From 7cee5aae631e07275abe4376155806951f28115e Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 14 Sep 2020 04:00:06 +0800
Subject: [PATCH] more messagebuilder (#2162)

* more messagebuilder

* little more

* revert

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 9fa56b4eab62b5d793e6c6d714c9dbab47bb3f0a
---
 selfdrive/boardd/boardd.cc                |  4 ----
 selfdrive/boardd/can_list_to_can_capnp.cc | 17 ++++++-----------
 selfdrive/loggerd/loggerd.cc              | 13 ++++---------
 selfdrive/sensord/sensors_qcom2.cc        | 10 +++-------
 4 files changed, 13 insertions(+), 31 deletions(-)

diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 1b5414ba69..55f9a5afd5 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -187,13 +187,9 @@ void usb_retry_connect() {
 }
 
 void can_recv(PubMaster &pm) {
-  uint64_t start_time = nanos_since_boot();
-
   // create message
   MessageBuilder msg;
   auto event = msg.initEvent();
-  event.setLogMonoTime(start_time);
-
   int recv = panda->can_receive(event);
   if (recv){
     pm.send("can", msg);
diff --git a/selfdrive/boardd/can_list_to_can_capnp.cc b/selfdrive/boardd/can_list_to_can_capnp.cc
index 7627bff875..2fa3f5b9bc 100644
--- a/selfdrive/boardd/can_list_to_can_capnp.cc
+++ b/selfdrive/boardd/can_list_to_can_capnp.cc
@@ -1,9 +1,4 @@
-#include <vector>
-#include <tuple>
-#include <string>
 #include "messaging.hpp"
-#include "cereal/gen/cpp/log.capnp.h"
-#include "cereal/gen/cpp/car.capnp.h"
 
 typedef struct {
 	long address;
@@ -16,16 +11,16 @@ extern "C" {
 
 void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::string &out, bool sendCan, bool valid) {
   MessageBuilder msg;
-  auto event = msg.initEvent();
-  event.setValid(valid);
+  auto event = msg.initEvent(valid);
 
   auto canData = sendCan ? event.initSendcan(can_list.size()) : event.initCan(can_list.size());
   int j = 0;
   for (auto it = can_list.begin(); it != can_list.end(); it++, j++) {
-    canData[j].setAddress(it->address);
-    canData[j].setBusTime(it->busTime);
-    canData[j].setDat(kj::arrayPtr((uint8_t*)it->dat.data(), it->dat.size()));
-    canData[j].setSrc(it->src);
+    auto c = canData[j];
+    c.setAddress(it->address);
+    c.setBusTime(it->busTime);
+    c.setDat(kj::arrayPtr((uint8_t*)it->dat.data(), it->dat.size()));
+    c.setSrc(it->src);
   }
   auto bytes = msg.toBytes();
   out.append((const char *)bytes.begin(), bytes.size());
diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc
index f2f49ee683..e747a8ce48 100644
--- a/selfdrive/loggerd/loggerd.cc
+++ b/selfdrive/loggerd/loggerd.cc
@@ -404,10 +404,8 @@ void append_property(const char* key, const char* value, void *cookie) {
 }
 
 kj::Array<capnp::word> gen_init_data() {
-  capnp::MallocMessageBuilder msg;
-  auto event = msg.initRoot<cereal::Event>();
-  event.setLogMonoTime(nanos_since_boot());
-  auto init = event.initInitData();
+  MessageBuilder msg;
+  auto init = msg.initEvent().initInitData();
 
   init.setDeviceType(cereal::InitData::DeviceType::NEO);
   init.setVersion(capnp::Text::Reader(COMMA_VERSION));
@@ -509,11 +507,8 @@ static void bootlog() {
   LOGW("bootlog to %s", s.segment_path);
 
   {
-    capnp::MallocMessageBuilder msg;
-    auto event = msg.initRoot<cereal::Event>();
-    event.setLogMonoTime(nanos_since_boot());
-
-    auto boot = event.initBoot();
+    MessageBuilder msg;
+    auto boot = msg.initEvent().initBoot();
 
     boot.setWallTimeNanos(nanos_since_epoch());
 
diff --git a/selfdrive/sensord/sensors_qcom2.cc b/selfdrive/sensord/sensors_qcom2.cc
index caba02695c..9821c2b71c 100644
--- a/selfdrive/sensord/sensors_qcom2.cc
+++ b/selfdrive/sensord/sensors_qcom2.cc
@@ -60,16 +60,12 @@ int sensor_loop() {
 
   while (!do_exit){
     std::chrono::steady_clock::time_point begin = std::chrono::steady_clock::now();
-    uint64_t log_time = nanos_since_boot();
 
+    const int num_events = sensors.size();
     MessageBuilder msg;
-    auto event = msg.initEvent();
-    event.setLogMonoTime(log_time);
+    auto sensor_events = msg.initEvent().initSensorEvents(num_events);
 
-    int num_events = sensors.size();
-    auto sensor_events = event.initSensorEvents(num_events);
-
-    for (size_t i = 0; i < num_events; i++){
+    for (int i = 0; i < num_events; i++){
       auto event = sensor_events[i];
       sensors[i]->get_event(event);
     }