From e3ad952902ed38530b56b10f39dc67d7232fd28c Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Tue, 16 Mar 2021 20:21:03 +0100
Subject: [PATCH] Revert "use class AlignedBuffer from cereal (#20343)"

This reverts commit 7aa379e123aba70a4c36f95e69786a558892dc2d.
---
 selfdrive/boardd/boardd.cc         | 15 ++++++++++++---
 selfdrive/locationd/ubloxd_main.cc |  9 +++++++--
 selfdrive/loggerd/loggerd.cc       | 12 ++++++++++--
 3 files changed, 29 insertions(+), 7 deletions(-)

diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 0d356bbf92..5060d81baf 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -99,7 +99,11 @@ void safety_setter_thread() {
   }
   LOGW("got %d bytes CarParams", params.size());
 
-  capnp::FlatArrayMessageReader cmsg(AlignedBuffer(params.data(), params.size()));
+  // format for board, make copy due to alignment issues, will be freed on out of scope
+  auto amsg = kj::heapArray<capnp::word>((params.size() / sizeof(capnp::word)) + 1);
+  memcpy(amsg.begin(), params.data(), params.size());
+
+  capnp::FlatArrayMessageReader cmsg(amsg);
   cereal::CarParams::Reader car_params = cmsg.getRoot<cereal::CarParams>();
   cereal::CarParams::SafetyModel safety_model = car_params.getSafetyModel();
 
@@ -197,7 +201,7 @@ void can_recv(PubMaster &pm) {
 void can_send_thread(bool fake_send) {
   LOGD("start send thread");
 
-  AlignedBuffer aligned_buf;
+  kj::Array<capnp::word> buf = kj::heapArray<capnp::word>(1024);
   Context * context = Context::create();
   SubSocket * subscriber = SubSocket::create(context, "sendcan");
   assert(subscriber != NULL);
@@ -213,8 +217,13 @@ void can_send_thread(bool fake_send) {
       }
       continue;
     }
+    const size_t size = (msg->getSize() / sizeof(capnp::word)) + 1;
+    if (buf.size() < size) {
+      buf = kj::heapArray<capnp::word>(size);
+    }
+    memcpy(buf.begin(), msg->getData(), msg->getSize());
 
-    capnp::FlatArrayMessageReader cmsg(aligned_buf.get(msg));
+    capnp::FlatArrayMessageReader cmsg(buf.slice(0, size));
     cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
 
     //Dont send if older than 1 second
diff --git a/selfdrive/locationd/ubloxd_main.cc b/selfdrive/locationd/ubloxd_main.cc
index 310648efc9..3ebc437a1d 100644
--- a/selfdrive/locationd/ubloxd_main.cc
+++ b/selfdrive/locationd/ubloxd_main.cc
@@ -23,7 +23,7 @@ ExitHandler do_exit;
 using namespace ublox;
 int ubloxd_main(poll_ubloxraw_msg_func poll_func, send_gps_event_func send_func) {
   LOGW("starting ubloxd");
-  AlignedBuffer aligned_buf;
+  kj::Array<capnp::word> buf = kj::heapArray<capnp::word>(1024);
   UbloxMsgParser parser;
 
   Context * context = Context::create();
@@ -41,8 +41,13 @@ int ubloxd_main(poll_ubloxraw_msg_func poll_func, send_gps_event_func send_func)
       }
       continue;
     }
+    const size_t size = (msg->getSize() / sizeof(capnp::word)) + 1;
+    if (buf.size() < size) {
+      buf = kj::heapArray<capnp::word>(size);
+    }
+    memcpy(buf.begin(), msg->getData(), msg->getSize());
 
-    capnp::FlatArrayMessageReader cmsg(aligned_buf.get(msg));
+    capnp::FlatArrayMessageReader cmsg(buf.slice(0, size));
     cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
     auto ubloxRaw = event.getUbloxRaw();
 
diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc
index a2758de4f3..cad256e9fc 100644
--- a/selfdrive/loggerd/loggerd.cc
+++ b/selfdrive/loggerd/loggerd.cc
@@ -383,7 +383,7 @@ int main(int argc, char** argv) {
 
   uint64_t msg_count = 0;
   uint64_t bytes_count = 0;
-  AlignedBuffer aligned_buf;
+  kj::Array<capnp::word> buf = kj::heapArray<capnp::word>(1024);
 
   double start_ts = seconds_since_boot();
   double last_rotate_tms = millis_since_boot();
@@ -427,7 +427,15 @@ int main(int argc, char** argv) {
         if (fpkt_id >= 0) {
           // track camera frames to sync to encoder
           // only process last frame
-          capnp::FlatArrayMessageReader cmsg(aligned_buf.get(last_msg));
+          const uint8_t* data = (uint8_t*)last_msg->getData();
+          const size_t len = last_msg->getSize();
+          const size_t size = len / sizeof(capnp::word) + 1;
+          if (buf.size() < size) {
+            buf = kj::heapArray<capnp::word>(size);
+          }
+          memcpy(buf.begin(), data, len);
+
+          capnp::FlatArrayMessageReader cmsg(buf);
           cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
 
           if (fpkt_id == LOG_CAMERA_ID_FCAMERA) {