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Add argument to Panda to connect by serial number (#21905) 

* Add list() to panda.cc

* add default

* change var names

* comments

* advices

* revert

* ...

* ..

* connect by serial

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
pull/21988/head
Igor Biletskyy 2021-08-19 19:06:24 -07:00 committed by GitHub
parent af24476b4e
commit fc56ae70ee
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 29 additions and 4 deletions
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31
selfdrive/boardd/panda.cc
View File

@ -11,8 +11,10 @@
#include "selfdrive/common/swaglog.h"
#include "selfdrive/common/util.h"
Panda::Panda() {
Panda::Panda(std::string serial) {
// init libusb
ssize_t num_devices;
libusb_device **dev_list = NULL;
int err = libusb_init(&ctx);
if (err != 0) { goto fail; }
@ -22,8 +24,28 @@ Panda::Panda() {
libusb_set_debug(ctx, 3);
#endif
dev_handle = libusb_open_device_with_vid_pid(ctx, 0xbbaa, 0xddcc);
if (dev_handle == NULL) { goto fail; }
// connect by serial
num_devices = libusb_get_device_list(ctx, &dev_list);
if (num_devices < 0) { goto fail; }
for (size_t i = 0; i < num_devices; ++i) {
libusb_device_descriptor desc;
libusb_get_device_descriptor(dev_list[i], &desc);
if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) {
libusb_open(dev_list[i], &dev_handle);
if (dev_handle == NULL) { goto fail; }
unsigned char desc_serial[25];
int ret = libusb_get_string_descriptor_ascii(dev_handle, desc.iSerialNumber, desc_serial, sizeof(desc_serial));
if (ret < 0) { goto fail; }
if (serial.empty() || serial.compare(reinterpret_cast<const char*>(desc_serial)) == 0) {
break;
}
libusb_close(dev_handle);
dev_handle = NULL;
}
}
libusb_free_device_list(dev_list, 1);
if (libusb_kernel_driver_active(dev_handle, 0) == 1) {
libusb_detach_kernel_driver(dev_handle, 0);
@ -47,6 +69,9 @@ Panda::Panda() {
fail:
cleanup();
if (dev_list != NULL) {
libusb_free_device_list(dev_list, 1);
}
throw std::runtime_error("Error connecting to panda");
}

2
selfdrive/boardd/panda.h
View File

@ -49,7 +49,7 @@ class Panda {
void cleanup();
public:
Panda();
Panda(std::string serial="");
~Panda();
std::atomic<bool> connected = true;