Speed up socketcan capture_message by ~32%

can/interfaces/socketcan/socketcan.py

@@ -47,6 +47,8 @@
     CMSG_SPACE(RECEIVED_TIMESTAMP_STRUCT.size) if CMSG_SPACE_available else 0
 )
 
+MSG_DONTROUTE = int(socket.MSG_DONTROUTE)
+
 
 # Setup BCM struct
 def bcm_header_factory(
@@ -656,7 +658,7 @@ def capture_message(sock: socket.socket, get_channel: bool = False) -> Message |
     error_state_indicator = bool(flags & constants.CANFD_ESI)
 
     # Section 4.7.1: MSG_DONTROUTE: set when the received frame was created on the local host.
-    is_rx = not bool(msg_flags & socket.MSG_DONTROUTE)
+    is_rx = not msg_flags & MSG_DONTROUTE
 
     if is_extended_frame_format:
         # log.debug("CAN: Extended")
@@ -666,23 +668,22 @@ def capture_message(sock: socket.socket, get_channel: bool = False) -> Message |
         # log.debug("CAN: Standard")
         arbitration_id = can_id & 0x000007FF
 
-    msg = Message(
-        timestamp=timestamp,
-        channel=channel,
-        arbitration_id=arbitration_id,
-        is_extended_id=is_extended_frame_format,
-        is_remote_frame=is_remote_transmission_request,
-        is_error_frame=is_error_frame,
-        is_fd=is_fd,
-        is_rx=is_rx,
-        bitrate_switch=bitrate_switch,
-        error_state_indicator=error_state_indicator,
-        dlc=can_dlc,
-        data=data,
+    # Built positionally: binding twelve keyword arguments is slower.
+    return Message(
+        timestamp,
+        arbitration_id,
+        is_extended_frame_format,
+        is_remote_transmission_request,
+        is_error_frame,
+        channel,
+        can_dlc,
+        data,
+        is_fd,
+        is_rx,
+        bitrate_switch,
+        error_state_indicator,
     )
 
-    return msg
-
 
 class SocketcanBus(BusABC):  # pylint: disable=abstract-method
     """A SocketCAN interface to CAN.

doc/changelog.d/2097.changed.rst

@@ -0,0 +1 @@
+Improved performance of the ``socketcan`` receive path: ``capture_message`` now uses roughly a third less CPU per frame.

test/test_socketcan.py

@@ -5,27 +5,32 @@
 """
 
 import ctypes
+import socket
 import struct
 import sys
 import unittest
 import warnings
-from unittest.mock import patch
+from unittest.mock import Mock, patch
 
 import can
 from can.interfaces.socketcan.constants import (
     CAN_BCM_TX_DELETE,
     CAN_BCM_TX_SETUP,
     SETTIMER,
+    SO_TIMESTAMPNS,
     STARTTIMER,
     TX_COUNTEVT,
 )
 from can.interfaces.socketcan.socketcan import (
+    RECEIVED_TIMESTAMP_STRUCT,
     BcmMsgHead,
     bcm_header_factory,
     build_bcm_header,
     build_bcm_transmit_header,
     build_bcm_tx_delete_header,
     build_bcm_update_header,
+    build_can_frame,
+    capture_message,
 )
 
 from .config import IS_LINUX, IS_PYPY, TEST_INTERFACE_SOCKETCAN
@@ -390,6 +395,44 @@ def test_pypy_socketcan_support(self):
                     "See: https://github.com/pypy/pypy/issues/3808"
                 )
 
+    def test_capture_message(self):
+        ancillary_data = [
+            (
+                socket.SOL_SOCKET,
+                SO_TIMESTAMPNS,
+                RECEIVED_TIMESTAMP_STRUCT.pack(1_700_000_000, 123_456_000),
+            )
+        ]
+        defaults = {"timestamp": 1_700_000_000.123456, "is_extended_id": False}
+        # Every pair of boolean fields differs in at least one message, so swapped
+        # arguments in the Message() call of capture_message() cannot go unnoticed.
+        for kwargs in (
+            {"arbitration_id": 0x123, "channel": "vcan0", "data": [1, 2, 3]},
+            {"arbitration_id": 0x1ABCDEF, "is_extended_id": True, "is_rx": False},
+            {"arbitration_id": 0x7FF, "is_remote_frame": True, "dlc": 4},
+            {"arbitration_id": 0x004, "is_error_frame": True, "data": bytes(8)},
+            {"arbitration_id": 0x456, "is_fd": True, "data": range(12)},
+            {"arbitration_id": 0x456, "is_fd": True, "bitrate_switch": True},
+            {"arbitration_id": 0x456, "is_fd": True, "error_state_indicator": True},
+        ):
+            with self.subTest(**kwargs):
+                expected = can.Message(**{**defaults, **kwargs})
+                sock = Mock()
+                sock.recvmsg.return_value = (
+                    build_can_frame(expected),
+                    ancillary_data,
+                    0 if expected.is_rx else socket.MSG_DONTROUTE,
+                    ("vcan0",),
+                )
+
+                received = capture_message(
+                    sock, get_channel=expected.channel is not None
+                )
+
+                self.assertTrue(
+                    received.equals(expected), f"{received!r} != {expected!r}"
+                )
+
 
 if __name__ == "__main__":
     unittest.main()