From 0f8b5db8cefdd53c06ffd4867b8915d12f6e4603 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 27 Jan 2021 00:21:02 +0800
Subject: [PATCH] boardd: use setUbloxRaw to avoid memory alloc&copy in
 pigeon_publish_raw (#19884)

* use setUbloxRaw to avoid memory copy

* const std::string &dat
---
 selfdrive/boardd/boardd.cc | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index f2a4068b69..174bd357f7 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -462,16 +462,14 @@ void hardware_control_thread() {
   }
 }
 
-static void pigeon_publish_raw(PubMaster &pm, std::string dat) {
+static void pigeon_publish_raw(PubMaster &pm, const std::string &dat) {
   // create message
   MessageBuilder msg;
-  auto ublox_raw = msg.initEvent().initUbloxRaw(dat.length());
-  memcpy(ublox_raw.begin(), dat.data(), dat.length());
-
+  capnp::Data::Builder ublox_row((uint8_t*)dat.data(), dat.length());
+  msg.initEvent().setUbloxRaw(ublox_row);
   pm.send("ubloxRaw", msg);
 }
 
-
 void pigeon_thread() {
   if (!panda->is_pigeon){ return; };