2026-6-6

1.sh

@@ -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

@@ -1,20 +1,12 @@
 #!/usr/bin/env bash
-set -euo pipefail
-IFS=$'\n\t'
+export ATHENA_HOST='ws://athena.mr-one.cn'
+export API_HOST='http://res.mr-one.cn'
+# Skip onboarding on startup
+echo -n "2" > /data/params/d/HasAcceptedTerms
+echo -n "1.0" > /data/params/d/HasAcceptedTermsSP
+echo -n "0.2.0" > /data/params/d/CompletedTrainingVersion
+echo -n "1" > /data/params/d/IsMetric
 
-# On any failure, run the fallback launcher
-trap 'exec ./launch_chffrplus.sh' ERR
-C3_LAUNCH_SH="./sunnypilot/system/hardware/c3/launch_chffrplus.sh"
 
-MODEL="$(tr -d '\0' < "/sys/firmware/devicetree/base/model")"
-export MODEL
-
-if [ "$MODEL" = "comma tici" ]; then
-  # Force a failure if the launcher doesn't exist
-  [ -x "$C3_LAUNCH_SH" ] || false
-
-  # If it exists, run it
-  exec "$C3_LAUNCH_SH"
-fi
 
 exec ./launch_chffrplus.sh

selfdrive/c3_client.py

@@ -0,0 +1,666 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+C3 Client — 部署到 C3 设备上
+与 C3 Director 服务端通信
+支持远程指令执行、tmux 故障诊断、心跳保活
+
+通过 openpilot 的 PythonProcess 自动启动：
+  PythonProcess("c3-client", "selfdrive.c3_client", always_run),
+
+零外部依赖（内嵌纯 Python 版 WebSocket 客户端，纯标准库实现）
+"""
+
+import asyncio
+import base64
+import json
+import os
+import random
+import struct
+import subprocess
+import sys
+import traceback
+import urllib.parse
+from datetime import datetime
+
+# openpilot 基础模块
+from openpilot.system.hardware import HARDWARE, PC
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+
+
+# ================= 内嵌 WebSocket 客户端（纯标准库） =================
+
+class _WebSocketError(Exception):
+  pass
+
+
+class _WebSocketClient:
+  """异步 WebSocket 客户端（RFC 6455），仅依赖 Python 标准库"""
+
+  def __init__(self, url, ping_interval=20, ping_timeout=15):
+    parsed = urllib.parse.urlparse(url)
+    if parsed.scheme not in ("ws",):
+      raise ValueError(f"不支持的协议: {parsed.scheme}")
+    self.host = parsed.hostname
+    self.port = parsed.port or 80
+    self.path = parsed.path or "/"
+    if parsed.query:
+      self.path += "?" + parsed.query
+
+    self.ping_interval = ping_interval
+    self.ping_timeout = ping_timeout
+    self._reader = None
+    self._writer = None
+    self._closed = False
+    self._recv_queue = asyncio.Queue()
+    self._pong_event = asyncio.Event()
+
+  async def connect(self):
+    """建立 TCP + WebSocket 握手"""
+    try:
+      self._reader, self._writer = await asyncio.wait_for(
+        asyncio.open_connection(self.host, self.port), timeout=10
+      )
+
+      # 生成 Sec-WebSocket-Key
+      rand_bytes = bytes(random.randint(0, 255) for _ in range(16))
+      ws_key = base64.b64encode(rand_bytes).decode()
+
+      request = (
+        f"GET {self.path} HTTP/1.1\r\n"
+        f"Host: {self.host}:{self.port}\r\n"
+        f"Upgrade: websocket\r\n"
+        f"Connection: Upgrade\r\n"
+        f"Sec-WebSocket-Key: {ws_key}\r\n"
+        f"Sec-WebSocket-Version: 13\r\n"
+        f"\r\n"
+      )
+      self._writer.write(request.encode())
+      await self._writer.drain()
+
+      # 读取响应头
+      response = b""
+      while b"\r\n\r\n" not in response:
+        chunk = await asyncio.wait_for(self._reader.read(4096), timeout=10)
+        if not chunk:
+          raise _WebSocketError("连接关闭")
+        response += chunk
+
+      header_text = response.decode("utf-8", errors="replace")
+      status_line = header_text.split("\r\n")[0]
+      if "101" not in status_line:
+        raise _WebSocketError(f"握手失败: {status_line}")
+
+      self._recv_task = asyncio.create_task(self._recv_loop())
+      self._ping_task = asyncio.create_task(self._ping_loop())
