body v1 updater

board/body/v1/flash.py

@@ -0,0 +1,65 @@
+#!/usr/bin/env python3
+
+import sys
+import _thread
+import time
+import argparse
+from subprocess import check_output, CalledProcessError
+
+from panda import Panda
+from opendbc.car import structs
+from opendbc.car.body.flash import update
+from opendbc.car.body.values import FLASH_ADDR, BUS, BIN_URL, BIN_PATH
+
+def heartbeat_thread(p):
+  while True:
+    try:
+      p.send_heartbeat()
+      time.sleep(0.5)
+    except Exception:
+      continue
+
+
+def flash(addr=FLASH_ADDR, file=BIN_PATH):
+  p = Panda()
+  _thread.start_new_thread(heartbeat_thread, (p,))
+
+  p.set_safety_mode(structs.CarParams.SafetyModel.body)
+
+  update(
+    can_send=p.can_send,
+    can_recv=p.can_recv,
+    addr=addr,
+    bus=BUS,
+    file=file,
+    update_url=BIN_URL,
+  )
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Flash body v2 over CAN")
+  parser.add_argument("fn", type=str, nargs="?", help="flash file")
+  parser.add_argument("--kill-pandad", action="store_true", help="kill pandad processes before flashing")
+  args = parser.parse_args()
+
+  if args.kill_pandad:
+    try:
+      check_output(["pkill", "-f", "selfdrive.pandad.pandad"])
+      check_output(["pkill", "-x", "pandad"])
+      print("pandad processes killed")
+      time.sleep(1)
+    except CalledProcessError:
+      print("no pandad processes found")
+  else:
+    try:
+      check_output(["pidof", "pandad"])
+      print("pandad is running, please kill it before running this script! (use --kill-pandad to kill automatically)")
+      sys.exit(1)
+    except CalledProcessError as e:
+      if e.returncode != 1:  # 1 == no process found (pandad not running)
+        raise e
+
+  if not args.fn:
+    args.fn = BIN_PATH
+
+  flash(FLASH_ADDR, args.fn)