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boardd: refactor usb_connect, delete panda on failure (#19956)

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old-commit-hash: dd3a2606765e51631034677df81b1513a74d503a
This commit is contained in:
Dean Lee
2021-01-29 20:10:56 +08:00
committed by GitHub
parent 6e0a4aff4d
commit 760b707597
1 changed files with 9 additions and 7 deletions
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selfdrive/boardd/boardd.cc
+9 -7
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@@ -120,9 +120,10 @@ void safety_setter_thread() {
bool usb_connect() {
std::unique_ptr<Panda> tmp_panda;
try {
assert(panda == NULL);
panda = new Panda();
tmp_panda = std::make_unique<Panda>();
} catch (std::exception &e) {
return false;
}
@@ -130,10 +131,10 @@ bool usb_connect() {
Params params = Params();
if (getenv("BOARDD_LOOPBACK")) {
panda->set_loopback(true);
tmp_panda->set_loopback(true);
}
if (auto fw_sig = panda->get_firmware_version(); fw_sig) {
if (auto fw_sig = tmp_panda->get_firmware_version(); fw_sig) {
params.write_db_value("PandaFirmware", (const char *)fw_sig->data(), fw_sig->size());
// Convert to hex for offroad
@@ -149,7 +150,7 @@ bool usb_connect() {
} else { return false; }
// get panda serial
if (auto serial = panda->get_serial(); serial) {
if (auto serial = tmp_panda->get_serial(); serial) {
params.write_db_value("PandaDongleId", serial->c_str(), serial->length());
LOGW("panda serial: %s", serial->c_str());
} else { return false; }
@@ -157,13 +158,13 @@ bool usb_connect() {
// power on charging, only the first time. Panda can also change mode and it causes a brief disconneciton
#ifndef __x86_64__
if (!connected_once) {
panda->set_usb_power_mode(cereal::HealthData::UsbPowerMode::CDP);
tmp_panda->set_usb_power_mode(cereal::HealthData::UsbPowerMode::CDP);
}
#endif
if (panda->has_rtc){
if (tmp_panda->has_rtc){
struct tm sys_time = get_time();
struct tm rtc_time = panda->get_rtc();
struct tm rtc_time = tmp_panda->get_rtc();
if (!time_valid(sys_time) && time_valid(rtc_time)) {
LOGE("System time wrong, setting from RTC");
@@ -175,6 +176,7 @@ bool usb_connect() {
}
connected_once = true;
panda = tmp_panda.release();
return true;
}