boardd: fix a panda may be connected by multiple panda instance (#22932)

* fix bugs in main

* no auto
old-commit-hash: 0716635808

selfdrive/boardd/boardd.cc

@@ -627,11 +627,7 @@ void pigeon_thread(Panda *panda) {
   delete pigeon;
 }
 
-int main(int argc, char* argv[]) {
+int main(int argc, char *argv[]) {
-  std::vector<std::thread> threads;
-  std::vector<Panda *> pandas;
-  Panda *peripheral_panda;
-
   LOGW("starting boardd");
 
   if (!Hardware::PC()) {
@@ -645,37 +641,29 @@ int main(int argc, char* argv[]) {
   LOGW("attempting to connect");
   PubMaster pm({"pandaStates", "peripheralState"});
 
-  // connect loop
-  while (!do_exit) {
   std::vector<std::string> serials(argv + 1, argv + argc);
   if (serials.size() == 0) serials.push_back("");
 
   // connect to all provided serials
-    for (int i=0; i<serials.size(); i++) {
+  std::vector<Panda *> pandas;
+  for (int i = 0; i < serials.size() && !do_exit; /**/) {
     Panda *p = usb_connect(serials[i], i);
-      if (p != NULL) {
+    if (!p) {
-        pandas.push_back(p);
-      }
-    }
-
       // send empty pandaState & peripheralState and try again
-    if (pandas.size() != serials.size()) {
       send_empty_panda_state(&pm);
       send_empty_peripheral_state(&pm);
       util::sleep_for(500);
-    } else {
+      continue;
-      break;
-    }
     }
 
-  if (pandas.size() == 0) {
+    pandas.push_back(p);
-    // do_exit was set while not connected to a panda
+    ++i;
-    return 0;
   }
 
-  peripheral_panda = pandas[0];
+  if (!do_exit) {
-
     LOGW("connected to board");
+    Panda *peripheral_panda = pandas[0];
+    std::vector<std::thread> threads;
 
     threads.emplace_back(panda_state_thread, &pm, pandas, getenv("STARTED") != nullptr);
     threads.emplace_back(peripheral_control_thread, peripheral_panda);
@@ -685,9 +673,10 @@ int main(int argc, char* argv[]) {
     threads.emplace_back(can_recv_thread, pandas);
 
     for (auto &t : threads) t.join();
+  }
 
   // we have exited, clean up pandas
-  for (const auto& panda : pandas){
+  for (Panda *panda : pandas) {
     delete panda;
   }
 }