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refactor(uORB): save flash by splitting headers into header & implementation (#27581)

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* refactor(uORB): out-line PublicationBase/Subscription methods to save flash

Move the type-independent PublicationBase::advertise()/publish() and
Subscription::copy()/update() bodies out of the headers into
Publication.cpp / Subscription.cpp, leaving only declarations inline.

PX4 links with bfd ld (no identical-code folding) and without LTO, so
these header-inline methods were emitted per translation unit: GCC both
.isra-cloned them (~39 publish, 25 advertise, 17 copy, 12 update copies)
and fully inlined them into many callers. Out-lining collapses all of
that to a single shared definition each.

This is the out-of-line follow-up to #27526, which hoisted advertise/
publish from the Publication<T> template into the non-template
PublicationBase but kept them inline in the header. The methods were
already emitted as separate clones, so callers already pay a bl and the
publish/read hot paths are unchanged -- this is pure code motion.

Saves 10.4 KB .text on auterion_fmu-v6x (1,949,568 -> 1,939,168).

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

* refactor(uORB): out-line SubscriptionCallback register/unregister to save flash

Move SubscriptionCallback::registerCallback()/unregisterCallback() out of the
header into a new SubscriptionCallback.cpp. Like the Publication/Subscription
methods, these were emitted per translation unit (PX4 links with bfd ld, no
ICF, no LTO): GCC .isra-cloned them and inlined them into every WorkItem-based
subscriber's setup path.

registerCallback() runs only at subscription/callback setup (cold path), so
out-lining is pure code motion with no hot-path change.

Saves 4.9 KB .text on auterion_fmu-v6x (1,939,168 -> 1,934,128).

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

* refactor(uORB): out-line remaining Subscription methods to save flash

Extends this PR's pattern to the rest of Subscription: move the type-independent methods still defined in the header (constructors, destructor, copy/move assignment, updated(), advertised()) into Subscription.cpp so they are emitted once instead of inlined into every translation unit.

updated()/advertised() inline the Manager::updates_available / is_advertised (DeviceNode) chain, and the constructors were inlined at every subscription site, so most of the remaining duplication lived there. ~9.4 KB .text saved on ark_fmu-v6x_default.

---------

Co-authored-by: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
This commit is contained in:
Balduin
2026-06-09 19:40:25 +02:00
committed by GitHub
parent d61a88b9da
commit 21dc34fc5b
7 changed files with 243 additions and 117 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
platforms/common/uORB/CMakeLists.txt
View File

@@ -42,10 +42,12 @@ set(SRCS)
set(SRCS_COMMON
ORBSet.hpp
Publication.cpp
Publication.hpp
PublicationMulti.hpp
Subscription.cpp
Subscription.hpp
SubscriptionCallback.cpp
SubscriptionCallback.hpp
SubscriptionInterval.cpp
SubscriptionInterval.hpp

65
platforms/common/uORB/Publication.cpp Normal file
View File

@@ -0,0 +1,65 @@
/****************************************************************************
*
* Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file Publication.cpp
*
* Out-of-line definitions of the type-independent PublicationBase machinery.
* Keeping advertise()/publish() out of the header emits them once instead of
* once per translation unit (PX4 links with bfd ld, no ICF, and no LTO).
*/
#include "Publication.hpp"
namespace uORB
{
bool PublicationBase::advertise()
{
if (!advertised()) {
_handle = orb_advertise(get_topic(), nullptr);
}
return advertised();
}
bool PublicationBase::publish(const void *data)
{
if (!advertised()) {
advertise();
}
return (Manager::orb_publish(get_topic(), _handle, data) == PX4_OK);
}
} // namespace uORB

18
platforms/common/uORB/Publication.hpp
View File

@@ -54,14 +54,7 @@ public:
bool advertised() const { return _handle != nullptr; }
bool advertise()
{
if (!advertised()) {
_handle = orb_advertise(get_topic(), nullptr);
}
return advertised();
}
bool advertise();
bool unadvertise() { return (Manager::orb_unadvertise(_handle) == PX4_OK); }
@@ -82,14 +75,7 @@ protected:
}
// type-independent publish; data points to a message of the topic's type
bool publish(const void *data)
{
if (!advertised()) {
advertise();
}
return (Manager::orb_publish(get_topic(), _handle, data) == PX4_OK);
}
bool publish(const void *data);
orb_advert_t _handle{nullptr};
const ORB_ID _orb_id;

80
platforms/common/uORB/Subscription.cpp
View File

@@ -73,6 +73,24 @@ void Subscription::unsubscribe()
_last_generation = 0;
}
bool Subscription::update(void *dst)
{
if (subscribe()) {
return Manager::orb_data_copy(_node, dst, _last_generation, true);
}
return false;
}
bool Subscription::copy(void *dst)
{
if (subscribe()) {
return Manager::orb_data_copy(_node, dst, _last_generation, false);
}
return false;
}
bool Subscription::ChangeInstance(uint8_t instance)
{
if (instance != _instance) {
@@ -92,4 +110,66 @@ bool Subscription::ChangeInstance(uint8_t instance)
return false;
}
Subscription::Subscription(ORB_ID id, uint8_t instance) :
_orb_id(id),
_instance(instance)
{
subscribe();
}
Subscription::Subscription(const orb_metadata *meta, uint8_t instance) :
_orb_id((meta == nullptr) ? ORB_ID::INVALID : static_cast<ORB_ID>(meta->o_id)),
_instance(instance)
{
subscribe();
}
Subscription::Subscription(const Subscription &other) : _orb_id(other._orb_id), _instance(other._instance) {}
Subscription::Subscription(const Subscription &&other) noexcept : _orb_id(other._orb_id), _instance(other._instance) {}
Subscription &Subscription::operator=(const Subscription &other)
{
// Check for self-assignment
if (this == &other) {
return *this;
}
unsubscribe();
_orb_id = other._orb_id;
_instance = other._instance;
return *this;
}
Subscription &Subscription::operator=(Subscription &&other) noexcept
{
unsubscribe();
_orb_id = other._orb_id;
_instance = other._instance;
return *this;
}
Subscription::~Subscription()
{
unsubscribe();
}
bool Subscription::advertised()
{
if (subscribe()) {
return Manager::is_advertised(_node);
}
return false;
}
bool Subscription::updated()
{
if (subscribe()) {
return Manager::updates_available(_node, _last_generation);
}
return false;
}
} // namespace uORB

