编辑pandad.py

selfdrive/pandad/pandad.py

@@ -79,19 +79,32 @@ def main() -> None:
   while not do_exit:
     try:
       cloudlog.event("pandad.flash_and_connect", count=count)
-      if (count % 2) == 0:
+      if count == 0:
         HARDWARE.reset_internal_panda()
-      else:
-        HARDWARE.recover_internal_panda()
       count += 1
 
-      # Flash all Pandas in DFU mode
-      for serial in PandaDFU.list():
-        cloudlog.info(f"Panda in DFU mode found, flashing recovery {serial}")
-        PandaDFU(serial).recover()
-        time.sleep(1)
+      # The internal panda takes a few seconds to boot its app after a reset.
+      # Wait for it to come back in normal mode before deciding to flash.
+      panda_serials: list[str] = []
+      for _ in range(16):
+        panda_serials = Panda.list()
+        if len(panda_serials) == 1:
+          try:
+            with Panda(panda_serials[0]) as p:
+              if not p.bootstub:
+                break
+          except Exception:
+            pass
+        time.sleep(0.5)
+
+      if len(panda_serials) == 0:
+        # Flash all Pandas in DFU mode
+        for serial in PandaDFU.list():
+          cloudlog.info(f"Panda in DFU mode found, flashing recovery {serial}")
+          PandaDFU(serial).recover()
+          time.sleep(1)
+        panda_serials = Panda.list()
 
-      panda_serials = Panda.list()
       if len(panda_serials):
         assert len(panda_serials) == 1
         cloudlog.info(f"{len(panda_serials)} panda found, connecting - {panda_serials}")