CANParser: 2x faster parsing (#1039)

* update_string() Now 2x Faster

* noneed for wraparound and boundscheck

* cleanup code

d

* formatting

* these have no effect

* minor clean up

---------

Co-authored-by: Shane Smiskol <[email protected]>

can/parser_pyx.pyx

@@ -5,7 +5,6 @@ from cython.operator cimport dereference as deref, preincrement as preinc
 from libcpp.pair cimport pair
 from libcpp.string cimport string
 from libcpp.vector cimport vector
-from libcpp.unordered_set cimport unordered_set
 from libc.stdint cimport uint32_t
 
 from .common cimport CANParser as cpp_CANParser
@@ -20,6 +19,7 @@ cdef class CANParser:
  cpp_CANParser *can
  const DBC *dbc
  vector[SignalValue] can_values
+ vector[uint32_t] addresses
 
  cdef readonly:
  dict vl
@@ -54,11 +54,12 @@ cdef class CANParser:
  if address not in address_to_msg_name:
  raise RuntimeError(f"could not find message {repr(c[0])} in DBC {self.dbc_name}")
  message_v.push_back((address, c[1]))
+ self.addresses.push_back(address)
 
  name = address_to_msg_name[address]
  self.vl[address] = {}
  self.vl[name] = self.vl[address]
- self.vl_all[address] = {}
+ self.vl_all[address] = defaultdict(list)
  self.vl_all[name] = self.vl_all[address]
  self.ts_nanos[address] = {}
  self.ts_nanos[name] = self.ts_nanos[address]
@@ -71,24 +72,35 @@ cdef class CANParser:
  del self.can
 
  def update_strings(self, strings, sendcan=False):
- for v in self.vl_all.values():
- for l in v.values(): # no-cython-lint
- l.clear()
+ for address in self.addresses:
+ self.vl_all[address].clear()
 
  cdef vector[SignalValue] new_vals
- cdef unordered_set[uint32_t] updated_addrs
+ cur_address = -1
+ vl = {}
+ vl_all = {}
+ ts_nanos = {}
+ updated_addrs = set()
 
  self.can.update_strings(strings, new_vals, sendcan)
  cdef vector[SignalValue].iterator it = new_vals.begin()
  cdef SignalValue* cv
  while it != new_vals.end():
  cv = &deref(it)
+
+ # Check if the address has changed
+ if cv.address != cur_address:
+ cur_address = cv.address
+ vl = self.vl[cur_address]
+ vl_all = self.vl_all[cur_address]
+ ts_nanos = self.ts_nanos[cur_address]
+ updated_addrs.add(cur_address)
+
  # Cast char * directly to unicode
  cv_name = <unicode>cv.name
- self.vl[cv.address][cv_name] = cv.value
- self.vl_all[cv.address][cv_name] = cv.all_values
- self.ts_nanos[cv.address][cv_name] = cv.ts_nanos
- updated_addrs.insert(cv.address)
+ vl[cv_name] = cv.value
+ vl_all[cv_name] = cv.all_values
+ ts_nanos[cv_name] = cv.ts_nanos
  preinc(it)
 
  return updated_addrs