retropilot
/
openpilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

use class AlignedBuffer from cereal (#20343) 

* AlignedBuffer

* move AlignedBuffer to cereal/messaging.hpp

* rename function aligned to get

* use overloaded function AlignedBuffer:: get(Message *)
albatross
Dean Lee 2021-03-16 18:13:15 +08:00 committed by GitHub
parent 9df3bab96a
commit 7aa379e123
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 7 additions and 29 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
selfdrive/boardd/boardd.cc
View File

@ -99,11 +99,7 @@ void safety_setter_thread() {
}
LOGW("got %d bytes CarParams", params.size());
// format for board, make copy due to alignment issues, will be freed on out of scope
auto amsg = kj::heapArray<capnp::word>((params.size() / sizeof(capnp::word)) + 1);
memcpy(amsg.begin(), params.data(), params.size());
capnp::FlatArrayMessageReader cmsg(amsg);
capnp::FlatArrayMessageReader cmsg(AlignedBuffer(params.data(), params.size()));
cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
cereal::CarParams::SafetyModel safety_model = car_params.getSafetyModel();
@ -201,7 +197,7 @@ void can_recv(PubMaster &pm) {
void can_send_thread(bool fake_send) {
LOGD("start send thread");
kj::Array<capnp::word> buf = kj::heapArray<capnp::word>(1024);
AlignedBuffer aligned_buf;
Context * context = Context::create();
SubSocket * subscriber = SubSocket::create(context, "sendcan");
assert(subscriber != NULL);
@ -217,13 +213,8 @@ void can_send_thread(bool fake_send) {
}
continue;
}
const size_t size = (msg->getSize() / sizeof(capnp::word)) + 1;
if (buf.size() < size) {
buf = kj::heapArray<capnp::word>(size);
}
memcpy(buf.begin(), msg->getData(), msg->getSize());
capnp::FlatArrayMessageReader cmsg(buf.slice(0, size));
capnp::FlatArrayMessageReader cmsg(aligned_buf.get(msg));
cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
//Dont send if older than 1 second

9
selfdrive/locationd/ubloxd_main.cc
View File

@ -23,7 +23,7 @@ ExitHandler do_exit;
using namespace ublox;
int ubloxd_main(poll_ubloxraw_msg_func poll_func, send_gps_event_func send_func) {
LOGW("starting ubloxd");
kj::Array<capnp::word> buf = kj::heapArray<capnp::word>(1024);
AlignedBuffer aligned_buf;
UbloxMsgParser parser;
Context * context = Context::create();
@ -41,13 +41,8 @@ int ubloxd_main(poll_ubloxraw_msg_func poll_func, send_gps_event_func send_func)
}
continue;
}
const size_t size = (msg->getSize() / sizeof(capnp::word)) + 1;
if (buf.size() < size) {
buf = kj::heapArray<capnp::word>(size);
}
memcpy(buf.begin(), msg->getData(), msg->getSize());
capnp::FlatArrayMessageReader cmsg(buf.slice(0, size));
capnp::FlatArrayMessageReader cmsg(aligned_buf.get(msg));
cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
auto ubloxRaw = event.getUbloxRaw();

12
selfdrive/loggerd/loggerd.cc
View File

@ -383,7 +383,7 @@ int main(int argc, char** argv) {
uint64_t msg_count = 0;
uint64_t bytes_count = 0;
kj::Array<capnp::word> buf = kj::heapArray<capnp::word>(1024);
AlignedBuffer aligned_buf;
double start_ts = seconds_since_boot();
double last_rotate_tms = millis_since_boot();
@ -427,15 +427,7 @@ int main(int argc, char** argv) {
if (fpkt_id >= 0) {
// track camera frames to sync to encoder
// only process last frame
const uint8_t* data = (uint8_t*)last_msg->getData();
const size_t len = last_msg->getSize();
const size_t size = len / sizeof(capnp::word) + 1;
if (buf.size() < size) {
buf = kj::heapArray<capnp::word>(size);
}
memcpy(buf.begin(), data, len);
capnp::FlatArrayMessageReader cmsg(buf);
capnp::FlatArrayMessageReader cmsg(aligned_buf.get(last_msg));
cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
if (fpkt_id == LOG_CAMERA_ID_FCAMERA) {