From 498d54be9c6d6a81da64b72d4fc17ae2873d5fe9 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 18 Jan 2022 21:59:42 +0800
Subject: [PATCH] boardd: move main() to main.cc for test cases (#23564)

* move main() to main.cc

* move includes back
---
 release/files_common        |  2 ++
 selfdrive/boardd/SConscript |  2 +-
 selfdrive/boardd/boardd.cc  | 20 +++++---------------
 selfdrive/boardd/boardd.h   |  6 ++++++
 selfdrive/boardd/main.cc    | 22 ++++++++++++++++++++++
 5 files changed, 36 insertions(+), 16 deletions(-)
 create mode 100644 selfdrive/boardd/boardd.h
 create mode 100644 selfdrive/boardd/main.cc

diff --git a/release/files_common b/release/files_common
index 8d682d383a534a..29c8eba96ec947 100644
--- a/release/files_common
+++ b/release/files_common
@@ -88,6 +88,8 @@ selfdrive/boardd/.gitignore
 selfdrive/boardd/SConscript
 selfdrive/boardd/__init__.py
 selfdrive/boardd/boardd.cc
+selfdrive/boardd/boardd.h
+selfdrive/boardd/main.cc
 selfdrive/boardd/boardd.py
 selfdrive/boardd/boardd_api_impl.pyx
 selfdrive/boardd/can_list_to_can_capnp.cc
diff --git a/selfdrive/boardd/SConscript b/selfdrive/boardd/SConscript
index 07ded56e1b8a89..922107509af15b 100644
--- a/selfdrive/boardd/SConscript
+++ b/selfdrive/boardd/SConscript
@@ -1,7 +1,7 @@
 Import('env', 'envCython', 'common', 'cereal', 'messaging')
 
 libs = ['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj']
-env.Program('boardd', ['boardd.cc', 'panda.cc', 'pigeon.cc'], LIBS=libs)
+env.Program('boardd', ['main.cc', 'boardd.cc', 'panda.cc', 'pigeon.cc'], LIBS=libs)
 env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])
 
 envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 9cf3cbc04a412f..a12da54f93217f 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -1,3 +1,5 @@
+#include "selfdrive/boardd/boardd.h"
+
 #include <sched.h>
 #include <sys/cdefs.h>
 #include <sys/resource.h>
@@ -27,7 +29,6 @@
 #include "selfdrive/common/util.h"
 #include "selfdrive/hardware/hw.h"
 
-#include "selfdrive/boardd/panda.h"
 #include "selfdrive/boardd/pigeon.h"
 
 // -- Multi-panda conventions --
@@ -590,22 +591,11 @@ void pigeon_thread(Panda *panda) {
   }
 }
 
-int main(int argc, char *argv[]) {
-  LOGW("starting boardd");
-
-  if (!Hardware::PC()) {
-    int err;
-    err = util::set_realtime_priority(54);
-    assert(err == 0);
-    err = util::set_core_affinity({Hardware::TICI() ? 4 : 3});
-    assert(err == 0);
-  }
+void boardd_main_thread(std::vector<std::string> serials) {
+  if (serials.size() == 0) serials.push_back("");
 
-  LOGW("attempting to connect");
   PubMaster pm({"pandaStates", "peripheralState"});
-
-  std::vector<std::string> serials(argv + 1, argv + argc);
-  if (serials.size() == 0) serials.push_back("");
+  LOGW("attempting to connect");
 
   // connect to all provided serials
   std::vector<Panda *> pandas;
diff --git a/selfdrive/boardd/boardd.h b/selfdrive/boardd/boardd.h
new file mode 100644
index 00000000000000..d3c9e1f94a8e2e
--- /dev/null
+++ b/selfdrive/boardd/boardd.h
@@ -0,0 +1,6 @@
+#pragma once
+
+#include "selfdrive/boardd/panda.h"
+
+bool safety_setter_thread(std::vector<Panda *> pandas);
+void boardd_main_thread(std::vector<std::string> serials);
diff --git a/selfdrive/boardd/main.cc b/selfdrive/boardd/main.cc
new file mode 100644
index 00000000000000..d802e42f86ce5f
--- /dev/null
+++ b/selfdrive/boardd/main.cc
@@ -0,0 +1,22 @@
+#include <cassert>
+
+#include "selfdrive/boardd/boardd.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/hardware/hw.h"
+
+int main(int argc, char *argv[]) {
+  LOGW("starting boardd");
+
+  if (!Hardware::PC()) {
+    int err;
+    err = util::set_realtime_priority(54);
+    assert(err == 0);
+    err = util::set_core_affinity({Hardware::TICI() ? 4 : 3});
+    assert(err == 0);
+  }
+
+  std::vector<std::string> serials(argv + 1, argv + argc);
+  boardd_main_thread(serials);
+  return 0;
+}