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boardd: return early from usb functions if not connected

albatross
Willem Melching 2020-08-20 17:36:02 +02:00
parent 53f920bcca
commit e03044530c
1 changed files with 13 additions and 1 deletions
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14
selfdrive/boardd/panda.cc
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@ -62,7 +62,7 @@ Panda::Panda(){
is_pigeon =
(hw_type == cereal::HealthData::HwType::GREY_PANDA) ||
(hw_type == cereal::HealthData::HwType::BLACK_PANDA) ||
(hw_type == cereal::HealthData::HwType::UNO) ||
(hw_type == cereal::HealthData::HwType::UNO) ||
(hw_type == cereal::HealthData::HwType::DOS);
has_rtc = (hw_type == cereal::HealthData::HwType::UNO) ||
(hw_type == cereal::HealthData::HwType::DOS);
@ -105,6 +105,10 @@ int Panda::usb_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigne
int err;
const uint8_t bmRequestType = LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE;
if (!connected){
return LIBUSB_ERROR_NO_DEVICE;
}
pthread_mutex_lock(&usb_lock);
do {
err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, NULL, 0, timeout);
@ -134,6 +138,10 @@ int Panda::usb_bulk_write(unsigned char endpoint, unsigned char* data, int lengt
int err;
int transferred = 0;
if (!connected){
return 0;
}
pthread_mutex_lock(&usb_lock);
do {
// Try sending can messages. If the receive buffer on the panda is full it will NAK
@ -156,6 +164,10 @@ int Panda::usb_bulk_read(unsigned char endpoint, unsigned char* data, int length
int err;
int transferred = 0;
if (!connected){
return 0;
}
pthread_mutex_lock(&usb_lock);
do {