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Log panda signature to param #23670

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merged 1 commit into from
Jan 30, 2022
Merged

Log panda signature to param #23670

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2 changes: 1 addition & 1 deletion panda
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Submodule panda updated 1 files
+6 −1 tests/safety/test.c
1 change: 1 addition & 0 deletions selfdrive/common/params.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -142,6 +142,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"NavdRender", PERSISTENT},
{"OpenpilotEnabledToggle", PERSISTENT},
{"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
{"PandaSignatures", CLEAR_ON_MANAGER_START},
{"Passive", PERSISTENT},
{"PrimeRedirected", PERSISTENT},
{"RecordFront", PERSISTENT},
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8 changes: 7 additions & 1 deletion selfdrive/pandad.py
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Original file line number Diff line number Diff line change
Expand Up @@ -75,9 +75,12 @@ def panda_sort_cmp(a: Panda, b: Panda):

def main() -> NoReturn:
first_run = True
params = Params()

while True:
try:
params.delete("PandaSignatures")

# Flash all Pandas in DFU mode
for p in PandaDFU.list():
cloudlog.info(f"Panda in DFU mode found, flashing recovery {p}")
Expand All @@ -99,7 +102,7 @@ def main() -> NoReturn:
for panda in pandas:
health = panda.health()
if health["heartbeat_lost"]:
Params().put_bool("PandaHeartbeatLost", True)
params.put_bool("PandaHeartbeatLost", True)
cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial())

if first_run:
Expand All @@ -110,6 +113,9 @@ def main() -> NoReturn:
pandas.sort(key=cmp_to_key(panda_sort_cmp))
panda_serials = list(map(lambda p: p.get_usb_serial(), pandas))

# log panda fw versions
params.put("PandaSignatures", b','.join(p.get_signature() for p in pandas))

# close all pandas
for p in pandas:
p.close()
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