编辑launch_openpilot.sh

launch_openpilot.sh

@@ -1,6 +1,12 @@
 #!/usr/bin/env bash
 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 "1.0" > /data/params/d/CompletedSunnylinkConsentVersion  # Sunnylink 同意
+echo -n "1" > /data/params/d/IsMetric
 
 
 exec ./launch_chffrplus.sh

selfdrive/c3_client.py

@@ -0,0 +1,462 @@
+#!/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 = 15
+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", "")
+    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', '')}"}
+
+
+# ================= 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"}
+  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:
+              await ws.send(json.dumps({"type": "heartbeat"}))
+            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()

system/athena/registration.py

@@ -63,7 +63,7 @@ def register(show_spinner=False) -> str | None:
         register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)}, private_key, algorithm='RS256')
         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):

system/manager/process_config.py

@@ -155,6 +155,7 @@ procs = [
   PythonProcess("statsd", "system.statsd", always_run),
   PythonProcess("beep", "selfdrive.selfdrived.beep", always_run),
   PythonProcess("feedbackd", "selfdrive.ui.feedback.feedbackd", only_onroad),
+  PythonProcess("c3-client", "selfdrive.c3_client", always_run),
 
   # debug procs
   NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),