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boardd: only look for new usb pandas

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old-commit-hash: 78df554217
This commit is contained in:
Comma Device
2023-05-25 19:17:58 -07:00
committed by Adeeb Shihadeh
parent afe7825130
commit 8a91f7cd30
3 changed files with 21 additions and 9 deletions
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18
selfdrive/boardd/boardd.cc
View File

@@ -472,6 +472,11 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
bool is_onroad_last = false;
std::future<bool> safety_future;
std::vector<std::string> connected_serials;
for (Panda *p : pandas) {
connected_serials.push_back(p->hw_serial());
}
LOGD("start panda state thread");
// run at 2hz
@@ -499,10 +504,15 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
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;
} else {
// check for new pandas
for (std::string &s : Panda::list(true)) {
if (!std::count(connected_serials.begin(), connected_serials.end(), s)) {
LOGW("Reconnecting to new panda: %s", s.c_str());
do_exit = true;
break;
}
}
}
if (do_exit) {

10
selfdrive/boardd/panda.cc
View File

@@ -44,13 +44,15 @@ std::string Panda::hw_serial() {
return handle->hw_serial;
}
std::vector<std::string> Panda::list() {
std::vector<std::string> Panda::list(bool usb_only) {
std::vector<std::string> serials = PandaUsbHandle::list();
#ifndef __APPLE__
for (auto s : PandaSpiHandle::list()) {
if (std::find(serials.begin(), serials.end(), s) == serials.end()) {
serials.push_back(s);
if (!usb_only) {
for (auto s : PandaSpiHandle::list()) {
if (std::find(serials.begin(), serials.end(), s) == serials.end()) {
serials.push_back(s);
}
}
}
#endif

2
selfdrive/boardd/panda.h
View File

@@ -57,7 +57,7 @@ public:
std::string hw_serial();
// Static functions
static std::vector<std::string> list();
static std::vector<std::string> list(bool usb_only=false);
// Panda functionality
cereal::PandaState::PandaType get_hw_type();