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boardd: remove global variables spoofing_started&fake_send (#19966)

albatross
Dean Lee 2021-01-31 07:02:03 +08:00 committed by GitHub
parent edc2b3f67c
commit 4d6584a315
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 4 additions and 15 deletions
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19
selfdrive/boardd/boardd.cc
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@ -39,8 +39,6 @@
Panda * panda = NULL;
std::atomic<bool> safety_setter_thread_running(false);
std::atomic<bool> ignition(false);
bool spoofing_started = false;
bool fake_send = false;
bool connected_once = false;
ExitHandler do_exit;
@ -194,7 +192,7 @@ void can_recv(PubMaster &pm) {
pm.send("can", bytes.begin(), bytes.size());
}
void can_send_thread() {
void can_send_thread(bool fake_send) {
LOGD("start send thread");
Context * context = Context::create();
@ -261,7 +259,7 @@ void can_recv_thread() {
}
}
void can_health_thread() {
void can_health_thread(bool spoofing_started) {
LOGD("start health thread");
PubMaster pm({"health"});
@ -517,25 +515,16 @@ int main() {
err = set_core_affinity(3);
LOG("set affinity returns %d", err);
// check the environment
if (getenv("STARTED")) {
spoofing_started = true;
}
if (getenv("FAKESEND")) {
fake_send = true;
}
panda_set_power(true);
while (!do_exit){
std::vector<std::thread> threads;
threads.push_back(std::thread(can_health_thread));
threads.push_back(std::thread(can_health_thread, getenv("STARTED") != nullptr));
// connect to the board
usb_retry_connect();
threads.push_back(std::thread(can_send_thread));
threads.push_back(std::thread(can_send_thread, getenv("FAKESEND") != nullptr));
threads.push_back(std::thread(can_recv_thread));
threads.push_back(std::thread(hardware_control_thread));
threads.push_back(std::thread(pigeon_thread));