+    except asyncio.TimeoutError:
+      raise _WebSocketError("连接或握手超时")
+
+  async def _recv_loop(self):
+    """持续读取 WebSocket 帧"""
+    try:
+      while not self._closed:
+        frame = await self._read_frame()
+        if frame is None:
+          break
+
+        opcode = frame[0] & 0x0F
+        payload = frame[1]
+
+        if opcode in (0x0, 0x1):  # 继续帧 / 文本帧
+          await self._recv_queue.put(("text", payload.decode("utf-8", errors="replace")))
+        elif opcode == 0x8:  # 关闭帧
+          await self._send_close()
+          self._closed = True
+          break
+        elif opcode == 0x9:  # Ping → 自动 Pong
+          await self._send_frame(0xA, payload)
+        elif opcode == 0xA:  # Pong
+          self._pong_event.set()
+    except (asyncio.CancelledError, ConnectionError):
+      pass
+    except Exception as e:
+      print(f"[C3] WebSocket 接收异常: {e}")
+    finally:
+      self._closed = True
+
+  async def _read_frame(self):
+    """读取一个 WebSocket 帧"""
+    header = await self._read_exact(2)
+    if not header:
+      return None
+
+    first_byte = header[0]
+    second_byte = header[1]
+    length = second_byte & 0x7F
+
+    if length == 126:
+      ext = await self._read_exact(2)
+      length = struct.unpack("!H", ext)[0]
+    elif length == 127:
+      ext = await self._read_exact(8)
+      length = struct.unpack("!Q", ext)[0]
+
+    mask_key = await self._read_exact(4) if (second_byte & 0x80) else None
+    payload = await self._read_exact(length)
+
+    if mask_key:
+      payload = bytes(b ^ mask_key[i % 4] for i, b in enumerate(payload))
+
+    return (first_byte, payload)
+
+  async def _read_exact(self, n):
+    """精确读取 n 字节"""
+    data = b""
+    while len(data) < n:
+      chunk = await self._reader.read(n - len(data))
+      if not chunk:
+        raise _WebSocketError("连接断开")
+      data += chunk
+    return data
+
+  async def send(self, text):
+    """发送文本消息"""
+    payload = text.encode("utf-8") if isinstance(text, str) else text
+    await self._send_frame(0x1, payload)
+
+  async def _send_frame(self, opcode, payload):
+    """发送 WebSocket 帧（客户端必须 mask）"""
+    header = bytearray()
+    header.append(0x80 | opcode)  # FIN + opcode
+
+    length = len(payload)
+    if length < 126:
+      header.append(0x80 | length)
+    elif length < 65536:
+      header.append(0x80 | 126)
+      header.extend(struct.pack("!H", length))
+    else:
+      header.append(0x80 | 127)
+      header.extend(struct.pack("!Q", length))
+
+    mask_key = bytes(random.randint(0, 255) for _ in range(4))
+    header.extend(mask_key)
+    header.extend(bytes(b ^ mask_key[i % 4] for i, b in enumerate(payload)))
+
+    self._writer.write(bytes(header))
+    await self._writer.drain()
+
+  async def _send_close(self):
+    try:
+      self._writer.write(bytes([0x88, 0x00]))
+      await self._writer.drain()
+    except Exception:
+      pass
+
+  async def _ping_loop(self):
+    try:
+      while not self._closed:
+        await asyncio.sleep(self.ping_interval)
+        self._pong_event.clear()
+        await self._send_frame(0x9, b"")
+        try:
+          await asyncio.wait_for(self._pong_event.wait(), timeout=self.ping_timeout)
+        except asyncio.TimeoutError:
+          print("[C3] Ping 超时")
+          break
+    except asyncio.CancelledError:
+      pass
+    except Exception as e:
+      print(f"[C3] Ping 循环异常: {e}")
+    finally:
+      self._closed = True
+
+  async def recv(self):
+    """接收一条消息"""
+    while not self._closed:
+      msg_type, text = await self._recv_queue.get()
+      if msg_type == "text":
+        return text
+    raise ConnectionError("连接已关闭")
