编辑pandad.py

selfdrive/pandad/pandad.py

@@ -16,12 +16,8 @@ from openpilot.sunnypilot.selfdrive.pandad.rivian_long_flasher import flash_rivi
 
 
 def get_expected_signature() -> bytes:
-  try:
-    fn = os.path.join(FW_PATH, McuType.H7.config.app_fn)
-    return Panda.get_signature_from_firmware(fn)
-  except Exception:
-    cloudlog.exception("Error computing expected signature")
-    return b""
+  fn = os.path.join(FW_PATH, McuType.H7.config.app_fn)
+  return Panda.get_signature_from_firmware(fn)
 
 def flash_panda(panda_serial: str) -> Panda:
   try:
@@ -103,13 +99,21 @@ def main() -> None:
 
       # Handle missing internal panda
       if no_internal_panda_count > 0:
-        if no_internal_panda_count == 3:
-          cloudlog.info("No pandas found, putting internal panda into DFU")
-          HARDWARE.recover_internal_panda()
-        else:
-          cloudlog.info("No pandas found, resetting internal panda")
-          HARDWARE.reset_internal_panda()
-        time.sleep(3)  # wait to come back up
+        cloudlog.info("No pandas found, resetting internal panda")
+        HARDWARE.reset_internal_panda()
+        # 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)
 
       # Flash all Pandas in DFU mode
       dfu_serials = PandaDFU.list()