boardd: remove global panda (#21962)
Dean Lee
GitHub
parent
0d3eec385c
commit
8008cf5547
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@ -35,14 +35,12 @@
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#define SATURATE_IL 1600
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#define NIBBLE_TO_HEX(n) ((n) < 10 ? (n) + '0' : ((n) - 10) + 'a')
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Panda * panda = nullptr;
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std::atomic<bool> safety_setter_thread_running(false);
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std::atomic<bool> ignition(false);
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ExitHandler do_exit;
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void safety_setter_thread() {
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void safety_setter_thread(Panda *panda) {
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LOGD("Starting safety setter thread");
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// diagnostic only is the default, needed for VIN query
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panda->set_safety_model(cereal::CarParams::SafetyModel::ELM327);
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@ -101,24 +99,21 @@ void safety_setter_thread() {
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}
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bool usb_connect() {
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static bool connected_once = false;
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std::unique_ptr<Panda> tmp_panda;
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Panda *usb_connect() {
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std::unique_ptr<Panda> panda;
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try {
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assert(panda == nullptr);
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tmp_panda = std::make_unique<Panda>();
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panda = std::make_unique<Panda>();
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} catch (std::exception &e) {
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return false;
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return nullptr;
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}
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Params params = Params();
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if (getenv("BOARDD_LOOPBACK")) {
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tmp_panda->set_loopback(true);
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panda->set_loopback(true);
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}
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if (auto fw_sig = tmp_panda->get_firmware_version(); fw_sig) {
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if (auto fw_sig = panda->get_firmware_version(); fw_sig) {
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params.put("PandaFirmware", (const char *)fw_sig->data(), fw_sig->size());
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// Convert to hex for offroad
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@ -131,25 +126,24 @@ bool usb_connect() {
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params.put("PandaFirmwareHex", fw_sig_hex_buf, 16);
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LOGW("fw signature: %.*s", 16, fw_sig_hex_buf);
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} else { return false; }
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} else { return nullptr; }
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// get panda serial
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if (auto serial = tmp_panda->get_serial(); serial) {
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if (auto serial = panda->get_serial(); serial) {
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params.put("PandaDongleId", serial->c_str(), serial->length());
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LOGW("panda serial: %s", serial->c_str());
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} else { return false; }
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} else { return nullptr; }
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// power on charging, only the first time. Panda can also change mode and it causes a brief disconneciton
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#ifndef __x86_64__
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if (!connected_once) {
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tmp_panda->set_usb_power_mode(cereal::PandaState::UsbPowerMode::CDP);
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}
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static std::once_flag connected_once;
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std::call_once(connected_once, &Panda::set_usb_power_mode, panda, cereal::PandaState::UsbPowerMode::CDP);
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#endif
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if (tmp_panda->has_rtc) {
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if (panda->has_rtc) {
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setenv("TZ","UTC",1);
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struct tm sys_time = util::get_time();
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struct tm rtc_time = tmp_panda->get_rtc();
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struct tm rtc_time = panda->get_rtc();
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if (!util::time_valid(sys_time) && util::time_valid(rtc_time)) {
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LOGE("System time wrong, setting from RTC. "
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@ -164,29 +158,31 @@ bool usb_connect() {
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}
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}
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connected_once = true;
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panda = tmp_panda.release();
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return true;
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return panda.release();
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}
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// must be called before threads or with mutex
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static bool usb_retry_connect() {
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static Panda *usb_retry_connect() {
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LOGW("attempting to connect");
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while (!do_exit && !usb_connect()) { util::sleep_for(100); }
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if (panda) {
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LOGW("connected to board");
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}
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return !do_exit;
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while (!do_exit) {
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Panda *panda = usb_connect();
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if (panda) {
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LOGW("connected to board");
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return panda;
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}
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util::sleep_for(100);
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};
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return nullptr;
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}
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void can_recv(PubMaster &pm) {
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void can_recv(Panda *panda, PubMaster &pm) {
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kj::Array<capnp::word> can_data;
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panda->can_receive(can_data);
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auto bytes = can_data.asBytes();
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pm.send("can", bytes.begin(), bytes.size());
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}
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void can_send_thread(bool fake_send) {
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void can_send_thread(Panda *panda, bool fake_send) {
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LOGD("start send thread");
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AlignedBuffer aligned_buf;
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@ -223,7 +219,7 @@ void can_send_thread(bool fake_send) {
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delete context;
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}
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void can_recv_thread() {
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void can_recv_thread(Panda *panda) {
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LOGD("start recv thread");
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// can = 8006
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@ -234,7 +230,7 @@ void can_recv_thread() {
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uint64_t next_frame_time = nanos_since_boot() + dt;
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while (!do_exit && panda->connected) {
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can_recv(pm);
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can_recv(panda, pm);
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uint64_t cur_time = nanos_since_boot();
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int64_t remaining = next_frame_time - cur_time;
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@ -251,7 +247,7 @@ void can_recv_thread() {
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}
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}
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void panda_state_thread(bool spoofing_started) {
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void panda_state_thread(Panda *&panda, bool spoofing_started) {
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LOGD("start panda state thread");
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PubMaster pm({"pandaState"});
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@ -308,7 +304,7 @@ void panda_state_thread(bool spoofing_started) {
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if (!safety_setter_thread_running) {
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safety_setter_thread_running = true;
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std::thread(safety_setter_thread).detach();
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std::thread(safety_setter_thread, panda).detach();
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} else {
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LOGW("Safety setter thread already running");
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}
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@ -400,7 +396,7 @@ void panda_state_thread(bool spoofing_started) {
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}
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}
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void hardware_control_thread() {
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void hardware_control_thread(Panda *panda) {
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LOGD("start hardware control thread");
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SubMaster sm({"deviceState", "driverCameraState"});
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@ -481,7 +477,7 @@ static void pigeon_publish_raw(PubMaster &pm, const std::string &dat) {
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pm.send("ubloxRaw", msg);
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}
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void pigeon_thread() {
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void pigeon_thread(Panda *panda) {
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PubMaster pm({"ubloxRaw"});
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bool ignition_last = false;
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@ -554,28 +550,28 @@ void pigeon_thread() {
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delete pigeon;
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}
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int main() {
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int err;
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LOGW("starting boardd");
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// set process priority and affinity
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err = set_realtime_priority(54);
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int err = set_realtime_priority(54);
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LOG("set priority returns %d", err);
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err = set_core_affinity(Hardware::TICI() ? 4 : 3);
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LOG("set affinity returns %d", err);
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while (!do_exit) {
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Panda *panda = nullptr;
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std::vector<std::thread> threads;
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threads.push_back(std::thread(panda_state_thread, getenv("STARTED") != nullptr));
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threads.emplace_back(panda_state_thread, std::ref(panda), getenv("STARTED") != nullptr);
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// connect to the board
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if (usb_retry_connect()) {
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threads.push_back(std::thread(can_send_thread, getenv("FAKESEND") != nullptr));
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threads.push_back(std::thread(can_recv_thread));
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threads.push_back(std::thread(hardware_control_thread));
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threads.push_back(std::thread(pigeon_thread));
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panda = usb_retry_connect();
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if (panda != nullptr) {
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threads.emplace_back(can_send_thread, panda, getenv("FAKESEND") != nullptr);
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threads.emplace_back(can_recv_thread, panda);
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threads.emplace_back(hardware_control_thread, panda);
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threads.emplace_back(pigeon_thread, panda);
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}
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for (auto &t : threads) t.join();
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