+
+  def __aiter__(self):
+    return self._async_iterator()
+
+  async def _async_iterator(self):
+    while not self._closed:
+      try:
+        yield await self.recv()
+      except ConnectionError:
+        break
+
+  async def close(self):
+    self._closed = True
+    if self._writer:
+      await self._send_close()
+      try:
+        self._writer.close()
+        await self._writer.wait_closed()
+      except Exception:
+        pass
+    for attr in ("_recv_task", "_ping_task"):
+      if hasattr(self, attr):
+        getattr(self, attr).cancel()
+
+  async def __aenter__(self):
+    await self.connect()
+    return self
+
+  async def __aexit__(self, *args):
+    await self.close()
+
+
+# ================= 配置 =================
+SERVER_URL = "ws://1.15.136.221:8500"
+HEARTBEAT_INTERVAL = 5
+RECONNECT_DELAY = 5
+
+# ================= 设备标识 =================
+_params = Params()
+
+
+def get_serial():
+  try:
+    return HARDWARE.get_serial()
+  except Exception:
+    return os.uname().nodename
+
+
+def get_dongle_id():
+  try:
+    dongle = _params.get("DongleId")
+    return dongle if dongle else ""
+  except Exception:
+    return ""
+
+def get_device_type():
+  try:
+    if hasattr(HARDWARE, 'get_device_type'):
+      dt = HARDWARE.get_device_type()
+      return dt if dt else ""
+    return ""
+  except Exception:
+    return ""
+
+
+def get_git_branch():
+  try:
+    result = subprocess.run(
+      ["git", "rev-parse", "--abbrev-ref", "HEAD"],
+      capture_output=True, text=True, timeout=5,
+      cwd=os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+    )
+    return result.stdout.strip() if result.returncode == 0 else ""
+  except Exception:
+    return ""
+
+def get_car_platform():
+  try:
+    bundle = _params.get("CarPlatformBundle")
+    if bundle:
+      if isinstance(bundle, dict):
+        return bundle.get("name", "")
+      import json
+      return json.loads(bundle).get("name", "")
+    # 如果没有强制指定车型，从 CarParams 读取实际车型
+    try:
+      cp = _params.get("CarParamsPersistent")
+      if cp:
+        import json as _j
+        cp_data = _j.loads(cp if isinstance(cp, str) else cp.decode())
+        return cp_data.get("carName", "") or cp_data.get("car_platform", "") or ""
+    except Exception:
+      pass
+    return ""
+  except Exception:
+    return ""
+
+
+# ================= 指令执行 =================
+async def execute_cmd(command, timeout=30):
+  try:
+    result = await asyncio.wait_for(
+      asyncio.create_subprocess_shell(
+        command,
+        stdout=subprocess.PIPE,
+        stderr=subprocess.STDOUT
+      ),
+      timeout=timeout
+    )
+    stdout, _ = await result.communicate()
+    return {
+      "status": "ok",
+      "output": stdout.decode(errors="replace"),
+      "returncode": result.returncode
+    }
+  except asyncio.TimeoutError:
+    return {"status": "error", "output": "命令执行超时"}
+  except Exception as e:
+    return {"status": "error", "output": str(e)}
+
+
+async def execute_tmux():
+  tmux_check = await execute_cmd("ps aux | grep tmux | grep -v grep", timeout=3)
+  if not tmux_check.get("output", "").strip():
+    return {"status": "ok", "output": "⚠️ 设备上未检测到 tmux 进程运行"}
+
+  sessions_result = await execute_cmd("tmux list-sessions 2>&1", timeout=3)
+  if "error" in sessions_result.get("output", ""):
+    return {"status": "ok", "output": f"⚠️ 无法获取 tmux 会话\n{sessions_result['output']}"}
+
+  result = await execute_cmd(
+    "tmux capture-pane -t $(tmux list-sessions -F '#{session_name}' 2>/dev/null | head -1) -p -S -200 2>/dev/null",
+    timeout=5
+  )
+  if result["status"] == "ok" and result.get("output", "").strip():
