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Don't send empty pandaState from panda_state_thread (#22393)

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This commit is contained in:
Willem Melching
2021-10-01 09:05:33 +02:00
committed by GitHub
parent 9219de0bd3
commit abaa7b2d55
1 changed files with 28 additions and 39 deletions
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selfdrive/boardd/boardd.cc
+28 -39
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@@ -162,20 +162,6 @@ Panda *usb_connect() {
return panda.release();
}
// must be called before threads or with mutex
static Panda *usb_retry_connect() {
LOGW("attempting to connect");
while (!do_exit) {
Panda *panda = usb_connect();
if (panda) {
LOGW("connected to board");
return panda;
}
util::sleep_for(100);
};
return nullptr;
}
void can_recv(Panda *panda, PubMaster &pm) {
kj::Array<capnp::word> can_data;
panda->can_receive(can_data);
@@ -248,24 +234,19 @@ void can_recv_thread(Panda *panda) {
}
}
void panda_state_thread(Panda *&panda, bool spoofing_started) {
LOGD("start panda state thread");
PubMaster pm({"pandaState"});
void send_empty_panda_state(PubMaster *pm) {
MessageBuilder msg;
auto pandaState = msg.initEvent().initPandaState();
pandaState.setPandaType(cereal::PandaState::PandaType::UNKNOWN);
pm->send("pandaState", msg);
}
void panda_state_thread(PubMaster *pm, Panda *panda, bool spoofing_started) {
LOGD("start panda state thread");
uint32_t no_ignition_cnt = 0;
bool ignition_last = false;
Params params = Params();
// Broadcast empty pandaState message when panda is not yet connected
while (!do_exit && !panda) {
MessageBuilder msg;
auto pandaState = msg.initEvent().initPandaState();
pandaState.setPandaType(cereal::PandaState::PandaType::UNKNOWN);
pm.send("pandaState", msg);
util::sleep_for(500);
}
// run at 2hz
while (!do_exit && panda->connected) {
health_t pandaState = panda->get_state();
@@ -386,7 +367,7 @@ void panda_state_thread(Panda *&panda, bool spoofing_started) {
i++;
}
}
pm.send("pandaState", msg);
pm->send("pandaState", msg);
panda->send_heartbeat();
util::sleep_for(500);
}
@@ -556,20 +537,28 @@ int main() {
err = set_core_affinity(Hardware::TICI() ? 4 : 3);
LOG("set affinity returns %d", err);
while (!do_exit) {
Panda *panda = nullptr;
std::vector<std::thread> threads;
threads.emplace_back(panda_state_thread, std::ref(panda), getenv("STARTED") != nullptr);
LOGW("attempting to connect");
PubMaster pm({"pandaState"});
// connect to the board
panda = usb_retry_connect();
if (panda != nullptr) {
threads.emplace_back(can_send_thread, panda, getenv("FAKESEND") != nullptr);
threads.emplace_back(can_recv_thread, panda);
threads.emplace_back(hardware_control_thread, panda);
threads.emplace_back(pigeon_thread, panda);
while (!do_exit) {
Panda *panda = usb_connect();
// Send empty pandaState and try again
if (panda == nullptr) {
send_empty_panda_state(&pm);
util::sleep_for(500);
continue;
}
LOGW("connected to board");
std::vector<std::thread> threads;
threads.emplace_back(panda_state_thread, &pm, panda, getenv("STARTED") != nullptr);
threads.emplace_back(can_send_thread, panda, getenv("FAKESEND") != nullptr);
threads.emplace_back(can_recv_thread, panda);
threads.emplace_back(hardware_control_thread, panda);
threads.emplace_back(pigeon_thread, panda);
for (auto &t : threads) t.join();
delete panda;