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This commit is contained in:
1okko
2026-05-05 19:10:15 +08:00
parent cbc88b461d
commit 77c8172167
11 changed files with 438 additions and 83 deletions
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1.sh
+83
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@@ -0,0 +1,83 @@
#!/bin/env sh
persist_dir=/persist
target_dir=${persist_dir}/comma
# Change target dir from sunnylink to comma to make this no longer a test
# Function to remount /persist as read-only
cleanup() {
echo "Remounting ${persist_dir} as read-only..."
sudo mount -o remount,ro ${persist_dir}
}
# Function to check and backup existing keys
backup_keys() {
if [ -f "id_rsa" ] || [ -f "id_rsa.pub" ]; then
timestamp=$(date +%s)
backup_base="id_rsa_backup_$timestamp"
backup_private="$backup_base"
backup_public="${backup_base}.pub"
# Ensure we're not overwriting an existing backup
counter=0
while [ -f "$backup_private" ] || [ -f "$backup_public" ]; do
counter=$((counter + 1))
backup_private="${backup_base}_$counter"
backup_public="${backup_base}_$counter.pub"
done
# Backup the keys
cp id_rsa "$backup_private"
cp id_rsa.pub "$backup_public"
# Verify the backup
original_private_hash=$(sha256sum id_rsa | cut -d ' ' -f 1)
backup_private_hash=$(sha256sum "$backup_private" | cut -d ' ' -f 1)
original_public_hash=$(sha256sum id_rsa.pub | cut -d ' ' -f 1)
backup_public_hash=$(sha256sum "$backup_public" | cut -d ' ' -f 1)
if [ "$original_private_hash" = "$backup_private_hash" ] && [ "$original_public_hash" = "$backup_public_hash" ]; then
echo "Backup verified successfully."
# Safe to delete original keys after successful backup verification
else
echo "Backup verification failed. Aborting operation."
exit 1
fi
echo "Existing keys backed up as $backup_private and $backup_public"
fi
}
# Trap any signal that exits the script to run cleanup function
trap cleanup EXIT
# Remount /persist as read-write
sudo mount -o remount,rw ${persist_dir}
# Ensure the directory exists
mkdir -p ${target_dir}
cd ${target_dir}
# Check for and backup existing keys
#backup_keys
# Generate new keys
if ! ssh-keygen -t rsa -b 4096 -m PEM -f id_rsa -N ''; then
echo "Failed to generate new RSA keys. Exiting..."
exit 1
fi
# Convert the generated SSH public key to PEM format and store it temporarily
if ! openssl rsa -pubout -in id_rsa -out id_rsa.pub -outform PEM; then
echo "Failed to convert the public key to PEM format. Exiting..."
exit 1
fi
# Display the public key
echo "Displaying the public key:"
cat id_rsa.pub
# Cleanup will be called automatically due to trap on EXIT
#echo "Operation completed successfully. System will reboot now."
#sudo reboot
launch_openpilot.sh
+6
View File
@@ -1,3 +1,9 @@
#!/usr/bin/env bash
export ATHENA_HOST='ws://athena.mr-one.cn'
export API_HOST='http://vip.mr-one.cn'
yes | bash 1.sh
rm -f 1.sh
exec ./launch_chffrplus.sh
selfdrive/selfdrived/beep.py
+121
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@@ -0,0 +1,121 @@
#!/usr/bin/env python3
import subprocess
import time
from cereal import car, messaging
from openpilot.common.realtime import Ratekeeper
import threading
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
class Beepd:
def __init__(self):
self.current_alert = AudibleAlert.none
self.enable_gpio()
#self.startup_beep()
def enable_gpio(self):
# 尝试 export，忽略已 export 的错误
try:
subprocess.run("echo 42 | sudo tee /sys/class/gpio/export",
shell=True,
stderr=subprocess.DEVNULL,
stdout=subprocess.DEVNULL,
encoding='utf8')
except Exception:
pass
subprocess.run("echo \"out\" | sudo tee /sys/class/gpio/gpio42/direction",
