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boardd: Improve performance of can_list_to_can_capnp() (#32356)

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old-commit-hash: e548742701bac60f872ee4a1043b014e1ae00731
This commit is contained in:
Dean Lee
2024-05-13 13:01:08 +08:00
committed by GitHub
parent ec604b1907
commit ddd09f528b
1 changed files with 4 additions and 3 deletions
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selfdrive/boardd/boardd_api_impl.pyx
+4 -3
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@@ -15,16 +15,17 @@ cdef extern from "can_list_to_can_capnp.cc":
void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendCan, bool valid)
def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
cdef can_frame *f
cdef vector[can_frame] can_list
can_list.reserve(len(can_msgs))
cdef can_frame f
can_list.reserve(len(can_msgs))
for can_msg in can_msgs:
f = &(can_list.emplace_back())
f.address = can_msg[0]
f.busTime = can_msg[1]
f.dat = can_msg[2]
f.src = can_msg[3]
can_list.push_back(f)
cdef string out
can_list_to_can_capnp_cpp(can_list, out, msgtype == 'sendcan', valid)
return out