IQ.Pilot Release Commit @ 0798119

selfdrive/pandad/pandad.h

@@ -0,0 +1,36 @@
+#pragma once
+
+#include <string>
+#include <vector>
+
+#include "common/params.h"
+#include "selfdrive/pandad/panda.h"
+
+void pandad_main_thread(std::vector<std::string> serials);
+
+// deprecated devices
+static const std::vector<cereal::PandaState::PandaType> SUPPORTED_PANDA_TYPES = {
+  cereal::PandaState::PandaType::RED_PANDA,
+  cereal::PandaState::PandaType::TRES,
+  cereal::PandaState::PandaType::CUATRO,
+};
+
+
+class PandaSafety {
+public:
+  PandaSafety(const std::vector<Panda *> &pandas) : pandas_(pandas) {}
+  void configureSafetyMode(bool is_onroad);
+  bool getOffroadMode();
+
+private:
+  void updateMultiplexingMode();
+  std::vector<std::string> fetchCarParams();
+  void setSafetyMode(const std::vector<std::string> &params_string);
+
+  bool initialized_ = false;
+  bool log_once_ = false;
+  bool safety_configured_ = false;
+  bool prev_obd_multiplexing_ = false;
+  std::vector<Panda *> pandas_;
+  Params params_;
+};