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C2 detection #23439

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merged 4 commits into from
Jan 10, 2022
Merged

C2 detection #23439

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d667d41
two detection
robbederks Jan 7, 2022
f5219a7
fix CI
robbederks Jan 10, 2022
82171f8
catch all
robbederks Jan 10, 2022
5aa208a
gotta catch em all
robbederks Jan 10, 2022
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2 changes: 2 additions & 0 deletions selfdrive/boardd/boardd.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -658,6 +658,8 @@ int main(int argc, char *argv[]) {
Panda *peripheral_panda = pandas[0];
std::vector<std::thread> threads;

Params().put("LastPeripheralPandaType", std::to_string((int) peripheral_panda->get_hw_type()));

threads.emplace_back(panda_state_thread, &pm, pandas, getenv("STARTED") != nullptr);
threads.emplace_back(peripheral_control_thread, peripheral_panda);
threads.emplace_back(pigeon_thread, peripheral_panda);
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1 change: 1 addition & 0 deletions selfdrive/common/params.cc
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Expand Up @@ -131,6 +131,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
{"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
{"LastGPSPosition", PERSISTENT},
{"LastPeripheralPandaType", PERSISTENT},
{"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
{"LastUpdateException", PERSISTENT},
{"LastUpdateTime", PERSISTENT},
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11 changes: 11 additions & 0 deletions selfdrive/hardware/eon/hardware.py
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Expand Up @@ -10,6 +10,12 @@
from cereal import log
from selfdrive.hardware.base import HardwareBase, ThermalConfig

try:
from common.params import Params
except Exception:
# openpilot is not built yet
Params = None

NetworkType = log.DeviceState.NetworkType
NetworkStrength = log.DeviceState.NetworkStrength

Expand Down Expand Up @@ -70,6 +76,11 @@ def get_os_version(self):
return f.read().strip()

def get_device_type(self):
try:
if int(Params().get("LastPeripheralPandaType")) == log.PandaState.PandaType.uno:
return "two"
except Exception:
pass
return "eon"

def get_sound_card_online(self):
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