more messagebuilder (#2162)
* more messagebuilder * little more * revert Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>pull/2167/head
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ea06941d4d
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9fa56b4eab
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@ -187,13 +187,9 @@ void usb_retry_connect() {
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}
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void can_recv(PubMaster &pm) {
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uint64_t start_time = nanos_since_boot();
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// create message
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MessageBuilder msg;
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auto event = msg.initEvent();
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event.setLogMonoTime(start_time);
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int recv = panda->can_receive(event);
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if (recv){
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pm.send("can", msg);
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@ -1,9 +1,4 @@
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#include <vector>
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#include <tuple>
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#include <string>
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#include "messaging.hpp"
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#include "cereal/gen/cpp/log.capnp.h"
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#include "cereal/gen/cpp/car.capnp.h"
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typedef struct {
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long address;
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@ -16,16 +11,16 @@ extern "C" {
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void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::string &out, bool sendCan, bool valid) {
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MessageBuilder msg;
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auto event = msg.initEvent();
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event.setValid(valid);
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auto event = msg.initEvent(valid);
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auto canData = sendCan ? event.initSendcan(can_list.size()) : event.initCan(can_list.size());
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int j = 0;
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for (auto it = can_list.begin(); it != can_list.end(); it++, j++) {
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canData[j].setAddress(it->address);
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canData[j].setBusTime(it->busTime);
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canData[j].setDat(kj::arrayPtr((uint8_t*)it->dat.data(), it->dat.size()));
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canData[j].setSrc(it->src);
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auto c = canData[j];
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c.setAddress(it->address);
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c.setBusTime(it->busTime);
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c.setDat(kj::arrayPtr((uint8_t*)it->dat.data(), it->dat.size()));
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c.setSrc(it->src);
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}
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auto bytes = msg.toBytes();
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out.append((const char *)bytes.begin(), bytes.size());
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@ -404,10 +404,8 @@ void append_property(const char* key, const char* value, void *cookie) {
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}
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kj::Array<capnp::word> gen_init_data() {
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capnp::MallocMessageBuilder msg;
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auto event = msg.initRoot<cereal::Event>();
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event.setLogMonoTime(nanos_since_boot());
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auto init = event.initInitData();
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MessageBuilder msg;
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auto init = msg.initEvent().initInitData();
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init.setDeviceType(cereal::InitData::DeviceType::NEO);
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init.setVersion(capnp::Text::Reader(COMMA_VERSION));
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@ -509,11 +507,8 @@ static void bootlog() {
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LOGW("bootlog to %s", s.segment_path);
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{
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capnp::MallocMessageBuilder msg;
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auto event = msg.initRoot<cereal::Event>();
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event.setLogMonoTime(nanos_since_boot());
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auto boot = event.initBoot();
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MessageBuilder msg;
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auto boot = msg.initEvent().initBoot();
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boot.setWallTimeNanos(nanos_since_epoch());
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@ -60,16 +60,12 @@ int sensor_loop() {
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while (!do_exit){
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std::chrono::steady_clock::time_point begin = std::chrono::steady_clock::now();
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uint64_t log_time = nanos_since_boot();
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const int num_events = sensors.size();
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MessageBuilder msg;
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auto event = msg.initEvent();
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event.setLogMonoTime(log_time);
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auto sensor_events = msg.initEvent().initSensorEvents(num_events);
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int num_events = sensors.size();
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auto sensor_events = event.initSensorEvents(num_events);
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for (size_t i = 0; i < num_events; i++){
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for (int i = 0; i < num_events; i++){
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auto event = sensor_events[i];
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sensors[i]->get_event(event);
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}
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