From 226b934ee194bf34c2fe2c926df0866092d26439 Mon Sep 17 00:00:00 2001
From: deanlee <deanlee3@gmail.com>
Date: Thu, 23 Jan 2025 22:13:31 +0800
Subject: [PATCH] removing the recursion only

---
 system/loggerd/loggerd.cc | 32 +++++++++++++++-----------------
 1 file changed, 15 insertions(+), 17 deletions(-)

diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc
index 7926ecf58e53061..fcb8e3fdec0399c 100644
--- a/system/loggerd/loggerd.cc
+++ b/system/loggerd/loggerd.cc
@@ -57,14 +57,14 @@ struct RemoteEncoder {
   std::unique_ptr<VideoWriter> writer;
   int encoderd_segment_offset;
   int current_segment = -1;
-  std::vector<std::unique_ptr<Message>> q;
+  std::vector<Message *> q;
   int dropped_frames = 0;
   bool recording = false;
   bool marked_ready_to_rotate = false;
   bool seen_first_packet = false;
 };
 
-size_t write_encode_data(LoggerdState *s, cereal::Event::Reader event, struct RemoteEncoder &re, const EncoderInfo &encoder_info) {
+size_t write_encode_data(LoggerdState *s, cereal::Event::Reader event, RemoteEncoder &re, const EncoderInfo &encoder_info) {
   auto edata = (event.*(encoder_info.get_encode_data_func))();
   auto idx = edata.getIdx();
   auto flags = idx.getFlags();
@@ -116,15 +116,9 @@ size_t write_encode_data(LoggerdState *s, cereal::Event::Reader event, struct Re
   return new_msg.size();
 }
 
-size_t write_encode_data(LoggerdState *s, Message *msg, struct RemoteEncoder &re, const EncoderInfo &encoder_info) {
-  capnp::FlatArrayMessageReader cmsg(kj::ArrayPtr<capnp::word>((capnp::word *)msg->getData(), msg->getSize() / sizeof(capnp::word)));
-  auto event = cmsg.getRoot<cereal::Event>();
-  return write_encode_data(s, event, re, encoder_info);
-}
-
-int handle_encoder_msg(LoggerdState *s, Message *raw_msg, struct RemoteEncoder &re, const EncoderInfo &encoder_info) {
+int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct RemoteEncoder &re, const EncoderInfo &encoder_info) {
   int bytes_count = 0;
-  std::unique_ptr<Message> msg(raw_msg);
+
   // extract the message
   capnp::FlatArrayMessageReader cmsg(kj::ArrayPtr<capnp::word>((capnp::word *)msg->getData(), msg->getSize() / sizeof(capnp::word)));
   auto event = cmsg.getRoot<cereal::Event>();
@@ -135,7 +129,7 @@ int handle_encoder_msg(LoggerdState *s, Message *raw_msg, struct RemoteEncoder &
   if (!re.seen_first_packet) {
     re.seen_first_packet = true;
     re.encoderd_segment_offset = idx.getSegmentNum();
-    LOGD("%s: has encoderd offset %d", encoder_info.publish_name, re.encoderd_segment_offset);
+    LOGD("%s: has encoderd offset %d", name.c_str(), re.encoderd_segment_offset);
   }
   int offset_segment_num = idx.getSegmentNum() - re.encoderd_segment_offset;
 
@@ -152,13 +146,16 @@ int handle_encoder_msg(LoggerdState *s, Message *raw_msg, struct RemoteEncoder &
       re.marked_ready_to_rotate = false;
       // we are in this segment now, process any queued messages before this one
       if (!re.q.empty()) {
-        for (auto &qmsg : re.q) {
-          bytes_count += write_encode_data(s, qmsg.get(), re, encoder_info);
+        for (auto qmsg : re.q) {
+          capnp::FlatArrayMessageReader reader({(capnp::word *)qmsg->getData(), qmsg->getSize() / sizeof(capnp::word)});
+          bytes_count += write_encode_data(s, reader.getRoot<cereal::Event>(), re, encoder_info);
+          delete qmsg;
         }
         re.q.clear();
       }
     }
     bytes_count += write_encode_data(s, event, re, encoder_info);
+    delete msg;
   } else if (offset_segment_num > s->logger.segment()) {
     // encoderd packet has a newer segment, this means encoderd has rolled over
     if (!re.marked_ready_to_rotate) {
@@ -166,16 +163,17 @@ int handle_encoder_msg(LoggerdState *s, Message *raw_msg, struct RemoteEncoder &
       ++s->ready_to_rotate;
       LOGD("rotate %d -> %d ready %d/%d for %s",
         s->logger.segment(), offset_segment_num,
-        s->ready_to_rotate.load(), s->max_waiting, encoder_info.publish_name);
+        s->ready_to_rotate.load(), s->max_waiting, name.c_str());
     }
     // queue up all the new segment messages, they go in after the rotate
-    re.q.emplace_back(std::move(msg));
+    re.q.push_back(msg);
   } else {
     LOGE("%s: encoderd packet has a older segment!!! idx.getSegmentNum():%d s->logger.segment():%d re.encoderd_segment_offset:%d",
-      encoder_info.publish_name, idx.getSegmentNum(), s->logger.segment(), re.encoderd_segment_offset);
+      name.c_str(), idx.getSegmentNum(), s->logger.segment(), re.encoderd_segment_offset);
     // free the message, it's useless. this should never happen
     // actually, this can happen if you restart encoderd
     re.encoderd_segment_offset = -s->logger.segment();
+    delete msg;
   }
 
   return bytes_count;
@@ -268,7 +266,7 @@ void loggerd_thread() {
         const bool in_qlog = service.freq != -1 && (service.counter++ % service.freq == 0);
         if (service.encoder) {
           s.last_camera_seen_tms = millis_since_boot();
-          bytes_count += handle_encoder_msg(&s, msg, remote_encoders[sock], encoder_infos_dict[service.name]);
+          bytes_count += handle_encoder_msg(&s, msg, service.name, remote_encoders[sock], encoder_infos_dict[service.name]);
         } else {
           s.logger.write((uint8_t *)msg->getData(), msg->getSize(), in_qlog);
           bytes_count += msg->getSize();