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refactor(px4_work_queue): out-line ScheduledWorkItem ctor and ScheduleNow (#28440)

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* refactor(px4_work_queue): out-line ScheduledWorkItem constructor to save flash

The header-inline constructor zero-initialises the hrt_call member at
every derived work-item constructor across ~150 classes. Move the
definition (verbatim) into ScheduledWorkItem.cpp next to the
destructor; the derived constructors already pay a call into the base
constructor chain, so this only removes the duplicated inline stores.

Saves 1376 B of .text on px4_fmu-v6x_default.

Signed-off-by: Balduin <balduin@auterion.com>

* refactor(px4_work_queue): out-line WorkItem::ScheduleNow to save flash

The body was inlined at ~240 call sites; a plain call is smaller at
every one of them.

Saves 672 B FLASH on px4_fmu-v6x_default.

Signed-off-by: Balduin <balduin@auterion.com>

---------

Signed-off-by: Balduin <balduin@auterion.com>
Co-authored-by: Balduin <balduin@auterion.com>
This commit is contained in:
Jacob Dahl
2026-08-28 18:31:57 -06:00
committed by GitHub
parent 28c5230c2b
commit 26c5ef2076
4 changed files with 11 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
platforms/common/include/px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp
View File

@@ -77,7 +77,7 @@ public:
protected:
ScheduledWorkItem(const char *name, const wq_config_t &config) : WorkItem(name, config) {}
ScheduledWorkItem(const char *name, const wq_config_t &config);
virtual void print_run_status() override;

7
platforms/common/include/px4_platform_common/px4_work_queue/WorkItem.hpp
View File

@@ -64,12 +64,7 @@ public:
// WorkItems sorted by name
bool operator<=(const WorkItem &rhs) const { return (strcmp(ItemName(), rhs.ItemName()) <= 0); }
inline void ScheduleNow()
{
if (_wq != nullptr) {
_wq->Add(this);
}
}
void ScheduleNow();
virtual void print_run_status();

2
platforms/common/px4_work_queue/ScheduledWorkItem.cpp
View File

@@ -37,6 +37,8 @@
namespace px4
{
ScheduledWorkItem::ScheduledWorkItem(const char *name, const wq_config_t &config) : WorkItem(name, config) {}
ScheduledWorkItem::~ScheduledWorkItem()
{
if (_call.arg != nullptr) {

7
platforms/common/px4_work_queue/WorkItem.cpp
View File

@@ -116,6 +116,13 @@ void WorkItem::Deinit()
}
}
void WorkItem::ScheduleNow()
{
if (_wq != nullptr) {
_wq->Add(this);
}
}
void WorkItem::ScheduleClear()
{
if (_wq != nullptr) {