)
set_power(True)
time.sleep(0.5)
time.sleep(1.0)
init_baudrate(pigeon)
init_pigeon(pigeon)