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This commit is contained in:
1okko
2025-11-19 13:25:51 +08:00
parent 8383cc6688
commit ec60d7beea
11 changed files with 288 additions and 118 deletions
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system/athena/registration.py
+20 -25
View File
@@ -3,7 +3,6 @@ import time
import json
import jwt
from pathlib import Path
from datetime import datetime, timedelta, UTC
from openpilot.common.api import api_get
from openpilot.common.params import Params
@@ -13,26 +12,14 @@ from openpilot.system.hardware import HARDWARE, PC
from openpilot.system.hardware.hw import Paths
from openpilot.common.swaglog import cloudlog
UNREGISTERED_DONGLE_ID = "UnregisteredDevice"
def is_registered_device() -> bool:
dongle = Params().get("DongleId")
return dongle not in (None, UNREGISTERED_DONGLE_ID)
def register(show_spinner=False) -> str | None:
"""
All devices built since March 2024 come with all
info stored in /persist/. This is kept around
only for devices built before then.
With a backend update to take serial number instead
of dongle ID to some endpoints, this can be removed
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)
@@ -40,10 +27,11 @@ def register(show_spinner=False) -> str | None:
dongle_id = f.read().strip()
pubkey = Path(Paths.persist_root()+"/comma/id_rsa.pub")
if not pubkey.is_file():
dongle_id = UNREGISTERED_DONGLE_ID
cloudlog.warning(f"missing public key: {pubkey}")
elif dongle_id is None:
#if not pubkey.is_file():
#dongle_id = UNREGISTERED_DONGLE_ID
#cloudlog.warning(f"missing public key: {pubkey}")
if dongle_id in (None, UNREGISTERED_DONGLE_ID):
if show_spinner:
spinner = Spinner()
spinner.update("registering device")
@@ -56,15 +44,14 @@ 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)
except Exception:
cloudlog.exception("Error getting imei, trying again...")
time.sleep(1)
if time.monotonic() - start_time > 60 and show_spinner:
spinner.update(f"registering device - serial: {serial}, IMEI: ({imei1}, {imei2})")
@@ -77,13 +64,21 @@ def register(show_spinner=False) -> str | None:
resp = api_get("v2/pilotauth/", method='POST', timeout=15,
imei=imei1, imei2=imei2, serial=serial, public_key=public_key, register_token=register_token)
# ========== 【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)
@@ -91,16 +86,16 @@ 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
#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
if __name__ == "__main__":
print(register())
print(register())
system/hardware/hardwared.py
+1 -1
View File
@@ -330,7 +330,7 @@ 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-effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b.img.xz",
"full_check": true,
"has_ab": true,
"hash": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b",
"hash_raw": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b",
"name": "xbl",
"ondevice_hash": "ed61a650bea0c56652dd0fc68465d8fc722a4e6489dc8f257630c42c6adcdc89",
"size": 3282256,
"sparse": false,
"full_check": true,
"has_ab": true,
"ondevice_hash": "ed61a650bea0c56652dd0fc68465d8fc722a4e6489dc8f257630c42c6adcdc89"
"url": "https://commadist.azureedge.net/agnosupdate/xbl-effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b.img.xz"
},
{
"name": "xbl_config",
"url": "https://commadist.azureedge.net/agnosupdate/xbl_config-63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c.img.xz",
"full_check": true,
"has_ab": true,
"hash": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c",
"hash_raw": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c",
"name": "xbl_config",
"ondevice_hash": "b12801ffaa81e58e3cef914488d3b447e35483ba549b28c6cd9deb4814c3265f",
"size": 98124,
"sparse": false,
"full_check": true,
"has_ab": true,
"ondevice_hash": "b12801ffaa81e58e3cef914488d3b447e35483ba549b28c6cd9deb4814c3265f"
"url": "https://commadist.azureedge.net/agnosupdate/xbl_config-63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c.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-21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9.img.xz",