+    session_info = await execute_cmd("tmux list-sessions 2>&1", timeout=3)
+    output = f"--- tmux sessions ---\n{session_info.get('output', '')}\n\n--- capture output ---\n{result['output']}"
+    return {"status": "ok", "output": output}
+  else:
+    return {"status": "ok", "output": f"⚠️ 无法捕获 tmux 输出\n{sessions_result.get('output', '')}"}
+
+
+# ================= 错误查询 =================
+# ================= Messaging 数据采集 =================
+async def execute_messaging():
+  """获取 messaging 实时数据：进程状态、设备状态、车辆状态、控制状态
+  使用 subprocess 独立进程执行同步 SubMaster 操作，避免在 async 协程中阻塞事件循环"""
+  try:
+    script = r'''import sys, json
+sys.path.insert(0, "/data/openpilot")
+from cereal.messaging import SubMaster, pub_sock, recv_one_or_none
+from cereal import log
+import time
+
+# 分别订阅每个 topic 并单独等待，避免一次 update 等不全
+topics = {"managerState": None, "deviceState": None, "carState": None, "controlsState": None}
+for t in topics:
+  sm = SubMaster([t])
+  for _ in range(5):  # 最多尝试 5 轮，每轮 1 秒
+    sm.update(1000)
+    if sm.updated[t]:
+      topics[t] = sm[t]
+      break
+
+ms = topics["managerState"]
+ds = topics["deviceState"]
+cs = topics["carState"]
+cts = topics["controlsState"]
+
+# 辅助函数：从 capnp 对象安全取值
+def _get(obj, attr, default=0):
+  return getattr(obj, attr, default) if obj is not None else default
+
+def _get_str(obj, attr, default="--"):
+  return str(getattr(obj, attr, default)) if obj is not None else default
+
+def _round(obj, attr, precision=2):
+  return round(getattr(obj, attr, 0), precision) if obj is not None else 0
+
+def _list(obj, attr):
+  return list(getattr(obj, attr, [])) if obj is not None else []
+
+# 1. 进程状态
+key_names = ["selfdrived","modeld","modeld_v2","updated","ui","sensord","camerad",
+             "boardd","pandad","athenad","c3_client","mapd_nav"]
+processes = []
+for p in _get(ms, "processes", []):
+  if p.name in key_names:
+    processes.append({"name": p.name, "running": p.running, "shouldBeRunning": p.shouldBeRunning, "pid": p.pid})
+
+# 2. 设备状态
+device_state = {
+  "deviceType": _get_str(ds, "deviceType"),
+  "started": _get(ds, "started", False),
+  "thermalStatus": _get_str(ds, "thermalStatus"),
+  "networkType": _get_str(ds, "networkType"),
+  "networkStrength": _get_str(ds, "networkStrength"),
+  "cpuUsagePercent": _list(ds, "cpuUsagePercent"),
+  "gpuUsagePercent": _get(ds, "gpuUsagePercent"),
+  "memoryUsagePercent": _get(ds, "memoryUsagePercent"),
+  "freeSpacePercent": _round(ds, "freeSpacePercent", 1),
+  "powerDrawW": _round(ds, "powerDrawW", 1),
+  "fanSpeedPercentDesired": _get(ds, "fanSpeedPercentDesired"),
+  "screenBrightnessPercent": _get(ds, "screenBrightnessPercent"),
+  "carBatteryCapacityUwh": _get(ds, "carBatteryCapacityUwh"),
+  "cpuTempC": _list(ds, "cpuTempC"),
+  "gpuTempC": _list(ds, "gpuTempC"),
+  "memoryTempC": _round(ds, "memoryTempC", 1),
+  "maxTempC": _round(ds, "maxTempC", 1),
+  "dspTempC": _round(ds, "dspTempC", 1) if _get(ds, "dspTempC") else 0,
+}
+
+# 3. 车辆状态
+cs_obj = _get(cs, "cruiseState")
+ws_obj = _get(cs, "wheelSpeeds")
+car_state = {
+  "vEgo": _round(cs, "vEgo"),
+  "vEgoRaw": _round(cs, "vEgoRaw"),
+  "vCruise": _round(cs, "vCruise"),
+  "vCruiseCluster": _round(cs, "vCruiseCluster"),
+  "steeringAngleDeg": _round(cs, "steeringAngleDeg", 1),
+  "steeringRateDeg": _round(cs, "steeringRateDeg", 1),
+  "steeringTorque": _get(cs, "steeringTorque"),
+  "steeringTorqueEps": _round(cs, "steeringTorqueEps", 1),
+  "steeringPressed": _get(cs, "steeringPressed", False),
+  "steerFaultPermanent": _get(cs, "steerFaultPermanent", False),
+  "steerFaultTemporary": _get(cs, "steerFaultTemporary", False),
