From dd74f09eab0a488a122fec8ca4e5c883bf2f7494 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 9 Mar 2021 22:48:27 -0800
Subject: [PATCH] turn pigeon off when going offroad (#20296)

* cleanup

* power off pigeon

* comment

Co-authored-by: Comma Device <device@comma.ai>
---
 selfdrive/boardd/boardd.cc | 13 +++++++------
 selfdrive/boardd/panda.cc  | 11 +++++------
 selfdrive/boardd/panda.h   |  1 -
 selfdrive/boardd/pigeon.cc |  1 -
 4 files changed, 12 insertions(+), 14 deletions(-)

diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index dfde9bc478..30b63684cc 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -363,7 +363,7 @@ void panda_state_thread(bool spoofing_started) {
     ps.setIgnitionCan(pandaState.ignition_can);
     ps.setControlsAllowed(pandaState.controls_allowed);
     ps.setGasInterceptorDetected(pandaState.gas_interceptor_detected);
-    ps.setHasGps(panda->is_pigeon);
+    ps.setHasGps(true);
     ps.setCanRxErrs(pandaState.can_rx_errs);
     ps.setCanSendErrs(pandaState.can_send_errs);
     ps.setCanFwdErrs(pandaState.can_fwd_errs);
@@ -472,16 +472,13 @@ static void pigeon_publish_raw(PubMaster &pm, const std::string &dat) {
 }
 
 void pigeon_thread() {
-  if (!panda->is_pigeon) { return; };
-
-  // ubloxRaw = 8042
   PubMaster pm({"ubloxRaw"});
   bool ignition_last = false;
 
 #ifdef QCOM2
-  Pigeon * pigeon = Pigeon::connect("/dev/ttyHS0");
+  Pigeon *pigeon = Pigeon::connect("/dev/ttyHS0");
 #else
-  Pigeon * pigeon = Pigeon::connect(panda);
+  Pigeon *pigeon = Pigeon::connect(panda);
 #endif
 
   std::unordered_map<char, uint64_t> last_recv_time;
@@ -535,6 +532,10 @@ void pigeon_thread() {
       for (const auto& [msg_cls, dt] : cls_max_dt) {
         last_recv_time[msg_cls] = t;
       }
+    } else if (!ignition && ignition_last) {
+      // power off on falling edge of ignition
+      LOGD("powering off pigeon\n");
+      pigeon->set_power(false);
     }
 
     ignition_last = ignition;
diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc
index 84697965f1..e8cb23e100 100644
--- a/selfdrive/boardd/panda.cc
+++ b/selfdrive/boardd/panda.cc
@@ -52,13 +52,12 @@ Panda::Panda(){
   if (err != 0) { goto fail; }
 
   hw_type = get_hw_type();
-  is_pigeon =
-    (hw_type == cereal::PandaState::PandaType::GREY_PANDA) ||
-    (hw_type == cereal::PandaState::PandaType::BLACK_PANDA) ||
-    (hw_type == cereal::PandaState::PandaType::UNO) ||
-    (hw_type == cereal::PandaState::PandaType::DOS);
+
+  assert((hw_type != cereal::PandaState::PandaType::WHITE_PANDA) &&
+         (hw_type != cereal::PandaState::PandaType::GREY_PANDA));
+
   has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) ||
-    (hw_type == cereal::PandaState::PandaType::DOS);
+            (hw_type == cereal::PandaState::PandaType::DOS);
 
   return;
 
diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h
index 26bd263605..d6abf1f6e2 100644
--- a/selfdrive/boardd/panda.h
+++ b/selfdrive/boardd/panda.h
@@ -54,7 +54,6 @@ class Panda {
 
   std::atomic<bool> connected = true;
   cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN;
-  bool is_pigeon = false;
   bool has_rtc = false;
 
   // HW communication
diff --git a/selfdrive/boardd/pigeon.cc b/selfdrive/boardd/pigeon.cc
index 8cd0790402..3f2588f252 100644
--- a/selfdrive/boardd/pigeon.cc
+++ b/selfdrive/boardd/pigeon.cc
@@ -133,7 +133,6 @@ void TTYPigeon::connect(const char * tty) {
   if (pigeon_tty_fd < 0){
     handle_tty_issue(errno, __func__);
     assert(pigeon_tty_fd >= 0);
-  
   }
   int err = tcgetattr(pigeon_tty_fd, &pigeon_tty);
   assert(err == 0);