80
platforms/common/uORB/Subscription.hpp
View File

@@ -63,12 +63,7 @@ public:
* @param id The uORB ORB_ID enum for the topic.
* @param instance The instance for multi sub.
*/
Subscription(ORB_ID id, uint8_t instance = 0) :
_orb_id(id),
_instance(instance)
{
subscribe();
}
Subscription(ORB_ID id, uint8_t instance = 0);
/**
* Constructor
@@ -76,97 +71,44 @@ public:
* @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
* @param instance The instance for multi sub.
*/
Subscription(const orb_metadata *meta = nullptr, uint8_t instance = 0) :
_orb_id((meta == nullptr) ? ORB_ID::INVALID : static_cast<ORB_ID>(meta->o_id)),
_instance(instance)
{
subscribe();
}
Subscription(const orb_metadata *meta = nullptr, uint8_t instance = 0);
// Copy constructor
Subscription(const Subscription &other) : _orb_id(other._orb_id), _instance(other._instance) {}
Subscription(const Subscription &other);
// Move constructor
Subscription(const Subscription &&other) noexcept : _orb_id(other._orb_id), _instance(other._instance) {}
Subscription(const Subscription &&other) noexcept;
// copy assignment
Subscription &operator=(const Subscription &other)
{
// Check for self-assignment
if (this == &other) {
return *this;
}
unsubscribe();
_orb_id = other._orb_id;
_instance = other._instance;
return *this;
}
Subscription &operator=(const Subscription &other);
// move assignment
Subscription &operator=(Subscription &&other) noexcept
{
unsubscribe();
_orb_id = other._orb_id;
_instance = other._instance;
return *this;
}
Subscription &operator=(Subscription &&other) noexcept;
~Subscription()
{
unsubscribe();
}
~Subscription();
bool subscribe();
void unsubscribe();
bool valid() const { return _node != nullptr; }
bool advertised()
{
if (subscribe()) {
return Manager::is_advertised(_node);
}
return false;
}
bool advertised();
/**
* Check if there is a new update.
*/
bool updated()
{
if (subscribe()) {
return Manager::updates_available(_node, _last_generation);
}
return false;
}
bool updated();
/**
* Update the struct
* @param dst The uORB message struct we are updating.
*/
bool update(void *dst)
{
if (subscribe()) {
return Manager::orb_data_copy(_node, dst, _last_generation, true);
}
return false;
}
bool update(void *dst);
/**
* Copy the struct
* @param dst The uORB message struct we are updating.
*/
bool copy(void *dst)
{
if (subscribe()) {
return Manager::orb_data_copy(_node, dst, _last_generation, false);
}
return false;
}
bool copy(void *dst);
/**
* Change subscription instance

81
platforms/common/uORB/SubscriptionCallback.cpp Normal file
View File

@@ -0,0 +1,81 @@
/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file SubscriptionCallback.cpp
*
* Out-of-line register/unregister machinery. Keeping these out of the header
* emits them once instead of once per translation unit (PX4 links with bfd
* ld, no ICF, and no LTO).
*/
#include "SubscriptionCallback.hpp"
namespace uORB
{
bool SubscriptionCallback::registerCallback()
{
if (!_registered) {
if (_subscription.get_node() && Manager::register_callback(_subscription.get_node(), this)) {
// registered
_registered = true;
} else {
// force topic creation by subscribing with old API
int fd = orb_subscribe_multi(_subscription.get_topic(), _subscription.get_instance());
// try to register callback again
if (_subscription.subscribe()) {
if (_subscription.get_node() && Manager::register_callback(_subscription.get_node(), this)) {
_registered = true;
}
}
orb_unsubscribe(fd);
}
}
return _registered;
}
void SubscriptionCallback::unregisterCallback()
{
if (_subscription.get_node()) {
Manager::unregister_callback(_subscription.get_node(), this);
}
_registered = false;
}
} // namespace uORB

34
platforms/common/uORB/SubscriptionCallback.hpp
View File

@@ -66,39 +66,9 @@ public:
unregisterCallback();
};
bool registerCallback()
{
if (!_registered) {
if (_subscription.get_node() && Manager::register_callback(_subscription.get_node(), this)) {
// registered
_registered = true;
bool registerCallback();
} else {
// force topic creation by subscribing with old API
int fd = orb_subscribe_multi(_subscription.get_topic(), _subscription.get_instance());
// try to register callback again
if (_subscription.subscribe()) {
if (_subscription.get_node() && Manager::register_callback(_subscription.get_node(), this)) {
_registered = true;
}
}
orb_unsubscribe(fd);
}
}
return _registered;
}
void unregisterCallback()
{
if (_subscription.get_node()) {
Manager::unregister_callback(_subscription.get_node(), this);
}
_registered = false;
}
void unregisterCallback();
/**
* Change subscription instance