"full_check": true,
"has_ab": true,
"hash": "21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9",
"hash_raw": "21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9",
"name": "aop",
"ondevice_hash": "c1be2f4aac5b3af49b904b027faec418d05efd7bd5144eb4fdfcba602bcf2180",
"size": 184364,
"sparse": false,
"full_check": true,
"has_ab": true,
"ondevice_hash": "c1be2f4aac5b3af49b904b027faec418d05efd7bd5144eb4fdfcba602bcf2180"
"url": "https://commadist.azureedge.net/agnosupdate/aop-21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9.img.xz"
},
{
"name": "devcfg",
"url": "https://commadist.azureedge.net/agnosupdate/devcfg-d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620.img.xz",
"full_check": true,
"has_ab": true,
"hash": "d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620",
"hash_raw": "d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620",
"name": "devcfg",
"ondevice_hash": "17b229668b20305ff8fa3cd5f94716a3aaa1e5bf9d1c24117eff7f2f81ae719f",
"size": 40336,
"sparse": false,
"full_check": true,
"has_ab": true,
"ondevice_hash": "17b229668b20305ff8fa3cd5f94716a3aaa1e5bf9d1c24117eff7f2f81ae719f"
"url": "https://commadist.azureedge.net/agnosupdate/devcfg-d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620.img.xz"
},
{
"full_check": true,
"has_ab": true,
"hash": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
"hash_raw": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
"name": "boot",
"url": "https://commadist.azureedge.net/agnosupdate/boot-b96882012ab6cddda04f440009c798a6cff65977f984b12072e89afa592d86cb.img.xz",
"hash": "b96882012ab6cddda04f440009c798a6cff65977f984b12072e89afa592d86cb",
"hash_raw": "b96882012ab6cddda04f440009c798a6cff65977f984b12072e89afa592d86cb",
"size": 17442816,
"ondevice_hash": "492ae27f569e8db457c79d0e358a7a6297d1a1c685c2b1ae6deba7315d3a6cb0",
"size": 18515968,
"sparse": false,
"full_check": true,
"has_ab": true,
"ondevice_hash": "8ed6c2796be5c5b29d64e6413b8e878d5bd1a3981d15216d2b5e84140cc4ea2a"
"url": "https://commadist.azureedge.net/agnosupdate/boot-0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4.img.xz"
},
{
"name": "system",
"url": "https://commadist.azureedge.net/agnosupdate/system-2b1bb223bf2100376ad5d543bfa4a483f33327b3478ec20ab36048388472c4bc.img.xz",
"hash": "325414e5c9f7516b2bf0fedb6abe6682f717897a6d84ab70d5afe91a59f244e9",
"hash_raw": "2b1bb223bf2100376ad5d543bfa4a483f33327b3478ec20ab36048388472c4bc",
"size": 4718592000,
"sparse": true,
"full_check": false,
"has_ab": true,
"ondevice_hash": "79f4f6d0b5b4a416f0f31261b430943a78e37c26d0e226e0ef412fe0eae3c727",
"alt": {
"hash": "2b1bb223bf2100376ad5d543bfa4a483f33327b3478ec20ab36048388472c4bc",
"url": "https://commadist.azureedge.net/agnosupdate/system-2b1bb223bf2100376ad5d543bfa4a483f33327b3478ec20ab36048388472c4bc.img",
"size": 4718592000
}
"size": 4718592000,
"url": "https://commadist.azureedge.net/agnosupdate/system-2b1bb223bf2100376ad5d543bfa4a483f33327b3478ec20ab36048388472c4bc.img"
},
"full_check": false,
"has_ab": true,
"hash": "325414e5c9f7516b2bf0fedb6abe6682f717897a6d84ab70d5afe91a59f244e9",
"hash_raw": "2b1bb223bf2100376ad5d543bfa4a483f33327b3478ec20ab36048388472c4bc",
"name": "system",
"ondevice_hash": "79f4f6d0b5b4a416f0f31261b430943a78e37c26d0e226e0ef412fe0eae3c727",
"size": 4718592000,
"sparse": true,
"url": "https://commadist.azureedge.net/agnosupdate/system-2b1bb223bf2100376ad5d543bfa4a483f33327b3478ec20ab36048388472c4bc.img.xz"
}
]
system/hardware/tici/amplifier.py
+2 -2
View File
@@ -61,7 +61,7 @@ BASE_CONFIG = [
]
CONFIGS = {
"tizi": [
"tici": [
AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111),
AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
AmpConfig("Left Speaker Mixer Gain", 0b00, 0x2D, 0, 0b00000011),
@@ -112,7 +112,7 @@ 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
@@ -110,7 +110,7 @@ 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),
@@ -119,7 +119,7 @@ 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)),
@@ -153,6 +153,7 @@ 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)