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card: remove redundant CAN data conversion (#33488)

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* remove redundant CAN data conversion

* 1 less %

* rename

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
This commit is contained in:
Dean Lee
2024-09-07 04:51:19 +08:00
committed by GitHub
parent c45e2731ae
commit 51ebf44f48
2 changed files with 5 additions and 4 deletions
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7
selfdrive/car/card.py
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@@ -155,15 +155,16 @@ class Car:
def state_update(self) -> tuple[car.CarState, structs.RadarData | None]:
"""carState update loop, driven by can"""
# Update carState from CAN
can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
CS = convert_to_capnp(self.CI.update(can_capnp_to_list(can_strs)))
can_list = can_capnp_to_list(can_strs)
# Update carState from CAN
CS = convert_to_capnp(self.CI.update(can_list))
if self.CP.carName == 'mock':
CS = self.mock_carstate.update(CS)
# Update radar tracks from CAN
RD: structs.RadarData | None = self.RI.update(can_capnp_to_list(can_strs))
RD: structs.RadarData | None = self.RI.update(can_list)
self.sm.update(0)

2
selfdrive/test/test_onroad.py
View File

@@ -36,7 +36,7 @@ MAX_TOTAL_CPU = 260. # total for all 8 cores
PROCS = {
# Baseline CPU usage by process
"selfdrive.controls.controlsd": 32.0,
"selfdrive.car.card": 31.0,
"selfdrive.car.card": 30.0,
"./loggerd": 14.0,
"./encoderd": 17.0,
"./camerad": 14.5,