boardd: wait for safety_setter_thread to finish while quitting panda_state_thread

[deanlee]

use std::future to wait for safety_setter_thread to finish before quitting.

safety_setter_thread should not run after panda_state_thread, or the panda could be set to nullptr

[pd0wm]

Any reason the safety setter thread needs to be global like this? Can we make the panda_state_thread "own" the thread and join it on disconnect?

[deanlee]

Any reason the safety setter thread needs to be global like this? Can we make the panda_state_thread "own" the thread and join it on disconnect?

std::future<bool> safety_future is used for this purpose.it's owned by panda_state_thread and will "join" the safety_setter_thread in destructor before the panda_state_thread return.

[pd0wm]

Thanks for rebasing!

[pd0wm]

While testing I noticed the thread never finishes if you go offroad before the fingerprinting finishes. The panda state threat then puts you back in noOutput and you're stuck. The safety setter thread should also exit when ignition goes low.

[pd0wm]

#22426

[deanlee]

Just realized this is my 500th PR:)

[pd0wm]

Congrats! Thanks for all the contributions!