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pandad: dedicated aligned buffer for deserialization (#671)

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* pandad: dedicated aligned buffer for deserialization

* ide pls
This commit is contained in:
Jason Wen
2025-03-16 19:53:53 -04:00
committed by GitHub
parent cac8527115
commit 42871f7a9d
1 changed files with 3 additions and 1 deletions
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selfdrive/pandad/panda_safety.cc
+3 -1
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@@ -64,10 +64,12 @@ std::vector<std::string> PandaSafety::fetchCarParams() {
// TODO-SP: Use structs instead of vector
void PandaSafety::setSafetyMode(const std::vector<std::string> &params_string) {
AlignedBuffer aligned_buf;
AlignedBuffer aligned_buf_sp;
capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params_string[0].data(), params_string[0].size()));
cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
capnp::FlatArrayMessageReader cmsg_sp(aligned_buf.align(params_string[1].data(), params_string[1].size()));
capnp::FlatArrayMessageReader cmsg_sp(aligned_buf_sp.align(params_string[1].data(), params_string[1].size()));
cereal::CarParamsSP::Reader car_params_sp = cmsg_sp.getRoot<cereal::CarParamsSP>();
auto safety_configs = car_params.getSafetyConfigs();