use class AlignedBuffer from cereal (#20343)
* AlignedBuffer * move AlignedBuffer to cereal/messaging.hpp * rename function aligned to get * use overloaded function AlignedBuffer:: get(Message *)
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@ -99,11 +99,7 @@ void safety_setter_thread() {
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}
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LOGW("got %d bytes CarParams", params.size());
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// format for board, make copy due to alignment issues, will be freed on out of scope
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auto amsg = kj::heapArray<capnp::word>((params.size() / sizeof(capnp::word)) + 1);
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memcpy(amsg.begin(), params.data(), params.size());
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capnp::FlatArrayMessageReader cmsg(amsg);
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capnp::FlatArrayMessageReader cmsg(AlignedBuffer(params.data(), params.size()));
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cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
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cereal::CarParams::SafetyModel safety_model = car_params.getSafetyModel();
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@ -201,7 +197,7 @@ void can_recv(PubMaster &pm) {
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void can_send_thread(bool fake_send) {
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LOGD("start send thread");
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kj::Array<capnp::word> buf = kj::heapArray<capnp::word>(1024);
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AlignedBuffer aligned_buf;
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Context * context = Context::create();
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SubSocket * subscriber = SubSocket::create(context, "sendcan");
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assert(subscriber != NULL);
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@ -217,13 +213,8 @@ void can_send_thread(bool fake_send) {
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}
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continue;
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}
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const size_t size = (msg->getSize() / sizeof(capnp::word)) + 1;
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if (buf.size() < size) {
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buf = kj::heapArray<capnp::word>(size);
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}
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memcpy(buf.begin(), msg->getData(), msg->getSize());
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capnp::FlatArrayMessageReader cmsg(buf.slice(0, size));
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capnp::FlatArrayMessageReader cmsg(aligned_buf.get(msg));
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cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
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//Dont send if older than 1 second
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@ -23,7 +23,7 @@ ExitHandler do_exit;
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using namespace ublox;
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int ubloxd_main(poll_ubloxraw_msg_func poll_func, send_gps_event_func send_func) {
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LOGW("starting ubloxd");
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kj::Array<capnp::word> buf = kj::heapArray<capnp::word>(1024);
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AlignedBuffer aligned_buf;
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UbloxMsgParser parser;
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Context * context = Context::create();
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@ -41,13 +41,8 @@ int ubloxd_main(poll_ubloxraw_msg_func poll_func, send_gps_event_func send_func)
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}
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continue;
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}
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const size_t size = (msg->getSize() / sizeof(capnp::word)) + 1;
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if (buf.size() < size) {
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buf = kj::heapArray<capnp::word>(size);
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}
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memcpy(buf.begin(), msg->getData(), msg->getSize());
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capnp::FlatArrayMessageReader cmsg(buf.slice(0, size));
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capnp::FlatArrayMessageReader cmsg(aligned_buf.get(msg));
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cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
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auto ubloxRaw = event.getUbloxRaw();
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@ -383,7 +383,7 @@ int main(int argc, char** argv) {
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uint64_t msg_count = 0;
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uint64_t bytes_count = 0;
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kj::Array<capnp::word> buf = kj::heapArray<capnp::word>(1024);
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AlignedBuffer aligned_buf;
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double start_ts = seconds_since_boot();
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double last_rotate_tms = millis_since_boot();
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@ -427,15 +427,7 @@ int main(int argc, char** argv) {
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if (fpkt_id >= 0) {
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// track camera frames to sync to encoder
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// only process last frame
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const uint8_t* data = (uint8_t*)last_msg->getData();
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const size_t len = last_msg->getSize();
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const size_t size = len / sizeof(capnp::word) + 1;
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if (buf.size() < size) {
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buf = kj::heapArray<capnp::word>(size);
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}
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memcpy(buf.begin(), data, len);
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capnp::FlatArrayMessageReader cmsg(buf);
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capnp::FlatArrayMessageReader cmsg(aligned_buf.get(last_msg));
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cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
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if (fpkt_id == LOG_CAMERA_ID_FCAMERA) {
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