boardd: move main() to main.cc for test cases (#23564)

* move main() to main.cc

* move includes back

release/files_common

@@ -88,6 +88,8 @@ selfdrive/boardd/.gitignore
 selfdrive/boardd/SConscript
 selfdrive/boardd/__init__.py
 selfdrive/boardd/boardd.cc
+selfdrive/boardd/boardd.h
+selfdrive/boardd/main.cc
 selfdrive/boardd/boardd.py
 selfdrive/boardd/boardd_api_impl.pyx
 selfdrive/boardd/can_list_to_can_capnp.cc

selfdrive/boardd/SConscript

@@ -1,7 +1,7 @@
 Import('env', 'envCython', 'common', 'cereal', 'messaging')
 
 libs = ['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj']
-env.Program('boardd', ['boardd.cc', 'panda.cc', 'pigeon.cc'], LIBS=libs)
+env.Program('boardd', ['main.cc', 'boardd.cc', 'panda.cc', 'pigeon.cc'], LIBS=libs)
 env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])
 
 envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])

selfdrive/boardd/boardd.cc

@@ -1,3 +1,5 @@
+#include "selfdrive/boardd/boardd.h"
+
 #include <sched.h>
 #include <sys/cdefs.h>
 #include <sys/resource.h>
@@ -27,7 +29,6 @@
 #include "selfdrive/common/util.h"
 #include "selfdrive/hardware/hw.h"
 
-#include "selfdrive/boardd/panda.h"
 #include "selfdrive/boardd/pigeon.h"
 
 // -- Multi-panda conventions --
@@ -590,23 +591,12 @@ void pigeon_thread(Panda *panda) {
   }
 }
 
-int main(int argc, char *argv[]) {
-  LOGW("starting boardd");
-
-  if (!Hardware::PC()) {
-    int err;
-    err = util::set_realtime_priority(54);
-    assert(err == 0);
-    err = util::set_core_affinity({Hardware::TICI() ? 4 : 3});
-    assert(err == 0);
-  }
-
-  LOGW("attempting to connect");
-  PubMaster pm({"pandaStates", "peripheralState"});
-
-  std::vector<std::string> serials(argv + 1, argv + argc);
+void boardd_main_thread(std::vector<std::string> serials) {
   if (serials.size() == 0) serials.push_back("");
 
+  PubMaster pm({"pandaStates", "peripheralState"});
+  LOGW("attempting to connect");
+
   // connect to all provided serials
   std::vector<Panda *> pandas;
   for (int i = 0; i < serials.size() && !do_exit; /**/) {

selfdrive/boardd/boardd.h

@@ -0,0 +1,6 @@
+#pragma once
+
+#include "selfdrive/boardd/panda.h"
+
+bool safety_setter_thread(std::vector<Panda *> pandas);
+void boardd_main_thread(std::vector<std::string> serials);

selfdrive/boardd/main.cc

@@ -0,0 +1,22 @@
+#include <cassert>
+
+#include "selfdrive/boardd/boardd.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/hardware/hw.h"
+
+int main(int argc, char *argv[]) {
+  LOGW("starting boardd");
+
+  if (!Hardware::PC()) {
+    int err;
+    err = util::set_realtime_priority(54);
+    assert(err == 0);
+    err = util::set_core_affinity({Hardware::TICI() ? 4 : 3});
+    assert(err == 0);
+  }
+
+  std::vector<std::string> serials(argv + 1, argv + argc);
+  boardd_main_thread(serials);
+  return 0;
+}