From 51ebf44f486ea9c26e9328c8d43fbd01ea68f53c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 7 Sep 2024 04:51:19 +0800 Subject: [PATCH] card: remove redundant CAN data conversion (#33488) * remove redundant CAN data conversion * 1 less % * rename --------- Co-authored-by: Shane Smiskol --- selfdrive/car/card.py | 7 ++++--- selfdrive/test/test_onroad.py | 2 +- 2 files changed, 5 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index d883ac1f21..6494074458 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -155,15 +155,16 @@ class Car: def state_update(self) -> tuple[car.CarState, structs.RadarData | None]: """carState update loop, driven by can""" - # Update carState from CAN can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True) - CS = convert_to_capnp(self.CI.update(can_capnp_to_list(can_strs))) + can_list = can_capnp_to_list(can_strs) + # Update carState from CAN + CS = convert_to_capnp(self.CI.update(can_list)) if self.CP.carName == 'mock': CS = self.mock_carstate.update(CS) # Update radar tracks from CAN - RD: structs.RadarData | None = self.RI.update(can_capnp_to_list(can_strs)) + RD: structs.RadarData | None = self.RI.update(can_list) self.sm.update(0) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index b3e66444a7..7fe26b739f 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -36,7 +36,7 @@ MAX_TOTAL_CPU = 260. # total for all 8 cores PROCS = { # Baseline CPU usage by process "selfdrive.controls.controlsd": 32.0, - "selfdrive.car.card": 31.0, + "selfdrive.car.card": 30.0, "./loggerd": 14.0, "./encoderd": 17.0, "./camerad": 14.5,