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pigeon_thread: ensure the pigeon->init() will not be called twice (#19963)

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* ensure init is not called twice

* add space
old-commit-hash: 3fde3a5f7d924062d47ebe934af1865e43a08dc9
This commit is contained in:
Dean Lee
2021-02-01 04:55:11 +08:00
committed by GitHub
parent 2162aae01b
commit 11defbb77f
1 changed files with 4 additions and 3 deletions
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selfdrive/boardd/boardd.cc
+4 -3
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@@ -463,7 +463,7 @@ static void pigeon_publish_raw(PubMaster &pm, const std::string &dat) {
}
void pigeon_thread() {
if (!panda->is_pigeon){ return; };
if (!panda->is_pigeon) { return; };
// ubloxRaw = 8042
PubMaster pm({"ubloxRaw"});
@@ -476,12 +476,13 @@ void pigeon_thread() {
#endif
while (!do_exit && panda->connected) {
bool need_reset = false;
std::string recv = pigeon->receive();
if (recv.length() > 0) {
if (recv[0] == (char)0x00){
if (ignition) {
LOGW("received invalid ublox message while onroad, resetting panda GPS");
pigeon->init();
need_reset = true;
}
} else {
pigeon_publish_raw(pm, recv);
@@ -490,7 +491,7 @@ void pigeon_thread() {
// init pigeon on rising ignition edge
// since it was turned off in low power mode
if(ignition && !ignition_last) {
if((ignition && !ignition_last) || need_reset) {
pigeon->init();
}