text: #!/usr/bin/env python3
  # simple boardd wrapper that updates the panda first
  import os
  import time
  
  from panda import BASEDIR as PANDA_BASEDIR, Panda, PandaDFU
  from common.basedir import BASEDIR
  from selfdrive.swaglog import cloudlog
  
  PANDA_FW_FN = os.path.join(PANDA_BASEDIR, "board", "obj", "panda.bin.signed")
  
  
  def get_expected_signature() -> bytes:
    try:
      return Panda.get_signature_from_firmware(PANDA_FW_FN)
    except Exception:
      cloudlog.exception("Error computing expected signature")
      return b""
  
  
  def update_panda() -> None:
    panda = None
    panda_dfu = None
  
    cloudlog.info("Connecting to panda")
  
    while True:
      # break on normal mode Panda
      panda_list = Panda.list()
      if len(panda_list) > 0:
        cloudlog.info("Panda found, connecting")
        panda = Panda(panda_list[0])
        break
  
      # flash on DFU mode Panda
      panda_dfu = PandaDFU.list()
      if len(panda_dfu) > 0:
        cloudlog.info("Panda in DFU mode found, flashing recovery")
        panda_dfu = PandaDFU(panda_dfu[0])
        panda_dfu.recover()
  
      time.sleep(1)
  
    fw_signature = get_expected_signature()
  
    try:
      serial = panda.get_serial()[0].decode("utf-8")
    except Exception:
      serial = None
  
    panda_version = "bootstub" if panda.bootstub else panda.get_version()
    panda_signature = b"" if panda.bootstub else panda.get_signature()
    cloudlog.warning("Panda %s connected, version: %s, signature %s, expected %s" % (
      serial,
      panda_version,
      panda_signature.hex(),
      fw_signature.hex(),
    ))
  
    if panda.bootstub or panda_signature != fw_signature:
      cloudlog.info("Panda firmware out of date, update required")
      panda.flash()
      cloudlog.info("Done flashing")
  
    if panda.bootstub:
      bootstub_version = panda.get_version()
      cloudlog.info(f"Flashed firmware not booting, flashing development bootloader. Bootstub version: {bootstub_version}")
      panda.recover()
      cloudlog.info("Done flashing bootloader")
  
    if panda.bootstub:
      cloudlog.info("Panda still not booting, exiting")
      raise AssertionError
  
    panda_signature = panda.get_signature()
    if panda_signature != fw_signature:
      cloudlog.info("Version mismatch after flashing, exiting")
      raise AssertionError
  
    cloudlog.info("Resetting panda")
    panda.reset()
  
  
  def main() -> None:
    update_panda()
  
    os.chdir(os.path.join(BASEDIR, "selfdrive/boardd"))
    os.execvp("./boardd", ["./boardd"])
  
  
  if __name__ == "__main__":
    main()
  