openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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#include "stdafx.h"
#include "MessagePeriodic.h"
#include "J2534Connection.h"
MessagePeriodic::MessagePeriodic(
std::chrono::microseconds delay,
std::shared_ptr<MessageTx> msg
) : Action(msg->connection, delay), msg(msg), runyet(FALSE), active(TRUE) { };
void MessagePeriodic::execute() {
if (!this->active) return;
if (this->runyet) {
if (msg->isFinished()) {
msg->reset();
msg->execute();
}
} else {
this->runyet = TRUE;
msg->execute();
}
if (auto conn_sp = this->connection.lock()) {
if (auto panda_dev_sp = conn_sp->getPandaDev()) {
//Scheduling must be relative to now incase there was a long stall that
//would case it to be super far behind and try to catch up forever.
this->scheduleImmediateDelay();
panda_dev_sp->insertActionIntoTaskList(shared_from_this());
}
}
}