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cereal
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SubMaster: set traversalLimitInWords to max (#188) 

* set traversalLimitInWords to max

* NO_TRAVERSAL_LIMIT

space

* log_from_bytes
This commit is contained in:
Dean Lee 2021-08-17 22:47:26 +08:00 committed by GitHub
parent 2c7d9c5b8f
commit b366ea46a7
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 14 additions and 8 deletions
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14
messaging/__init__.py
View File

@ -13,6 +13,7 @@ from cereal.services import service_list
assert MultiplePublishersError
assert MessagingError
NO_TRAVERSAL_LIMIT = 2**64-1
AVG_FREQ_HISTORY = 100
SIMULATION = "SIMULATION" in os.environ
@ -26,6 +27,9 @@ except ImportError:
context = Context()
def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
return log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT)
def new_message(service: Optional[str] = None, size: Optional[int] = None) -> capnp.lib.capnp._DynamicStructBuilder:
dat = log.Event.new_message()
dat.logMonoTime = int(sec_since_boot() * 1e9)
@ -83,7 +87,7 @@ def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.ca
if dat is None: # Timeout hit
break
dat = log.Event.from_bytes(dat)
dat = log_from_bytes(dat)
ret.append(dat)
return ret
@ -106,20 +110,20 @@ def recv_sock(sock: SubSocket, wait: bool = False) -> Union[None, capnp.lib.capn
dat = rcv
if dat is not None:
dat = log.Event.from_bytes(dat)
dat = log_from_bytes(dat)
return dat
def recv_one(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
dat = sock.receive()
if dat is not None:
dat = log.Event.from_bytes(dat)
dat = log_from_bytes(dat)
return dat
def recv_one_or_none(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
dat = sock.receive(non_blocking=True)
if dat is not None:
dat = log.Event.from_bytes(dat)
dat = log_from_bytes(dat)
return dat
def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
@ -127,7 +131,7 @@ def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
while True:
dat = sock.receive()
if dat is not None:
return log.Event.from_bytes(dat)
return log_from_bytes(dat)
class SubMaster():
def __init__(self, services: List[str], poll: Optional[List[str]] = None,

2
messaging/messaging.h
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@ -69,7 +69,7 @@ public:
SubMaster(const std::vector<const char *> &service_list,
const char *address = nullptr, const std::vector<const char *> &ignore_alive = {});
void update(int timeout = 1000);
void update_msgs(uint64_t current_time, std::vector<std::pair<std::string, cereal::Event::Reader>> messages);
void update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages);
inline bool allAlive(const std::vector<const char *> &service_list = {}) { return all_(service_list, false, true); }
inline bool allValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, false); }
inline bool allAliveAndValid(const std::vector<const char *> &service_list = {}) { return all_(service_list, true, true); }

6
messaging/socketmaster.cc
View File

@ -92,7 +92,9 @@ void SubMaster::update(int timeout) {
SubMessage *m = messages_.at(s);
m->msg_reader->~FlatArrayMessageReader();
m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg));
capnp::ReaderOptions options;
options.traversalLimitInWords = kj::maxValue; // Don't limit
m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg), options);
delete msg;
messages.push_back({m->name, m->msg_reader->getRoot<cereal::Event>()});
}
@ -100,7 +102,7 @@ void SubMaster::update(int timeout) {
update_msgs(current_time, messages);
}
void SubMaster::update_msgs(uint64_t current_time, std::vector<std::pair<std::string, cereal::Event::Reader>> messages){
void SubMaster::update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages){
if (++frame == UINT64_MAX) frame = 1;
for(auto &kv : messages) {