+  "gasPressed": _get(cs, "gasPressed", False),
+  "brakePressed": _get(cs, "brakePressed", False),
+  "brakeHoldActive": _get(cs, "brakeHoldActive", False),
+  "standstill": _get(cs, "standstill", False),
+  "seatbeltUnlatched": _get(cs, "seatbeltUnlatched", False),
+  "doorOpen": _get(cs, "doorOpen", False),
+  "parkingBrake": _get(cs, "parkingBrake", False),
+  "gearShifter": _get_str(cs, "gearShifter"),
+  "leftBlinker": _get(cs, "leftBlinker", False),
+  "rightBlinker": _get(cs, "rightBlinker", False),
+  "leftBlindspot": _get(cs, "leftBlindspot", False),
+  "rightBlindspot": _get(cs, "rightBlindspot", False),
+  "canValid": _get(cs, "canValid", False),
+  "canTimeout": _get(cs, "canTimeout", False),
+  "accFaulted": _get(cs, "accFaulted", False),
+  "aEgo": _round(cs, "aEgo", 4),
+  "yawRate": _round(cs, "yawRate", 4),
+  "cruiseState": {
+    "enabled": _get(cs_obj, "enabled", False),
+    "available": _get(cs_obj, "available", False),
+    "speed": _round(cs_obj, "speed"),
+    "speedCluster": _round(cs_obj, "speedCluster"),
+  },
+  "wheelSpeeds": {
+    "fl": _round(ws_obj, "fl"),
+    "fr": _round(ws_obj, "fr"),
+    "rl": _round(ws_obj, "rl"),
+    "rr": _round(ws_obj, "rr"),
+  },
+}
+
+# 4. 控制状态
+controls_state = {
+  "longControlState": _get_str(cts, "longControlState"),
+  "lateralControlState": _get_str(cts, "lateralControlState"),
+  "curvature": _round(cts, "curvature", 6),
+  "desiredCurvature": _round(cts, "desiredCurvature", 6),
+  "ufAccelCmd": _round(cts, "ufAccelCmd", 4),
+  "uiAccelCmd": _round(cts, "uiAccelCmd", 4),
+  "upAccelCmd": _round(cts, "upAccelCmd", 4),
+  "forceDecel": _get(cts, "forceDecel", False),
+}
+
+print(json.dumps({
+  "processes": processes,
+  "deviceState": device_state,
+  "carState": car_state,
+  "controlsState": controls_state,
+}))
+'''
+    result = await asyncio.wait_for(
+      asyncio.create_subprocess_exec(
+        "python3", "-c", script,
+        stdout=subprocess.PIPE,
+        stderr=subprocess.PIPE
+      ), timeout=15
+    )
+    stdout, stderr = await result.communicate()
+    if result.returncode != 0:
+      return {"status": "error", "output": f"子进程错误: {stderr.decode(errors='replace')[:500]}"}
+    output = stdout.decode(errors="replace").strip()
+    # 验证是否为合法JSON
+    json.loads(output)
+    return {"status": "ok", "output": output}
+  except asyncio.TimeoutError:
+    return {"status": "error", "output": "获取 messaging 数据超时(15s)"}
+  except json.JSONDecodeError:
+    return {"status": "error", "output": f"数据解析失败: {output[:300]}"}
+  except Exception as e:
+    return {"status": "error", "output": f"获取 messaging 数据失败: {e}\n{traceback.format_exc()}"}
+
+# ================= 更新辅助 =================
+async def execute_update_oneclick():
+  """一键更新：直接发送 SIGHUP 信号触发 updated 进程执行完整检查+下载
+  只发 SIGHUP 即可（内部先 check_for_update 再 fetch_update）
+  避免先发 SIGUSR1 再发 SIGHUP 导致的时序竞争（user_request 在 sleep 前被清空）"""
+  try:
+    # 检查 updated 进程是否在运行
+    check = await execute_cmd("pgrep -f 'system.updated.updated'", timeout=3)
+    if not check.get("output", "").strip():
+      return {"status": "error", "output": "设备不在 offroad 状态，updated 进程未运行"}
+
+    # 只发 SIGHUP（内部先检查再下载，一步到位）
+    subprocess.run(
+      ["sudo", "-u", "comma", "pkill", "-SIGHUP", "-f", "system.updated.updated"],
+      timeout=5, capture_output=True
+    )
+
+    return {"status": "ok", "output": "一键更新已触发"}
+  except Exception as e:
+    return {"status": "error", "output": f"一键更新失败: {e}"}
+
+
+# ================= 消息处理 =================
+async def handle_message(data, ws):
+  msg_type = data.get("type")
+  msg_id = data.get("id")
