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usb.cc: tolerate BUSY on set_configuration, retry claim

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comma
2026-08-28 09:29:55 +08:00
parent 857d34b65d
commit 6c8fe68914
1 changed files with 12 additions and 3 deletions
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openpilot/selfdrive/pandad/usb.cc
+12 -3
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@@ -68,10 +68,18 @@ PandaUsbHandle::PandaUsbHandle(std::string serial) : PandaCommsHandle(serial) {
libusb_detach_kernel_driver(dev_handle, 0);
}
// The device may already be in the desired configuration (e.g. right after
// a python pandad session); BUSY here is not fatal.
err = libusb_set_configuration(dev_handle, 1);
if (err != 0) { goto fail; }
if (err != 0 && err != LIBUSB_ERROR_BUSY) { goto fail; }
err = libusb_claim_interface(dev_handle, 0);
// Retry claiming on BUSY: another process may still be releasing the interface.
for (int i = 0; i < 5; i++) {
err = libusb_claim_interface(dev_handle, 0);
if (err == 0) break;
if (err != LIBUSB_ERROR_BUSY) goto fail;
usleep(200000);
}
if (err != 0) { goto fail; }
return;
@@ -80,6 +88,7 @@ fail:
if (dev_list != NULL) {
libusb_free_device_list(dev_list, 1);
}
LOGE("failed to connect to panda over USB: %s", libusb_strerror((enum libusb_error)err));
cleanup();
throw std::runtime_error("Error connecting to panda");
}
@@ -232,4 +241,4 @@ int PandaUsbHandle::bulk_read(unsigned char endpoint, unsigned char* data, int l
} while (err != 0 && connected);
return transferred;
}
}