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boardd always send can packet (#2307) 

* boardd always send message

* Only log missed cycles when ignition is on

* Just clip, no completely different code paths
pull/2297/head
Willem Melching 2020-10-09 12:45:43 +02:00 committed by GitHub
parent 671183184b
commit cfd16faad2
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 11 additions and 10 deletions
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13
selfdrive/boardd/boardd.cc
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@ -43,6 +43,7 @@ volatile sig_atomic_t do_exit = 0;
bool spoofing_started = false;
bool fake_send = false;
bool connected_once = false;
bool ignition = false;
struct tm get_time(){
time_t rawtime;
@ -190,10 +191,8 @@ void can_recv(PubMaster &pm) {
// create message
MessageBuilder msg;
auto event = msg.initEvent();
int recv = panda->can_receive(event);
if (recv){
pm.send("can", msg);
}
panda->can_receive(event);
pm.send("can", msg);
}
void can_send_thread() {
@ -254,7 +253,9 @@ void can_recv_thread() {
useconds_t sleep = remaining / 1000;
usleep(sleep);
} else {
LOGW("missed cycles (%d) %lld", (int)-1*remaining/dt, remaining);
if (ignition){
LOGW("missed cycles (%d) %lld", (int)-1*remaining/dt, remaining);
}
next_frame_time = cur_time;
}
@ -295,7 +296,7 @@ void can_health_thread() {
panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
}
bool ignition = ((health.ignition_line != 0) || (health.ignition_can != 0));
ignition = ((health.ignition_line != 0) || (health.ignition_can != 0));
if (ignition) {
no_ignition_cnt = 0;

8
selfdrive/boardd/panda.cc
View File

@ -321,10 +321,10 @@ int Panda::can_receive(cereal::Event::Builder &event){
uint32_t data[RECV_SIZE/4];
int recv = usb_bulk_read(0x81, (unsigned char*)data, RECV_SIZE);
// return if length is 0
if (recv <= 0) {
return 0;
} else if (recv == RECV_SIZE) {
// Not sure if this can happen
if (recv < 0) recv = 0;
if (recv == RECV_SIZE) {
LOGW("Receive buffer full");
}