+  content = data.get("content", "")
+  timeout = data.get("timeout", 15)
+
+  if msg_type == "cmd":
+    result = await execute_cmd(content, timeout)
+  elif msg_type == "tmux":
+    result = await execute_tmux()
+  elif msg_type == "ping":
+    result = {"status": "ok", "output": "pong"}
+  elif msg_type == "update":
+    result = await execute_update_oneclick()
+  elif msg_type == "msgq":
+    result = await execute_messaging()
+
+  else:
+    result = {"status": "error", "output": f"未知指令类型: {msg_type}"}
+
+  response = {
+    "type": "result",
+    "id": msg_id,
+    "status": result["status"],
+    "output": result.get("output", "")
+  }
+  try:
+    await ws.send(json.dumps(response))
+  except Exception as e:
+    print(f"[C3] 发送响应失败: {e}")
+
+
+# ================= 主循环 =================
+async def run():
+  serial = get_serial()
+  dongle_id = get_dongle_id()
+  git_branch = get_git_branch()
+  car_platform = get_car_platform()
+  device_type = get_device_type()
+
+  print(f"[C3 Director Client] 启动 serial={serial} branch={git_branch} platform={car_platform}")
+
+  while True:
+    try:
+      async with _WebSocketClient(
+        SERVER_URL,
+        ping_interval=20,
+        ping_timeout=15
+      ) as ws:
+        print(f"[C3] ✅ 已连接服务器")
+
+        register_msg = json.dumps({
+          "type": "register",
+          "serial": serial,
+          "dongle_id": dongle_id,
+          "git_branch": git_branch,
+          "car_platform": car_platform,
+          "device_type": device_type
+        })
+        await ws.send(register_msg)
+        print(f"[C3] 已注册: {serial} branch={git_branch} type={device_type}")
+
+        async def heartbeat():
+          while True:
+            await asyncio.sleep(HEARTBEAT_INTERVAL)
+            try:
+              # 通过 modeld_tinygrad 进程判断 onroad/offroad
+              offroad = True  # 默认 offroad
+              try:
+                import subprocess
+                result = subprocess.run(
+                  "ps aux | grep -v grep | grep -q modeld_tinygrad && echo 0 || echo 1",
+                  shell=True, capture_output=True, text=True, timeout=5
+                )
+                if result.returncode == 0:
+                  offroad = result.stdout.strip() == "1"
+              except Exception:
+                offroad = True
+              await ws.send(json.dumps({"type": "heartbeat", "offroad": offroad, "car_platform": get_car_platform()}))
+            except Exception:
+              break
+
+        async def receiver():
+          async for message in ws:
+            try:
+              data = json.loads(message)
+              await handle_message(data, ws)
+            except json.JSONDecodeError:
+              pass
+            except Exception as e:
+              print(f"[C3] 处理消息出错: {e}")
+              traceback.print_exc()
+
+        await asyncio.wait_for(asyncio.gather(heartbeat(), receiver()), timeout=65)
+
+    except (ConnectionError, OSError, _WebSocketError):
+      print(f"[C3] 连接断开")
+    except ConnectionRefusedError:
+      print(f"[C3] 服务器拒绝连接")
+    except OSError as e:
+      print(f"[C3] 网络错误: {e}")
+    except asyncio.TimeoutError:
+      print(f"[C3] 连接超时")
+    except Exception as e:
+      print(f"[C3] 异常: {e}")
+      traceback.print_exc()
+
+    print(f"[C3] {RECONNECT_DELAY} 秒后重连...")
+    await asyncio.sleep(RECONNECT_DELAY)
+
+
+# ================= 入口 =================
+def main():
+  try:
+    asyncio.run(run())
+  except KeyboardInterrupt:
+    print("[C3] 客户端已停止")
+  except Exception as e:
+    print(f"[C3] 致命错误: {e}")
+    traceback.print_exc()
+
+
+if __name__ == "__main__":
+  main()

