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boardd: improve the performance of PandaUsbHandle::list() (#30673)

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* improve list performance

* revert test_onroad

---------

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: b53b505d2ea52b61e9b42582bd97f20bff0a1fa3
This commit is contained in:
Dean Lee
2023-12-14 12:48:51 +08:00
committed by GitHub
parent 1d7d7b89b2
commit 8b3fe8d46d
1 changed files with 14 additions and 19 deletions
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33
selfdrive/boardd/panda_comms.cc
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@@ -2,33 +2,33 @@
#include <cassert>
#include <stdexcept>
#include <memory>
#include "common/swaglog.h"
static int init_usb_ctx(libusb_context **context) {
assert(context != nullptr);
int err = libusb_init(context);
static libusb_context *init_usb_ctx() {
libusb_context *context = nullptr;
int err = libusb_init(&context);
if (err != 0) {
LOGE("libusb initialization error");
return err;
return nullptr;
}
#if LIBUSB_API_VERSION >= 0x01000106
libusb_set_option(*context, LIBUSB_OPTION_LOG_LEVEL, LIBUSB_LOG_LEVEL_INFO);
libusb_set_option(context, LIBUSB_OPTION_LOG_LEVEL, LIBUSB_LOG_LEVEL_INFO);
#else
libusb_set_debug(*context, 3);
libusb_set_debug(context, 3);
#endif
return err;
return context;
}
PandaUsbHandle::PandaUsbHandle(std::string serial) : PandaCommsHandle(serial) {
// init libusb
ssize_t num_devices;
libusb_device **dev_list = NULL;
int err = init_usb_ctx(&ctx);
if (err != 0) { goto fail; }
int err = 0;
ctx = init_usb_ctx();
if (!ctx) { goto fail; }
// connect by serial
num_devices = libusb_get_device_list(ctx, &dev_list);
@@ -94,16 +94,14 @@ void PandaUsbHandle::cleanup() {
}
std::vector<std::string> PandaUsbHandle::list() {
static std::unique_ptr<libusb_context, decltype(&libusb_exit)> context(init_usb_ctx(), libusb_exit);
// init libusb
ssize_t num_devices;
libusb_context *context = NULL;
libusb_device **dev_list = NULL;
std::vector<std::string> serials;
if (!context) { return serials; }
int err = init_usb_ctx(&context);
if (err != 0) { return serials; }
num_devices = libusb_get_device_list(context, &dev_list);
num_devices = libusb_get_device_list(context.get(), &dev_list);
if (num_devices < 0) {
LOGE("libusb can't get device list");
goto finish;
@@ -130,9 +128,6 @@ finish:
if (dev_list != NULL) {
libusb_free_device_list(dev_list, 1);
}
if (context) {
libusb_exit(context);
}
return serials;
}