use proper timeout on frontFrame to turn off IR leds

old-commit-hash: 58262bac9d

selfdrive/boardd/boardd.cc

@@ -654,7 +654,9 @@ void *hardware_control_thread(void *crap) {
   if (hw_type != cereal::HealthData::HwType::UNO) return NULL;
 
 
+  uint64_t last_front_frame_t = 0;
   uint16_t prev_fan_speed = 999;
+  uint16_t ir_pwr = 0;
   uint16_t prev_ir_pwr = 999;
   unsigned int cnt = 0;
 
@@ -684,7 +686,7 @@ void *hardware_control_thread(void *crap) {
         }
       } else if (type == cereal::Event::FRONT_FRAME){
         float cur_front_gain = event.getFrontFrame().getGainFrac();
-        uint16_t ir_pwr;
+        last_front_frame_t = event.getLogMonoTime();
 
         if (cur_front_gain <= CUTOFF_GAIN) {
           ir_pwr = 100.0 * MIN_IR_POWER;
@@ -693,20 +695,22 @@ void *hardware_control_thread(void *crap) {
         } else {
           ir_pwr = 100.0 * (MIN_IR_POWER + ((cur_front_gain - CUTOFF_GAIN) * (MAX_IR_POWER - MIN_IR_POWER) / (SATURATE_GAIN - CUTOFF_GAIN)));
         }
+      }
+    }
 
-        if (!ignition_last){
-          ir_pwr = 0;
-        }
-
-        if (ir_pwr != prev_ir_pwr || cnt % 100 == 0 || ir_pwr >= 50.0){
-          pthread_mutex_lock(&usb_lock);
-          libusb_control_transfer(dev_handle, 0x40, 0xb0, ir_pwr, 0, NULL, 0, TIMEOUT);
-          pthread_mutex_unlock(&usb_lock);
+    // Disable ir_pwr on front frame timeout
+    uint64_t cur_t = nanos_since_boot();
+    if (cur_t - last_front_frame_t > 1e9){
+      ir_pwr = 0;
+    }
 
-          prev_ir_pwr = ir_pwr;
-        }
-      }
+    if (ir_pwr != prev_ir_pwr || cnt % 100 == 0 || ir_pwr >= 50.0){
+      pthread_mutex_lock(&usb_lock);
+      libusb_control_transfer(dev_handle, 0x40, 0xb0, ir_pwr, 0, NULL, 0, TIMEOUT);
+      pthread_mutex_unlock(&usb_lock);
+      prev_ir_pwr = ir_pwr;
     }
+
   }
 
   delete poller;