From 1a61723c2cca63de15fd3f47a50619274f0c1799 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 15 Aug 2024 15:40:45 -0700
Subject: [PATCH] save ~4-5% CPU at 100hz, we don't modify after so no need to
 deepcopy

btw pickle.loads(pickle.dumps()) is faster by ~1% CPU
---
 selfdrive/car/interfaces.py | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 90aaec40b4..0367aca3fb 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -1,4 +1,3 @@
-import copy
 import json
 import os
 import numpy as np
@@ -247,9 +246,8 @@ class CarInterfaceBase(ABC):
     if ret.cruiseState.speedCluster == 0:
       ret.cruiseState.speedCluster = ret.cruiseState.speed
 
-    # copy back for next iteration
-    # TODO: do we need to deepcopy?
-    self.CS.out = copy.deepcopy(ret)
+    # save for next iteration
+    self.CS.out = ret
 
     return ret