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boardd: reconnect when comms not healthy (#28075)

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* boardd: reconnect when comms not healthy

* update comments

* fix
This commit is contained in:
Adeeb Shihadeh
2023-05-02 15:50:17 -07:00
committed by GitHub
parent 50e6c43efd
commit eb5ad17f8e
1 changed files with 20 additions and 6 deletions
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26
selfdrive/boardd/boardd.cc
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@@ -483,12 +483,26 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
ignition = *ignition_opt;
// TODO: make this check fast, currently takes 16ms
// check if we have new pandas and are offroad
if (!ignition && (pandas.size() != Panda::list().size())) {
LOGW("Reconnecting to changed amount of pandas!");
do_exit = true;
break;
// check if we should have pandad reconnect
if (!ignition) {
bool comms_healthy = true;
for (const auto &panda : pandas) {
comms_healthy &= panda->comms_healthy();
}
if (!comms_healthy) {
LOGE("Reconnecting, communication to pandas not healthy");
do_exit = true;
// TODO: list is slow, takes 16ms
} else if (pandas.size() != Panda::list().size()) {
LOGW("Reconnecting to changed amount of pandas!");
do_exit = true;
}
if (do_exit) {
break;
}
}
// clear ignition-based params and set new safety on car start