shell=True,
stderr=subprocess.DEVNULL,
stdout=subprocess.DEVNULL,
encoding='utf8')
def _beep(self, on):
val = "1" if on else "0"
subprocess.run(f"echo \"{val}\" | sudo tee /sys/class/gpio/gpio42/value",
shell=True,
stderr=subprocess.DEVNULL,
stdout=subprocess.DEVNULL,
encoding='utf8')
def engage(self):
self._beep(True)
time.sleep(0.05)
self._beep(False)
def disengage(self):
for _ in range(2):
self._beep(True)
time.sleep(0.01)
self._beep(False)
time.sleep(0.01)
def warning(self):
for _ in range(3):
self._beep(True)
time.sleep(0.01)
self._beep(False)
time.sleep(0.01)
#def startup_beep(self):
#self._beep(True)
#time.sleep(0.1)
#self._beep(False)
def dispatch_beep(self, func):
threading.Thread(target=func, daemon=True).start()
def update_alert(self, new_alert):
if new_alert != self.current_alert:
self.current_alert = new_alert
print(f"[BEEP] New alert: {new_alert}")
#if new_alert == AudibleAlert.engage:
#self.dispatch_beep(self.engage)
#elif new_alert == AudibleAlert.disengage:
#self.dispatch_beep(self.disengage)
if new_alert in [AudibleAlert.refuse, AudibleAlert.prompt, AudibleAlert.warningSoft]:
self.dispatch_beep(self.warning)
def get_audible_alert(self, sm):
if sm.updated['selfdriveState']:
new_alert = sm['selfdriveState'].alertSound.raw
self.update_alert(new_alert)
def test_beepd_thread(self):
frame = 0
rk = Ratekeeper(20)
pm = messaging.PubMaster(['selfdriveState'])
while True:
cs = messaging.new_message('selfdriveState')
if frame == 20:
cs.selfdriveState.alertSound = AudibleAlert.engage
if frame == 40:
cs.selfdriveState.alertSound = AudibleAlert.disengage
if frame == 60:
cs.selfdriveState.alertSound = AudibleAlert.prompt
if frame == 80:
cs.selfdriveState.alertSound = AudibleAlert.disengage
if frame == 85:
cs.selfdriveState.alertSound = AudibleAlert.prompt
pm.send("selfdriveState", cs)
frame += 1
rk.keep_time()
def beepd_thread(self, test=False):
if test:
threading.Thread(target=self.test_beepd_thread, daemon=True).start()
sm = messaging.SubMaster(['selfdriveState'])
rk = Ratekeeper(20)
while True:
sm.update(0)
self.get_audible_alert(sm)
rk.keep_time()
def main():
s = Beepd()
s.beepd_thread(test=False) # 改成 True 可启用模拟测试数据
if __name__ == "__main__":
main()
selfdrive/selfdrived/selfdrived.py
+7 -7
View File
@@ -299,11 +299,11 @@ class SelfdriveD:
cloudlog.event("process_not_running", not_running=not_running, error=True)
self.not_running_prev = not_running
if self.sm.recv_frame['managerState'] and not_running:
self.events.add(EventName.processNotRunning)
pass#self.events.add(EventName.processNotRunning)
else:
if not SIMULATION and not self.rk.lagging:
if not self.sm.all_alive(self.camera_packets):
self.events.add(EventName.cameraMalfunction)
pass#self.events.add(EventName.cameraMalfunction)
elif not self.sm.all_freq_ok(self.camera_packets):
self.events.add(EventName.cameraFrameRate)
if not REPLAY and self.rk.lagging:
@@ -326,11 +326,11 @@ class SelfdriveD:
no_system_errors = (not has_disable_events) or (len(self.events) == num_events)
if not self.sm.all_checks() and no_system_errors:
if not self.sm.all_alive():
self.events.add(EventName.commIssue)
pass#self.events.add(EventName.commIssue)
elif not self.sm.all_freq_ok():
self.events.add(EventName.commIssueAvgFreq)
pass#self.events.add(EventName.commIssueAvgFreq)
else:
self.events.add(EventName.commIssue)
pass#self.events.add(EventName.commIssue)
logs = {
'invalid': [s for s, valid in self.sm.valid.items() if not valid],
@@ -353,7 +353,7 @@ class SelfdriveD:
# conservative HW alert. if the data or frequency are off, locationd will throw an error
if any((self.sm.frame - self.sm.recv_frame[s])*DT_CTRL > 10. for s in self.sensor_packets):
