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Added new util class AlignedBuffer (#125) 

* AlignedBuffer

* rename function aligned to get

* add overloaded function for convenience
This commit is contained in:
Dean Lee 2021-03-16 00:27:20 +08:00 committed by GitHub
parent 8f9e68b6f0
commit 97bfe99980
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 23 additions and 11 deletions
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19
messaging/messaging.hpp
View File

@ -120,3 +120,22 @@ public:
private:
std::map<std::string, PubSocket *> sockets_;
};
class AlignedBuffer {
public:
AlignedBuffer() = default;
AlignedBuffer(const char *data, const size_t size) { get(data, size); }
kj::ArrayPtr<const capnp::word> get(const char *data, const size_t size) {
words_size = size / sizeof(capnp::word) + 1;
if (aligned_buf.size() < words_size) {
aligned_buf = kj::heapArray<capnp::word>(words_size < 512 ? 512 : words_size);
}
memcpy(aligned_buf.begin(), data, size);
return aligned_buf.slice(0, words_size);
}
inline kj::ArrayPtr<const capnp::word> get(Message *m) { return get(m->getData(), m->getSize()); }
inline operator kj::ArrayPtr<const capnp::word>() { return aligned_buf.slice(0, words_size); }
private:
kj::Array<capnp::word> aligned_buf;
size_t words_size;
};

15
messaging/socketmaster.cc
View File

@ -39,7 +39,7 @@ struct SubMaster::SubMessage {
uint64_t rcv_time = 0, rcv_frame = 0;
void *allocated_msg_reader = nullptr;
capnp::FlatArrayMessageReader *msg_reader = nullptr;
kj::Array<capnp::word> buf;
AlignedBuffer aligned_buf;
cereal::Event::Reader event;
};
@ -56,8 +56,7 @@ SubMaster::SubMaster(const std::initializer_list<const char *> &service_list, co
.socket = socket,
.freq = serv->frequency,
.ignore_alive = inList(ignore_alive, name),
.allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
.buf = kj::heapArray<capnp::word>(1024)};
.allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader))};
messages_[socket] = m;
services_[name] = m;
}
@ -75,17 +74,11 @@ int SubMaster::update(int timeout) {
if (msg == nullptr) continue;
SubMessage *m = messages_.at(s);
const size_t size = (msg->getSize() / sizeof(capnp::word)) + 1;
if (m->buf.size() < size) {
m->buf = kj::heapArray<capnp::word>(size);
}
memcpy(m->buf.begin(), msg->getData(), msg->getSize());
delete msg;
if (m->msg_reader) {
m->msg_reader->~FlatArrayMessageReader();
}
m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(kj::ArrayPtr<capnp::word>(m->buf.begin(), size));
m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.get(msg));
delete msg;
m->event = m->msg_reader->getRoot<cereal::Event>();
m->updated = true;
m->rcv_time = current_time;