improve func

selfdrive/pandad/can_list_to_can_capnp.cc

@@ -21,32 +21,32 @@ void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::stri
  capnp::writeMessage(output_stream, msg);
 }
 
-void can_capnp_to_can_list_cpp(const std::vector<std::string> &strings, std::vector<CanData> &can_data, bool sendcan) {
- kj::Array<capnp::word> aligned_buf;
- can_data.reserve(strings.size());
-
- for (const auto &s : strings) {
- const size_t buf_size = (s.length() / sizeof(capnp::word)) + 1;
- if (aligned_buf.size() < buf_size) {
- aligned_buf = kj::heapArray<capnp::word>(buf_size);
- }
- memcpy(aligned_buf.begin(), s.data(), s.length());
+// Converts a vector of Cap'n Proto serialized can strings into a vector of CanData structures.
+void can_capnp_to_can_list_cpp(const std::vector<std::string> &strings, std::vector<CanData> &can_list, bool sendcan) {
+ AlignedBuffer aligned_buf;
+ can_list.reserve(strings.size());
 
+ for (const auto &str : strings) {
  // extract the messages
- capnp::FlatArrayMessageReader cmsg(aligned_buf.slice(0, buf_size));
- cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
-
- auto &can = can_data.emplace_back();
- can.nanos = event.getLogMonoTime();
-
- auto cans = sendcan ? event.getSendcan() : event.getCan();
- can.frames.reserve(cans.size());
- for (const auto &c : cans) {
- auto &frame = can.frames.emplace_back();
- frame.src = c.getSrc();
- frame.address = c.getAddress();
- auto dat = c.getDat();
- frame.dat.assign(dat.begin(), dat.end());
+ capnp::FlatArrayMessageReader reader(aligned_buf.align(str.data(), str.size()));
+ cereal::Event::Reader event = reader.getRoot<cereal::Event>();
+
+ auto frames = sendcan ? event.getSendcan() : event.getCan();
+
+ // Add new CanData entry
+ CanData &can_data = can_list.emplace_back();
+ can_data.nanos = event.getLogMonoTime();
+ can_data.frames.reserve(frames.size());
+
+ // Populate CAN frames
+ for (const auto &frame : frames) {
+ CanFrame &can_frame = can_data.frames.emplace_back();
+ can_frame.src = frame.getSrc();
+ can_frame.address = frame.getAddress();
+
+ // Copy CAN data
+ auto dat = frame.getDat();
+ can_frame.dat.assign(dat.begin(), dat.end());
  }
  }
 }