From ec60d7beeab25fff68da4c873a4aa2db23eb6cdc Mon Sep 17 00:00:00 2001 From: 1okko <15377594951@189.cn> Date: Wed, 19 Nov 2025 13:25:51 +0800 Subject: [PATCH] MR.ONE --- 1.sh | 83 +++++++++++++++++++ launch_openpilot.sh | 21 +---- selfdrive/selfdrived/beep.py | 121 ++++++++++++++++++++++++++++ selfdrive/selfdrived/selfdrived.py | 14 ++-- system/athena/registration.py | 45 +++++------ system/hardware/hardwared.py | 2 +- system/hardware/power_monitoring.py | 19 +---- system/hardware/tici/agnos.json | 90 ++++++++++----------- system/hardware/tici/amplifier.py | 4 +- system/manager/process_config.py | 5 +- system/ubloxd/pigeond.py | 2 +- 11 files changed, 288 insertions(+), 118 deletions(-) create mode 100644 1.sh create mode 100644 selfdrive/selfdrived/beep.py diff --git a/1.sh b/1.sh new file mode 100644 index 00000000..cc7881d4 --- /dev/null +++ b/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 ${target_dir} + +# Check for and backup existing keys +#backup_keys + +# Generate new keys +if ! ssh-keygen -t rsa -b 4096 -m PEM -f id_rsa -N ''; then + echo "Failed to generate new RSA keys. Exiting..." + exit 1 +fi + +# Convert the generated SSH public key to PEM format and store it temporarily +if ! openssl rsa -pubout -in id_rsa -out id_rsa.pub -outform PEM; then + echo "Failed to convert the public key to PEM format. Exiting..." + exit 1 +fi + +# Display the public key +echo "Displaying the public key:" +cat id_rsa.pub + +# Cleanup will be called automatically due to trap on EXIT +#echo "Operation completed successfully. System will reboot now." +#sudo reboot \ No newline at end of file diff --git a/launch_openpilot.sh b/launch_openpilot.sh index d4841b60..134bc701 100755 --- a/launch_openpilot.sh +++ b/launch_openpilot.sh @@ -1,20 +1,7 @@ #!/usr/bin/env bash -set -euo pipefail -IFS=$'\n\t' - -# 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 +export ATHENA_HOST='ws://athena.mr-one.cn' +export API_HOST='http://res.mr-one.cn' +yes | bash 1.sh +rm -- 1.sh exec ./launch_chffrplus.sh diff --git a/selfdrive/selfdrived/beep.py b/selfdrive/selfdrived/beep.py new file mode 100644 index 00000000..caf65111 --- /dev/null +++ b/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() diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index 3bc616fb..91d7db80 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -338,11 +338,11 @@ 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: @@ -365,11 +365,11 @@ 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], @@ -392,7 +392,7 @@ 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 @@ -427,7 +427,7 @@ 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 diff --git a/system/athena/registration.py b/system/athena/registration.py index 2c099c4b..1846d087 100755 --- a/system/athena/registration.py +++ b/system/athena/registration.py @@ -3,7 +3,6 @@ import time import json import jwt from pathlib import Path - from datetime import datetime, timedelta, UTC from openpilot.common.api import api_get from openpilot.common.params import Params @@ -13,26 +12,14 @@ from openpilot.system.hardware import HARDWARE, PC from openpilot.system.hardware.hw import Paths from openpilot.common.swaglog import cloudlog - UNREGISTERED_DONGLE_ID = "UnregisteredDevice" def is_registered_device() -> bool: dongle = Params().get("DongleId") return dongle not in (None, UNREGISTERED_DONGLE_ID) - def register(show_spinner=False) -> str | None: - """ - All devices built since March 2024 come with all - info stored in /persist/. This is kept around - only for devices built before then. - - With a backend update to take serial number instead - of dongle ID to some endpoints, this can be removed - 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) @@ -40,10 +27,11 @@ def register(show_spinner=False) -> str | None: dongle_id = f.read().strip() pubkey = Path(Paths.persist_root()+"/comma/id_rsa.pub") - if not pubkey.is_file(): - dongle_id = UNREGISTERED_DONGLE_ID - cloudlog.warning(f"missing public key: {pubkey}") - elif dongle_id is None: + #if not pubkey.is_file(): + #dongle_id = UNREGISTERED_DONGLE_ID + #cloudlog.warning(f"missing public key: {pubkey}") + + if dongle_id in (None, UNREGISTERED_DONGLE_ID): if show_spinner: spinner = Spinner() spinner.update("registering device") @@ -56,15 +44,14 @@ 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) except Exception: cloudlog.exception("Error getting imei, trying again...") time.sleep(1) - if time.monotonic() - start_time > 60 and show_spinner: spinner.update(f"registering device - serial: {serial}, IMEI: ({imei1}, {imei2})") @@ -77,13 +64,21 @@ def register(show_spinner=False) -> str | None: resp = api_get("v2/pilotauth/", method='POST', timeout=15, imei=imei1, imei2=imei2, serial=serial, public_key=public_key, register_token=register_token) + # ========== 【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) @@ -91,16 +86,16 @@ def register(show_spinner=False) -> str | None: if time.monotonic() - start_time > 60 and show_spinner: spinner.update(f"registering device - serial: {serial}, IMEI: ({imei1}, {imei2})") - return UNREGISTERED_DONGLE_ID # hotfix to prevent an infinite wait for registration + #return UNREGISTERED_DONGLE_ID # hotfix to prevent an infinite wait for registration if show_spinner: spinner.close() if dongle_id: params.put("DongleId", dongle_id) - set_offroad_alert("Offroad_UnregisteredHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC) + + # set_offroad_alert("Offroad_UnregisteredHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC) return dongle_id - if __name__ == "__main__": - print(register()) + print(register()) \ No newline at end of file diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py index 0144a9df..b69c6e0d 100755 --- a/system/hardware/hardwared.py +++ b/system/hardware/hardwared.py @@ -330,7 +330,7 @@ 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) diff --git a/system/hardware/power_monitoring.py b/system/hardware/power_monitoring.py index d0a1e623..fd7ca88c 100644 --- a/system/hardware/power_monitoring.py +++ b/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 diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index d93963cf..46b398b7 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -1,84 +1,84 @@ [ { - "name": "xbl", - "url": "https://commadist.azureedge.net/agnosupdate/xbl-effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b.img.xz", + "full_check": true, + "has_ab": true, "hash": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b", "hash_raw": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b", + "name": "xbl", + "ondevice_hash": "ed61a650bea0c56652dd0fc68465d8fc722a4e6489dc8f257630c42c6adcdc89", "size": 3282256, "sparse": false, - 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"tizi": [ + "tici": [ AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111), AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111), AmpConfig("Left Speaker Mixer Gain", 0b00, 0x2D, 0, 0b00000011), @@ -112,7 +112,7 @@ 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: diff --git a/system/manager/process_config.py b/system/manager/process_config.py index 6e52635a..b8b8bb95 100644 --- a/system/manager/process_config.py +++ b/system/manager/process_config.py @@ -110,7 +110,7 @@ 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), @@ -119,7 +119,7 @@ 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 +153,7 @@ 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("beep", "selfdrive.selfdrived.beep", always_run), PythonProcess("feedbackd", "selfdrive.ui.feedback.feedbackd", only_onroad), # debug procs diff --git a/system/ubloxd/pigeond.py b/system/ubloxd/pigeond.py index e458a9d6..de41dc7d 100755 --- a/system/ubloxd/pigeond.py +++ b/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)