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message builder (#2161)

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* use custom MessageBuilder from cereal

* use MesageBuilder.toBytes

* bump cereal

* unused

* another one

* fix ui msg

Co-authored-by: deanlee <deanlee3@gmail.com>
This commit is contained in:
Adeeb Shihadeh
2020-09-12 21:48:15 -07:00
committed by GitHub
parent 71562d6180
commit 4d5733924a
18 changed files with 71 additions and 163 deletions
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selfdrive/locationd/ublox_msg.cc
+8 -19
View File
@@ -193,10 +193,8 @@ inline bool UbloxMsgParser::valid_so_far() {
kj::Array<capnp::word> UbloxMsgParser::gen_solution() {
nav_pvt_msg *msg = (nav_pvt_msg *)&msg_parse_buf[UBLOX_HEADER_SIZE];
capnp::MallocMessageBuilder msg_builder;
cereal::Event::Builder event = msg_builder.initRoot<cereal::Event>();
event.setLogMonoTime(nanos_since_boot());
auto gpsLoc = event.initGpsLocationExternal();
MessageBuilder msg_builder;
auto gpsLoc = msg_builder.initEvent().initGpsLocationExternal();
gpsLoc.setSource(cereal::GpsLocationData::SensorSource::UBLOX);
gpsLoc.setFlags(msg->flags);
gpsLoc.setLatitude(msg->lat * 1e-07);
@@ -236,11 +234,8 @@ kj::Array<capnp::word> UbloxMsgParser::gen_raw() {
return kj::Array<capnp::word>();
}
rxm_raw_msg_extra *measurements = (rxm_raw_msg_extra *)&msg_parse_buf[UBLOX_HEADER_SIZE + sizeof(rxm_raw_msg)];
capnp::MallocMessageBuilder msg_builder;
cereal::Event::Builder event = msg_builder.initRoot<cereal::Event>();
event.setLogMonoTime(nanos_since_boot());
auto gnss = event.initUbloxGnss();
auto mr = gnss.initMeasurementReport();
MessageBuilder msg_builder;
auto mr = msg_builder.initEvent().initUbloxGnss().initMeasurementReport();
mr.setRcvTow(msg->rcvTow);
mr.setGpsWeek(msg->week);
mr.setLeapSeconds(msg->leapS);
@@ -295,11 +290,8 @@ kj::Array<capnp::word> UbloxMsgParser::gen_nav_data() {
nav_frame_buffer[msg->gnssId][msg->svid][subframeId] = words;
if(nav_frame_buffer[msg->gnssId][msg->svid].size() == 5) {
EphemerisData ephem_data(msg->svid, nav_frame_buffer[msg->gnssId][msg->svid]);
capnp::MallocMessageBuilder msg_builder;
cereal::Event::Builder event = msg_builder.initRoot<cereal::Event>();
event.setLogMonoTime(nanos_since_boot());
auto gnss = event.initUbloxGnss();
auto eph = gnss.initEphemeris();
MessageBuilder msg_builder;
auto eph = msg_builder.initEvent().initUbloxGnss().initEphemeris();
eph.setSvId(ephem_data.svId);
eph.setToc(ephem_data.toc);
eph.setGpsWeek(ephem_data.gpsWeek);
@@ -343,11 +335,8 @@ kj::Array<capnp::word> UbloxMsgParser::gen_nav_data() {
kj::Array<capnp::word> UbloxMsgParser::gen_mon_hw() {
mon_hw_msg *msg = (mon_hw_msg *)&msg_parse_buf[UBLOX_HEADER_SIZE];
capnp::MallocMessageBuilder msg_builder;
cereal::Event::Builder event = msg_builder.initRoot<cereal::Event>();
event.setLogMonoTime(nanos_since_boot());
auto gnss = event.initUbloxGnss();
auto hwStatus = gnss.initHwStatus();
MessageBuilder msg_builder;
auto hwStatus = msg_builder.initEvent().initUbloxGnss().initHwStatus();
hwStatus.setNoisePerMS(msg->noisePerMS);
hwStatus.setAgcCnt(msg->agcCnt);
hwStatus.setAStatus((cereal::UbloxGnss::HwStatus::AntennaSupervisorState) msg->aStatus);
selfdrive/locationd/ubloxd_test.cc
+3 -7
View File
@@ -47,15 +47,11 @@ Message * poll_ubloxraw_msg(Poller * poller) {
size_t consuming = min(len - consumed, 128);
if(consumed < len) {
// create message
capnp::MallocMessageBuilder msg_builder;
cereal::Event::Builder event = msg_builder.initRoot<cereal::Event>();
event.setLogMonoTime(nanos_since_boot());
auto ublox_raw = event.initUbloxRaw(consuming);
MessageBuilder msg_builder;
auto ublox_raw = msg_builder.initEvent().initUbloxRaw(consuming);
memcpy(ublox_raw.begin(), (void *)(data + consumed), consuming);
auto words = capnp::messageToFlatArray(msg_builder);
auto bytes = words.asBytes();
auto bytes = msg_builder.toBytes();
Message * msg = new ZMQMessage();
msg->init((char*)bytes.begin(), bytes.size());