debug

common/util.h

@@ -4,6 +4,7 @@
 #include <sys/stat.h>
 #include <unistd.h>
 
+#include <iostream>
 #include <algorithm>
 #include <atomic>
 #include <chrono>
@@ -129,6 +130,7 @@ private:
     power_failure = (sig == SIGPWR);
 #endif
     signal = sig;
+    std::cout << "!!!!!!!!!!! Caught signal " << sig << " !!!!!!!!!!!" << std::flush;
     do_exit = true;
   }
   inline static std::atomic<bool> do_exit = false;

selfdrive/pandad/pandad.cc

@@ -99,17 +99,18 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
 
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get()));
     cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
+    (void)event;
 
     // Don't send if older than 1 second
-    if ((nanos_since_boot() - event.getLogMonoTime() < 1e9) && !fake_send) {
-      for (const auto& panda : pandas) {
-        LOGT("sending sendcan to panda: %s", (panda->hw_serial()).c_str());
-        panda->can_send(event.getSendcan());
-        LOGT("sendcan sent to panda: %s", (panda->hw_serial()).c_str());
-      }
-    } else {
-      LOGE("sendcan too old to send: %" PRIu64 ", %" PRIu64, nanos_since_boot(), event.getLogMonoTime());
-    }
+//    if ((nanos_since_boot() - event.getLogMonoTime() < 1e9) && !fake_send) {
+//      for (const auto& panda : pandas) {
+////        LOGT("sending sendcan to panda: %s", (panda->hw_serial()).c_str());
+////        panda->can_send(event.getSendcan());
+////        LOGT("sendcan sent to panda: %s", (panda->hw_serial()).c_str());
+//      }
+//    } else {
+//      LOGE("sendcan too old to send: %" PRIu64 ", %" PRIu64, nanos_since_boot(), event.getLogMonoTime());
+//    }
   }
 }
 
@@ -426,6 +427,12 @@ void pandad_run(std::vector<Panda *> &pandas) {
   // Start the CAN send thread
   std::thread send_thread(can_send_thread, pandas, fake_send);
 
+  while (!do_exit) {
+    util::sleep_for(100);
+  }
+  send_thread.join();
+  exit(0);
+
   RateKeeper rk("pandad", 100);
   SubMaster sm({"selfdriveState"});
   PubMaster pm({"can", "pandaStates", "peripheralState"});
@@ -475,10 +482,10 @@ void pandad_main_thread(std::vector<std::string> serials) {
   if (serials.size() == 0) {
     serials = Panda::list();
 
-    if (serials.size() == 0) {
-      LOGW("no pandas found, exiting");
-      return;
-    }
+//    if (serials.size() == 0) {
+//      LOGW("no pandas found, exiting");
+//      return;
+//    }
   }
 
   std::string serials_str;