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boardd: release claimed interface before closing usb (#1855) 

* release claimed interface

* pass device handle by reference

Co-authored-by: Willem Melching <willem.melching@gmail.com>
pull/1911/head
Dean Lee 2020-07-23 21:37:28 +08:00 committed by GitHub
parent 0ac2f6c470
commit 2232efbcd4
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 11 additions and 9 deletions
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20
selfdrive/boardd/boardd.cc
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@ -142,6 +142,15 @@ void *safety_setter_thread(void *s) {
return NULL;
}
void usb_close(libusb_device_handle* &dev_handle) {
if (!dev_handle) {
return;
}
libusb_release_interface(dev_handle, 0);
libusb_close(dev_handle);
dev_handle = NULL;
}
// must be called before threads or with mutex
bool usb_connect() {
int err, err2;
@ -154,10 +163,7 @@ bool usb_connect() {
ignition_last = false;
if (dev_handle != NULL){
libusb_close(dev_handle);
dev_handle = NULL;
}
usb_close(dev_handle);
dev_handle = libusb_open_device_with_vid_pid(ctx, 0xbbaa, 0xddcc);
if (dev_handle == NULL) { goto fail; }
@ -931,7 +937,6 @@ int main() {
assert(err == 0);
// join threads
err = pthread_join(can_recv_thread_handle, NULL);
assert(err == 0);
@ -941,10 +946,7 @@ int main() {
err = pthread_join(can_health_thread_handle, NULL);
assert(err == 0);
//while (!do_exit) usleep(1000);
// destruct libusb
libusb_close(dev_handle);
usb_close(dev_handle);
libusb_exit(ctx);
}