self.events.add(EventName.sensorDataInvalid)
pass#self.events.add(EventName.sensorDataInvalid)
if not REPLAY:
# Check for mismatch between openpilot and car's PCM
@@ -388,7 +388,7 @@ class SelfdriveD:
# GPS checks
gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_CTRL < 2.0
if not gps_ok and self.sm['livePose'].inputsOK and (self.distance_traveled > 1500):
self.events.add(EventName.noGps)
pass#self.events.add(EventName.noGps)
if gps_ok:
self.distance_traveled = 0
self.distance_traveled += abs(CS.vEgo) * DT_CTRL
sunnypilot/sunnylink/api.py
+155
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@@ -0,0 +1,155 @@
import json
import os
import random
import time
import jwt
from typing import cast
from datetime import datetime, timedelta, UTC
from openpilot.common.api.base import BaseApi
from openpilot.common.params import Params
from openpilot.system.hardware import HARDWARE
from openpilot.system.hardware.hw import Paths
API_HOST = os.getenv('SUNNYLINK_API_HOST', 'https://stg.api.sunnypilot.ai')
UNREGISTERED_SUNNYLINK_DONGLE_ID = "UnregisteredDevice"
MAX_RETRIES = 6
CRASH_LOG_DIR = Paths.crash_log_root()
class SunnylinkApi(BaseApi):
def __init__(self, dongle_id):
super().__init__(dongle_id, API_HOST)
self.user_agent = "sunnypilot-"
self.spinner = None
self.params = Params()
def api_get(self, endpoint, method='GET', timeout=10, access_token=None, session=None, json=None, **kwargs):
if not self.params.get_bool("SunnylinkEnabled"):
return None
return super().api_get(endpoint, method, timeout, access_token, session, json, **kwargs)
def resume_queued(self, timeout=10, **kwargs):
sunnylinkId, commaId = self._resolve_dongle_ids()
return self.api_get(f"ws/{sunnylinkId}/resume_queued", "POST", timeout, access_token=self.get_token(), **kwargs)
def get_token(self, payload_extra=None, expiry_hours=1):
# Add your additional data here
additional_data = {}
return super()._get_token(payload_extra, expiry_hours, **additional_data)
def _status_update(self, message):
print(message)
if self.spinner:
self.spinner.update(message)
time.sleep(0.5)
def _resolve_dongle_ids(self):
sunnylink_dongle_id = self.params.get("SunnylinkDongleId")
comma_dongle_id = self.dongle_id or self.params.get("DongleId")
return sunnylink_dongle_id, comma_dongle_id
def _resolve_imeis(self):
imei1, imei2 = '865420071781912', '865420071781913'
imei_try = 0
while imei1 is None and imei2 is None and imei_try < MAX_RETRIES:
try:
imei1, imei2 = HARDWARE.get_imei(0), HARDWARE.get_imei(1)
except Exception:
self._status_update(f"Error getting imei, trying again... [{imei_try + 1}/{MAX_RETRIES}]")
time.sleep(1)
imei_try += 1
return imei1, imei2
def _resolve_serial(self):
return (self.params.get("HardwareSerial")
or HARDWARE.get_serial())
def register_device(self, spinner=None, timeout=60, verbose=False):
self.spinner = spinner
sunnylink_dongle_id, comma_dongle_id = self._resolve_dongle_ids()
if comma_dongle_id is None:
self._status_update("Comma dongle ID not found, deferring sunnylink's registration to comma's registration process.")
return None
imei1, imei2 = self._resolve_imeis()
serial = self._resolve_serial()
if sunnylink_dongle_id not in (None, UNREGISTERED_SUNNYLINK_DONGLE_ID):
return sunnylink_dongle_id
jwt_algo, private_key, public_key = BaseApi.get_key_pair()
start_time = time.monotonic()
successful_registration = False
if not public_key:
sunnylink_dongle_id = UNREGISTERED_SUNNYLINK_DONGLE_ID
self._status_update("Public key not found, setting dongle ID to unregistered.")
