From 06b8f1042ba2408981a6095b35394d6300bfa0e0 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 27 Jan 2021 00:10:53 +0800
Subject: [PATCH] Panda: add can_send buffer caching (#19910)

old-commit-hash: 5c58a2618eed043bca9e1b5a2b8303756663cca1
---
 selfdrive/boardd/panda.cc | 11 +++++------
 1 file changed, 5 insertions(+), 6 deletions(-)

diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc
index 50065cda8e..f2ff6d97e9 100644
--- a/selfdrive/boardd/panda.cc
+++ b/selfdrive/boardd/panda.cc
@@ -1,7 +1,7 @@
 #include <stdexcept>
 #include <cassert>
 #include <iostream>
-
+#include <vector>
 #include <unistd.h>
 
 #include "common/swaglog.h"
@@ -303,9 +303,10 @@ void Panda::send_heartbeat(){
 }
 
 void Panda::can_send(capnp::List<cereal::CanData>::Reader can_data_list){
-  int msg_count = can_data_list.size();
+  static std::vector<uint32_t> send;
+  const int msg_count = can_data_list.size();
 
-  uint32_t *send = new uint32_t[msg_count*0x10]();
+  send.resize(msg_count*0x10);
 
   for (int i = 0; i < msg_count; i++) {
     auto cmsg = can_data_list[i];
@@ -320,9 +321,7 @@ void Panda::can_send(capnp::List<cereal::CanData>::Reader can_data_list){
     memcpy(&send[i*4+2], can_data.begin(), can_data.size());
   }
 
-  usb_bulk_write(3, (unsigned char*)send, msg_count*0x10, 5);
-
-  delete[] send;
+  usb_bulk_write(3, (unsigned char*)send.data(), send.size(), 5);
 }
 
 int Panda::can_receive(kj::Array<capnp::word>& out_buf) {