From 29b4d16b73da9e3a7c32261160107e15716d1f0e Mon Sep 17 00:00:00 2001
From: deanlee <deanlee3@gmail.com>
Date: Fri, 15 Nov 2024 16:34:36 +0800
Subject: [PATCH]  direct capnp to vector[CanData] conversion

---
 msgq_repo                            |  2 +-
 opendbc_repo                         |  2 +-
 panda                                |  2 +-
 selfdrive/pandad/pandad_api_impl.pyx | 29 ++++++++++++++++------------
 4 files changed, 20 insertions(+), 15 deletions(-)

diff --git a/msgq_repo b/msgq_repo
index e621ce0763803e..3e17f865bbd3bb 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit e621ce0763803ea821f9b41a20b0b77d83ab6c97
+Subproject commit 3e17f865bbd3bbabb3841227ed0774c8fb74efef
diff --git a/opendbc_repo b/opendbc_repo
index 8e349c395545b7..bdb716b5378e6f 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 8e349c395545b7d4ba59dcf317ef55baa591510c
+Subproject commit bdb716b5378e6f4ad61829e5ad8e31fde4cde28d
diff --git a/panda b/panda
index 2fbf0c5ff86f2e..dec9223f9726e4 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 2fbf0c5ff86f2e94021d7c937b9f8eb6839af484
+Subproject commit dec9223f9726e400e4a4eb91ca19fffcd745f97a
diff --git a/selfdrive/pandad/pandad_api_impl.pyx b/selfdrive/pandad/pandad_api_impl.pyx
index 787968f53e7db3..2a97e5952b629a 100644
--- a/selfdrive/pandad/pandad_api_impl.pyx
+++ b/selfdrive/pandad/pandad_api_impl.pyx
@@ -4,7 +4,7 @@ from cython.operator cimport dereference as deref, preincrement as preinc
 from libcpp.vector cimport vector
 from libcpp.string cimport string
 from libcpp cimport bool
-from libc.stdint cimport uint8_t, uint32_t, uint64_t
+from libc.stdint cimport uint8_t, uint32_t, uint64_t, uintptr_t
 
 cdef extern from "panda.h":
   cdef struct can_frame:
@@ -41,16 +41,21 @@ def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
   can_list_to_can_capnp_cpp(can_list, out, msgtype == 'sendcan', valid)
   return out
 
+
+cdef class ParsedCanData:
+  cdef vector[CanData] *data
+
+  def __cinit__(self):
+    self.data = new vector[CanData]()
+
+  def __dealloc__(self):
+    del self.data
+
+  def get_data_pointer(self):
+    return <uintptr_t> self.data
+
+
 def can_capnp_to_list(strings, msgtype='can'):
-  cdef vector[CanData] data
-  can_capnp_to_can_list_cpp(strings, data, msgtype == 'sendcan')
-
-  result = []
-  cdef CanData *d
-  cdef vector[CanData].iterator it = data.begin()
-  while it != data.end():
-    d = &deref(it)
-    frames = [(f.address, (<char *>&f.dat[0])[:f.dat.size()], f.src) for f in d.frames]
-    result.append((d.nanos, frames))
-    preinc(it)
+  cdef ParsedCanData result = ParsedCanData()
+  can_capnp_to_can_list_cpp(strings, result.data[0], msgtype == 'sendcan')
   return result