From 7b6e176368f68e1768eb7cd7e1a6b4eee4ce143d Mon Sep 17 00:00:00 2001
From: Firmware Batman <firmware@comma.ai>
Date: Sat, 29 Jul 2017 17:21:22 -0700
Subject: [PATCH] make new flasher the default for make

---
 board/build.mk    | 19 +++++++-----------
 panda/__init__.py | 49 +++++++++++++++++++++++++++--------------------
 2 files changed, 35 insertions(+), 33 deletions(-)

diff --git a/board/build.mk b/board/build.mk
index 6114043..f29e897 100644
--- a/board/build.mk
+++ b/board/build.mk
@@ -16,10 +16,13 @@ endif
 DFU_UTIL = "dfu-util"
 
 # this no longer pushes the bootstub
-all: obj/$(PROJ_NAME).bin
-	./tools/enter_download_mode.py
-	$(DFU_UTIL) -a 0 -s 0x08004000 -D obj/$(PROJ_NAME).bin
-	$(DFU_UTIL) --reset-stm32 -a 0 -s 0x08000000
+flash: obj/$(PROJ_NAME).bin
+	python -c "from panda import Panda; Panda().flash('obj/$(PROJ_NAME).bin')"
+
+ota: obj/$(PROJ_NAME).bin
+	curl http://192.168.0.10/stupdate --upload-file $<
+
+bin: obj/$(PROJ_NAME).bin
 
 # this flashes everything
 recover: obj/bootstub.$(PROJ_NAME).bin obj/$(PROJ_NAME).bin
@@ -27,14 +30,6 @@ recover: obj/bootstub.$(PROJ_NAME).bin obj/$(PROJ_NAME).bin
 	$(DFU_UTIL) -a 0 -s 0x08004000 -D obj/$(PROJ_NAME).bin
 	$(DFU_UTIL) -a 0 -s 0x08000000:leave -D obj/bootstub.$(PROJ_NAME).bin
 
-flash:
-	python -c "from panda import Panda; Panda().flash()"
-
-ota: obj/$(PROJ_NAME).bin
-	curl http://192.168.0.10/stupdate --upload-file $<
-
-bin: obj/$(PROJ_NAME).bin
-
 ifneq ($(wildcard ../.git/HEAD),)
 obj/gitversion.h: ../.git/HEAD ../.git/index
 	echo "const uint8_t gitversion[] = \"$(shell git rev-parse HEAD)\";" > $@
diff --git a/panda/__init__.py b/panda/__init__.py
index e221722..6928412 100644
--- a/panda/__init__.py
+++ b/panda/__init__.py
@@ -100,7 +100,7 @@ class Panda(object):
     self._handle.close()
     self._handle = None
 
-  def connect(self, claim=True):
+  def connect(self, claim=True, wait=False):
     if self._handle != None:
       self.close()
 
@@ -109,22 +109,28 @@ class Panda(object):
       print("opening WIFI device")
     else:
       context = usb1.USBContext()
-
       self._handle = None
-      for device in context.getDeviceList(skip_on_error=True):
-        #print(device)
-        if device.getVendorID() == 0xbbaa and device.getProductID() in [0xddcc, 0xddee]:
-          if self._serial is None or device.getSerialNumber() == self._serial:
-            print("opening device", device.getSerialNumber())
-            self.bootstub = device.getProductID() == 0xddee
-            self.legacy = (device.getbcdDevice() != 0x2300)
-            self._handle = device.open()
-            if claim:
-              self._handle.claimInterface(0)
-              #self._handle.setInterfaceAltSetting(0, 0) #Issue in USB stack
-            break
 
+      while 1:
+        try:
+          for device in context.getDeviceList(skip_on_error=True):
+            #print(device)
+            if device.getVendorID() == 0xbbaa and device.getProductID() in [0xddcc, 0xddee]:
+              if self._serial is None or device.getSerialNumber() == self._serial:
+                print("opening device", device.getSerialNumber())
+                self.bootstub = device.getProductID() == 0xddee
+                self.legacy = (device.getbcdDevice() != 0x2300)
+                self._handle = device.open()
+                if claim:
+                  self._handle.claimInterface(0)
+                  #self._handle.setInterfaceAltSetting(0, 0) #Issue in USB stack
+                break
+        except Exception as e:
+          print("exception", e)
+        if wait == False or self._handle != None:
+          break
     assert(self._handle != None)
+    print("connected")
 
   def reset(self, enter_bootstub=False, enter_bootloader=False):
     # reset
@@ -138,19 +144,20 @@ class Panda(object):
           self._handle.controlWrite(Panda.REQUEST_IN, 0xd8, 0, 0, b'')
     except Exception:
       pass
-    time.sleep(1.0)
     if not enter_bootloader:
-      self.connect()
+      self.connect(wait=True)
 
-  def flash(self):
+  def flash(self, fn=None):
     if not self.bootstub:
       self.reset(enter_bootstub=True)
-
     assert(self.bootstub)
-    ret = os.system("cd %s && make clean && make -f %s bin" % (os.path.join(BASEDIR, "board"), "Makefile.legacy" if self.legacy else "Makefile"))
 
-    # TODO: build and detect legacy
-    with open(os.path.join(BASEDIR, "board", "obj", "code.bin" if self.legacy else "panda.bin")) as f:
+    if fn is None:
+      ret = os.system("cd %s && make clean && make -f %s bin" % (os.path.join(BASEDIR, "board"),
+                      "Makefile.legacy" if self.legacy else "Makefile"))
+      fn = os.path.join(BASEDIR, "board", "obj", "code.bin" if self.legacy else "panda.bin")
+
+    with open(fn) as f:
       dat = f.read()
 
     # confirm flasher is present