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improve CAN RX performance #6041

This commit is contained in:
Matthew Kennedy 2024-02-26 02:18:21 -05:00 committed by rusefillc
parent b764a564ba
commit 54021a6bb7
1 changed files with 24 additions and 2 deletions
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26
firmware/controllers/lua/lua_can_rx.cpp
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@ -6,6 +6,12 @@
#include "rusefi_lua.h"
extern "C" {
#include "lapi.h"
#include "ltable.h"
#include "lgc.h"
}
// Stores information about one received CAN frame: which bus, plus the actual frame
struct CanFrameData {
uint8_t BusIndex;
@ -55,6 +61,22 @@ void processLuaCan(const size_t busIndex, const CANRxFrame& frame) {
}
}
// From lapi.c:756, modified slightly
static void lua_createtable_noGC(lua_State *L, int narray) {
Table *t;
lua_lock(L);
t = luaH_new(L);
sethvalue2s(L, L->top, t);
api_incr_top(L);
luaH_resize(L, t, narray, 0);
// This line is commented out - no need to do a GC every time in
// this hot path when we'll do it shortly and have plenty of memory available.
// luaC_checkGC(L);
lua_unlock(L);
}
static void handleCanFrame(LuaHandle& ls, CanFrameData* data) {
ScopePerf perf(PE::LuaOneCanRxCallback);
if (data->Callback == NO_CALLBACK) {
@ -83,8 +105,8 @@ static void handleCanFrame(LuaHandle& ls, CanFrameData* data) {
// todo: https://github.com/rusefi/rusefi/issues/6041
lua_getglobal(ls, "global_can_data");
} else {
// Build table for data, that's a HEAVY operation
lua_newtable(ls);
// Build table for data, custom implementation without explicit GC but still garbage
lua_createtable_noGC(ls, dlc);
}
for (size_t i = 0; i < dlc; i++) {
lua_pushinteger(ls, data->Frame.data8[i]);