faster update_strings

commaai · Mar 26, 2023 · 6cd35ce · 6cd35ce
1 parent 464f13c
commit 6cd35ce
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Showing 4 changed files with 25 additions and 12 deletions.
diff --git a/can/common.h b/can/common.h
@@ -80,11 +80,12 @@ class CANParser {
   CANParser(int abus, const std::string& dbc_name, bool ignore_checksum, bool ignore_counter);
   #ifndef DYNAMIC_CAPNP
   void update_string(const std::string &data, bool sendcan);
+  void update_strings(const std::vector<std::string> &data, std::vector<SignalValue> &vals, bool sendcan);
   void UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans);
   #endif
   void UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cans);
   void UpdateValid(uint64_t sec);
-  void query_latest(std::vector<SignalValue> &vals);
+  void query_latest(std::vector<SignalValue> &vals, uint64_t last_ts = 0);
 };
 
 class CANPacker {

diff --git a/can/common.pxd b/can/common.pxd
@@ -79,6 +79,7 @@ cdef extern from "common.h":
     bool bus_timeout
     CANParser(int, string, vector[MessageParseOptions], vector[SignalParseOptions])
     void update_string(string&, bool)
+    void update_strings(vector[string]&, vector[SignalValue]&, bool)
     void query_latest(vector[SignalValue]&)
 
   cdef cppclass CANPacker:

diff --git a/can/parser.cc b/can/parser.cc
@@ -202,6 +202,15 @@ void CANParser::update_string(const std::string &data, bool sendcan) {
   UpdateValid(last_sec);
 }
 
+void CANParser::update_strings(const std::vector<std::string> &data, std::vector<SignalValue> &vals, bool sendcan) {
+  uint64_t current_sec = 0;
+  for (const auto &d : data) {
+    update_string(d, sendcan);
+    if (current_sec == 0) current_sec = last_sec;
+  }
+  query_latest(vals, current_sec);
+}
+
 void CANParser::UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans) {
   //DEBUG("got %d messages\n", cans.size());
 
@@ -298,10 +307,13 @@ void CANParser::UpdateValid(uint64_t sec) {
   can_valid = (can_invalid_cnt < CAN_INVALID_CNT) && _counters_valid;
 }
 
-void CANParser::query_latest(std::vector<SignalValue> &vals) {
+void CANParser::query_latest(std::vector<SignalValue> &vals, uint64_t last_ts) {
+  if (last_ts == 0) {
+    last_ts = last_sec;
+  }
   for (auto& kv : message_states) {
     auto& state = kv.second;
-    if (last_sec != 0 && state.last_seen_nanos != last_sec) continue;
+    if (last_ts != 0 && state.last_seen_nanos < last_ts) continue;
 
     for (int i = 0; i < state.parse_sigs.size(); i++) {
       const Signal &sig = state.parse_sigs[i];

diff --git a/can/parser_pyx.pyx b/can/parser_pyx.pyx
@@ -101,12 +101,10 @@ cdef class CANParser:
       message_options_v.push_back(mpo)
 
     self.can = new cpp_CANParser(bus, dbc_name, message_options_v, signal_options_v)
-    self.update_vl()
+    self.update_strings({})
 
-  cdef unordered_set[uint32_t] update_vl(self):
+  cdef unordered_set[uint32_t] update_vl(self, vector[SignalValue]& new_vals):
     cdef unordered_set[uint32_t] updated_addrs
-    cdef vector[SignalValue] new_vals
-    self.can.query_latest(new_vals)
     for cv in new_vals:
       # Cast char * directly to unicode
       cv_name = <unicode>cv.name
@@ -121,18 +119,19 @@ cdef class CANParser:
     for v in self.vl_all.values():
       v.clear()
 
+    cdef vector[SignalValue] new_vals
     self.can.update_string(dat, sendcan)
-    return self.update_vl()
+    self.can.query_latest(new_vals)
+    return self.update_vl(new_vals)
 
   def update_strings(self, strings, sendcan=False):
     for v in self.vl_all.values():
       v.clear()
 
     updated_addrs = set()
-    for s in strings:
-      self.can.update_string(s, sendcan)
-      updated_addrs.update(self.update_vl())
-    return updated_addrs
+    cdef vector[SignalValue] new_vals
+    self.can.update_strings(strings, new_vals, sendcan)
+    return self.update_vl(new_vals)
 
   @property
   def can_valid(self):