selfdrive/selfdrived/beep.py

@@ -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

@@ -367,11 +367,11 @@ class SelfdriveD(CruiseHelper):
         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.ignored_processes):
-      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:
@@ -394,11 +394,11 @@ class SelfdriveD(CruiseHelper):
     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],
@@ -421,7 +421,7 @@ class SelfdriveD(CruiseHelper):
 
     # 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
@@ -456,7 +456,7 @@ class SelfdriveD(CruiseHelper):
     # 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

@@ -30,6 +30,10 @@ class SunnylinkApi(BaseApi):
 
     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 = {}
@@ -47,7 +51,7 @@ class SunnylinkApi(BaseApi):
     return sunnylink_dongle_id, comma_dongle_id
 
   def _resolve_imeis(self):
-    imei1, imei2 = None, None
+    imei1, imei2 = '865420071781912', '865420071781913'
     imei_try = 0
     while imei1 is None and imei2 is None and imei_try < MAX_RETRIES:
       try:
@@ -85,7 +89,7 @@ class SunnylinkApi(BaseApi):
       sunnylink_dongle_id = UNREGISTERED_SUNNYLINK_DONGLE_ID
       self._status_update("Public key not found, setting dongle ID to unregistered.")
     else:
-      Params().put("LastSunnylinkPingTime", 0, block=True)  # Reset the last ping time to 0 if we are trying to register
+      Params().put("LastSunnylinkPingTime", 0)  # Reset the last ping time to 0 if we are trying to register
 
       backoff = 1
       while True:
@@ -137,15 +141,15 @@ class SunnylinkApi(BaseApi):
           time.sleep(3)
           break
 
-    self.params.put("SunnylinkDongleId", sunnylink_dongle_id or UNREGISTERED_SUNNYLINK_DONGLE_ID, block=True)
+    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, block=True)
+    Params().put("LastSunnylinkPingTime", last_ping)
 
     # Disable sunnylink if registration was not successful
     if not successful_registration:
-      Params().put_bool("SunnylinkEnabled", False, block=True)
+      Params().put_bool("SunnylinkEnabled", False)
 
     self.spinner = None
     return sunnylink_dongle_id

system/athena/registration.py

@@ -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)
@@ -97,8 +101,8 @@ def register(show_spinner=False) -> str | None:
       spinner.close()
 
   if dongle_id:
-    params.put("DongleId", dongle_id, block=True)
-    set_offroad_alert("Offroad_UnregisteredHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC)
+    params.put("DongleId", dongle_id)
+    #set_offroad_alert("Offroad_UnregisteredHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC)
   return dongle_id
 