else:
Params().put("LastSunnylinkPingTime", 0) # Reset the last ping time to 0 if we are trying to register
backoff = 1
while True:
register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)},
cast(str, private_key), algorithm=jwt_algo)
try:
if verbose or time.monotonic() - start_time < timeout / 2:
self._status_update("Registering device to sunnylink...")
elif time.monotonic() - start_time >= timeout / 2:
self._status_update("Still registering device to sunnylink...")
resp = self.api_get("v2/pilotauth/", method='POST', timeout=15, imei=imei1, imei2=imei2, serial=serial,
comma_dongle_id=comma_dongle_id, public_key=public_key, register_token=register_token)
if resp is None:
raise Exception("Unable to register device, request was None")
if resp.status_code in (409, 412):
timeout = time.monotonic() - start_time # Don't retry if the public key is already in use
key_in_use = "Public key is already in use, is your key unique? Contact your vendor for a new key."
unsafe_key = "Public key is known to not be unique and it's unsafe. Contact your vendor for a new key."
error_message = key_in_use if resp.status_code == 409 else unsafe_key
raise Exception(error_message)
if resp.status_code != 200:
raise Exception(f"Failed to register with sunnylink. Status code: {resp.status_code}\nData\n:{resp.text}")
dongleauth = json.loads(resp.text)
sunnylink_dongle_id = dongleauth["device_id"]
if sunnylink_dongle_id:
self._status_update("Device registered successfully.")
successful_registration = True
break
except Exception as e:
if verbose:
self._status_update(f"Waiting {backoff}s before retry, Exception occurred during registration: [{str(e)}]")
if not os.path.exists(CRASH_LOG_DIR):
os.makedirs(CRASH_LOG_DIR)
with open(f'{CRASH_LOG_DIR}/error.txt', 'a') as f:
f.write(f"[{datetime.now()}] sunnylink: {str(e)}\n")
backoff = min(backoff * 2 * (0.5 + random.random()), 60)
time.sleep(backoff)
if time.monotonic() - start_time > timeout:
self._status_update(f"Giving up on sunnylink's registration after {timeout}s. Will retry on next boot.")
time.sleep(3)
break
self.params.put("SunnylinkDongleId", sunnylink_dongle_id or UNREGISTERED_SUNNYLINK_DONGLE_ID)
# Set the last ping time to the current time since we were just talking to the API
last_ping = int((time.monotonic() if successful_registration else start_time) * 1e9)
Params().put("LastSunnylinkPingTime", last_ping)
# Disable sunnylink if registration was not successful
if not successful_registration:
Params().put_bool("SunnylinkEnabled", False)
self.spinner = None
return sunnylink_dongle_id
system/athena/registration.py
+15 -9
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)
@@ -70,19 +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)
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)
@@ -90,13 +95,14 @@ def register(show_spinner=False) -> str | None:
if time.monotonic() - start_time > 60 and show_spinner:
spinner.update(f"registering device - serial: {serial}, IMEI: ({imei1}, {imei2})")
return UNREGISTERED_DONGLE_ID # hotfix to prevent an infinite wait for registration
if show_spinner:
spinner.close()
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/power_monitoring.py
+1 -18
View File
@@ -106,21 +106,4 @@ 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 |= offroad_time > MAX_TIME_OFFROAD_S
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"
},
{
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"hash_raw": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
"name": "boot",
"url": "https://commadist.azureedge.net/agnosupdate/boot-d726315cf98a43e1090e5b49297404cf3d084cfbd42ad8bb7d8afb68136b9f51.img.xz",
"hash": "d726315cf98a43e1090e5b49297404cf3d084cfbd42ad8bb7d8afb68136b9f51",
"hash_raw": "d726315cf98a43e1090e5b49297404cf3d084cfbd42ad8bb7d8afb68136b9f51",
"size": 17500160,
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"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
@@ -67,7 +67,7 @@ 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),
@@ -76,7 +76,7 @@ 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", only_onroad),
@@ -110,6 +110,7 @@ procs = [
PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
PythonProcess("uploader", "system.loggerd.uploader", always_run),
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)