registration required to go onroad

Author: adeebshihadeh

common/params_keys.h

@@ -91,7 +91,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
     {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
-    {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
+    {"Offroad_UnregisteredHardware", CLEAR_ON_MANAGER_START},
     {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
     {"OnroadCycleRequested", CLEAR_ON_MANAGER_START},
     {"OpenpilotEnabledToggle", PERSISTENT},

selfdrive/selfdrived/alerts_offroad.json

@@ -25,8 +25,8 @@
     "text": "An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install.",
     "severity": 0
   },
-  "Offroad_UnofficialHardware": {
-    "text": "Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.",
+  "Offroad_UnregisteredHardware": {
+    "text": "Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.",
     "severity": 1
   },
   "Offroad_StorageMissing": {

system/athena/registration.py

@@ -97,7 +97,7 @@ def register(show_spinner=False) -> str | None:
 
   if dongle_id:
     params.put("DongleId", dongle_id)
-    set_offroad_alert("Offroad_UnofficialHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC)
+    set_offroad_alert("Offroad_UnregisteredHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC)
   return dongle_id
 
 

system/hardware/hardwared.py

@@ -19,13 +19,14 @@
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_HW
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
-from openpilot.system.hardware import HARDWARE, TICI, AGNOS
+from openpilot.system.hardware import HARDWARE, TICI, AGNOS, PC
 from openpilot.system.loggerd.config import get_available_percent
 from openpilot.system.statsd import statlog
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware.power_monitoring import PowerMonitoring
 from openpilot.system.hardware.fan_controller import TiciFanController
 from openpilot.system.version import terms_version, training_version
+from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 
 ThermalStatus = log.DeviceState.ThermalStatus
 NetworkType = log.DeviceState.NetworkType
@@ -325,6 +326,12 @@ def hardware_thread(end_event, hw_queue) -> None:
     show_alert = (not onroad_conditions["device_temp_good"] or not startup_conditions["device_temp_engageable"]) and onroad_conditions["ignition"]
     set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", show_alert, extra_text=extra_text)
 
+    # *** registration check ***
+    if not PC:
+      # we enforce this for our software, but you are welcome
+      # to make a different decision in your software
+      startup_conditions["registered_device"] = PC or (params.get("DongleId") != UNREGISTERED_DONGLE_ID)
+
     # TODO: this should move to TICI.initialize_hardware, but we currently can't import params there
     if TICI and HARDWARE.get_device_type() == "tici":
       if not os.path.isfile("/persist/comma/living-in-the-moment"):