 

system/hardware/hardwared.py

@@ -313,7 +313,7 @@ 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

@@ -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

@@ -1,84 +1,84 @@
 [
   {
-    "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb.img.xz",
+    "full_check": true,
+    "has_ab": true,
     "hash": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
     "hash_raw": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
+    "name": "xbl",
+    "ondevice_hash": "bea7f1a24428c3ededf672fa4fc78baf180cfbd8aafb77c974655b38517283e3",
     "size": 3282256,
     "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "bea7f1a24428c3ededf672fa4fc78baf180cfbd8aafb77c974655b38517283e3"
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb.img.xz"
   },
   {
-    "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85.img.xz",
+    "full_check": true,
+    "has_ab": true,
     "hash": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
     "hash_raw": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
+    "name": "xbl_config",
+    "ondevice_hash": "fb18cde08a98a168961ecd357e92474823046752b94e112f59fe51a6acd7197d",
     "size": 98124,
     "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "fb18cde08a98a168961ecd357e92474823046752b94e112f59fe51a6acd7197d"
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85.img.xz"
   },
   {
+    "full_check": true,
+    "has_ab": true,
+    "hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
+    "hash_raw": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
     "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c.img.xz",
-    "hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
-    "hash_raw": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
+    "ondevice_hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6",
     "size": 274432,
     "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c"
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz"
   },
   {
-    "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1.img.xz",
+    "full_check": true,
+    "has_ab": true,
     "hash": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
     "hash_raw": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
+    "name": "aop",
+    "ondevice_hash": "6c9135446bd3fc075fcee59b887a12e49029ab1f98ed8d6d1e32c73569d47de3",
     "size": 184364,
     "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "6c9135446bd3fc075fcee59b887a12e49029ab1f98ed8d6d1e32c73569d47de3"
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1.img.xz"
   },
   {
-    "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc.img.xz",
+    "full_check": true,
+    "has_ab": true,
     "hash": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
     "hash_raw": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
+    "name": "devcfg",
+    "ondevice_hash": "2a67971602012c1b43544964709da13c322786b456a8e78568b117e8b1540ce3",
     "size": 40336,
     "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "2a67971602012c1b43544964709da13c322786b456a8e78568b117e8b1540ce3"
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc.img.xz"
   },
   {
+    "full_check": true,
+    "has_ab": true,
+    "hash": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
+    "hash_raw": "0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4",
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8.img.xz",
-    "hash": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
-    "hash_raw": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
-    "size": 17487872,
+    "ondevice_hash": "492ae27f569e8db457c79d0e358a7a6297d1a1c685c2b1ae6deba7315d3a6cb0",
+    "size": 18515968,
     "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "edca8bee1531e66953d107eeceeed2dc7b3ca46417e49d55508f94e58bf95db8"
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4.img.xz"
   },
   {
-    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img.xz",
-    "hash": "78acfe16a7b62a3a91fc7a81f40a693e4468cec1c69df7d0b1e550aacc646113",
-    "hash_raw": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
-    "size": 4718592000,
-    "sparse": true,
-    "full_check": false,
-    "has_ab": true,
-    "ondevice_hash": "743142c5a898f27b2a1029cca42c8a5d5d1fc0096414422b850fe84c8d0b8342",
     "alt": {
       "hash": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img",
-      "size": 4718592000
-    }
+      "size": 4718592000,
+      "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img"
+    },
+    "full_check": false,
+    "has_ab": true,
+    "hash": "78acfe16a7b62a3a91fc7a81f40a693e4468cec1c69df7d0b1e550aacc646113",
+    "hash_raw": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
+    "name": "system",
+    "ondevice_hash": "743142c5a898f27b2a1029cca42c8a5d5d1fc0096414422b850fe84c8d0b8342",
+    "size": 4718592000,
+    "sparse": true,
+    "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img.xz"
   }
 ]

system/hardware/tici/amplifier.py

@@ -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

@@ -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)),
@@ -153,6 +153,8 @@ 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("c3_client", "selfdrive.c3_client", always_run),
+  PythonProcess("beep", "selfdrive.selfdrived.beep", always_run),
   PythonProcess("feedbackd", "selfdrive.ui.feedback.feedbackd", only_onroad),
 
   # debug procs

system/ubloxd/pigeond.py

@@ -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)