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boardd: fix a panda may be connected by multiple panda instance (#22932) 

* fix bugs in main

* no auto
pull/22964/head
Dean Lee 2021-11-18 11:25:21 +08:00 committed by GitHub
parent 841fb93def
commit 0716635808
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1 changed files with 27 additions and 38 deletions
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65
selfdrive/boardd/boardd.cc
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@ -627,11 +627,7 @@ void pigeon_thread(Panda *panda) {
delete pigeon;
}
int main(int argc, char* argv[]) {
std::vector<std::thread> threads;
std::vector<Panda *> pandas;
Panda *peripheral_panda;
int main(int argc, char *argv[]) {
LOGW("starting boardd");
if (!Hardware::PC()) {
@ -645,49 +641,42 @@ int main(int argc, char* argv[]) {
LOGW("attempting to connect");
PubMaster pm({"pandaStates", "peripheralState"});
// connect loop
while (!do_exit) {
std::vector<std::string> serials(argv + 1, argv + argc);
if (serials.size() == 0) serials.push_back("");
std::vector<std::string> serials(argv + 1, argv + argc);
if (serials.size() == 0) serials.push_back("");
// connect to all provided serials
for (int i=0; i<serials.size(); i++) {
Panda *p = usb_connect(serials[i], i);
if (p != NULL) {
pandas.push_back(p);
}
}
// send empty pandaState & peripheralState and try again
if (pandas.size() != serials.size()) {
// connect to all provided serials
std::vector<Panda *> pandas;
for (int i = 0; i < serials.size() && !do_exit; /**/) {
Panda *p = usb_connect(serials[i], i);
if (!p) {
// send empty pandaState & peripheralState and try again
send_empty_panda_state(&pm);
send_empty_peripheral_state(&pm);
util::sleep_for(500);
} else {
break;
continue;
}
pandas.push_back(p);
++i;
}
if (pandas.size() == 0) {
// do_exit was set while not connected to a panda
return 0;
if (!do_exit) {
LOGW("connected to board");
Panda *peripheral_panda = pandas[0];
std::vector<std::thread> threads;
threads.emplace_back(panda_state_thread, &pm, pandas, getenv("STARTED") != nullptr);
threads.emplace_back(peripheral_control_thread, peripheral_panda);
threads.emplace_back(pigeon_thread, peripheral_panda);
threads.emplace_back(can_send_thread, pandas, getenv("FAKESEND") != nullptr);
threads.emplace_back(can_recv_thread, pandas);
for (auto &t : threads) t.join();
}
peripheral_panda = pandas[0];
LOGW("connected to board");
threads.emplace_back(panda_state_thread, &pm, pandas, getenv("STARTED") != nullptr);
threads.emplace_back(peripheral_control_thread, peripheral_panda);
threads.emplace_back(pigeon_thread, peripheral_panda);
threads.emplace_back(can_send_thread, pandas, getenv("FAKESEND") != nullptr);
threads.emplace_back(can_recv_thread, pandas);
for (auto &t : threads) t.join();
// we have exited, clean up pandas
for (const auto& panda : pandas){
for (Panda *panda : pandas) {
delete panda;
}
}