make services a map (commaai#520)

messaging/bridge.cc

@@ -24,7 +24,7 @@ void sigpipe_handler(int sig) {
 static std::vector<std::string> get_services(std::string whitelist_str, bool zmq_to_msgq) {
   std::vector<std::string> service_list;
   for (const auto& it : services) {
-    std::string name = it.name;
+    std::string name = it.second.name;
     bool in_whitelist = whitelist_str.find(name) != std::string::npos;
     if (name == "plusFrame" || name == "uiLayoutState" || (zmq_to_msgq && !in_whitelist)) {
       continue;

messaging/impl_msgq.cc

@@ -17,12 +17,7 @@ void sig_handler(int signal) {
 }
 
 static bool service_exists(std::string path){
-  for (const auto& it : services) {
-    if (it.name == path) {
-      return true;
-    }
-  }
-  return false;
+  return services.count(path) > 0;
 }
 
 

messaging/impl_zmq.cc

@@ -8,17 +8,7 @@
 #include "cereal/messaging/impl_zmq.h"
 
 static int get_port(std::string endpoint) {
-  int port = -1;
-  for (const auto& it : services) {
-    std::string name = it.name;
-    if (name == endpoint) {
-      port = it.port;
-      break;
-    }
-  }
-
-  assert(port >= 0);
-  return port;
+  return services.at(endpoint).port;
 }
 
 ZMQContext::ZMQContext() {

messaging/socketmaster.cc

@@ -15,13 +15,6 @@ static inline uint64_t nanos_since_boot() {
   return t.tv_sec * 1000000000ULL + t.tv_nsec;
 }
 
-static const service *get_service(const char *name) {
-  for (const auto &it : services) {
-    if (strcmp(it.name, name) == 0) return ⁢
-  }
-  return nullptr;
-}
-
 static inline bool inList(const std::vector<const char *> &list, const char *value) {
   for (auto &v : list) {
     if (strcmp(value, v) == 0) return true;
@@ -61,16 +54,17 @@ SubMaster::SubMaster(const std::vector<const char *> &service_list, const std::v
                      const char *address, const std::vector<const char *> &ignore_alive) {
   poller_ = Poller::create();
   for (auto name : service_list) {
-    const service *serv = get_service(name);
-    assert(serv != nullptr);
+    assert(services.count(std::string(name)) > 0);
+
+    service serv = services.at(std::string(name));
     SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true);
     assert(socket != 0);
     bool is_polled = inList(poll, name) || poll.empty();
     if (is_polled) poller_->registerSocket(socket);
     SubMessage *m = new SubMessage{
       .name = name,
       .socket = socket,
-      .freq = serv->frequency,
+      .freq = serv.frequency,
       .ignore_alive = inList(ignore_alive, name),
       .allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)),
       .is_polled = is_polled};
@@ -199,7 +193,7 @@ SubMaster::~SubMaster() {
 
 PubMaster::PubMaster(const std::vector<const char *> &service_list) {
   for (auto name : service_list) {
-    assert(get_service(name) != nullptr);
+    assert(services.count(name) > 0);
     PubSocket *socket = PubSocket::create(message_context.context(), name);
     assert(socket);
     sockets_[name] = socket;

services.py

@@ -105,14 +105,18 @@ def build_header():
   h += "/* THIS IS AN AUTOGENERATED FILE, PLEASE EDIT services.py */\n"
   h += "#ifndef __SERVICES_H\n"
   h += "#define __SERVICES_H\n"
-  h += "struct service { char name[0x100]; int port; bool should_log; int frequency; int decimation; };\n"
-  h += "static struct service services[] = {\n"
+
+  h += "#include <map>\n"
+
+  h += "struct service { std::string name; int port; bool should_log; int frequency; int decimation; };\n"
+  h += "static std::map<std::string, service> services = {\n"
   for k, v in service_list.items():
     should_log = "true" if v.should_log else "false"
     decimation = -1 if v.decimation is None else v.decimation
-    h += '  { "%s", %d, %s, %d, %d },\n' % \
-         (k, v.port, should_log, v.frequency, decimation)
+    h += '  { "%s", {"%s", %d, %s, %d, %d}},\n' % \
+         (k, k, v.port, should_log, v.frequency, decimation)
   h += "};\n"
+
   h += "#endif\n"
   return h