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uORB: add bitset for faster orb_exists check and remove uORB::Subscription lazy subscribe hack/optimization

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- add PX4 bitset and atomic_bitset with testing
 - add uORB::Subscription constructor to take ORB_ID enum
 - move orb test messages into msg/
This commit is contained in:
Daniel Agar
2020-03-11 09:06:33 -04:00
committed by GitHub
parent 88c9761f1f
commit 9585055e9e
38 changed files with 919 additions and 200 deletions
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22
msg/templates/uorb/uORBTopics.cpp.em
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@@ -13,7 +13,7 @@
@###############################################
/****************************************************************************
*
* Copyright (C) 2013-2015 PX4 Development Team. All rights reserved.
* Copyright (C) 2013-2020 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
@@ -44,31 +44,35 @@
*
****************************************************************************/
#include <uORB/uORBTopics.h>
#include <uORB/topics/uORBTopics.hpp>
#include <uORB/uORB.h>
@{
msg_names = [mn.replace(".msg", "") for mn in msgs]
msgs_count = len(msg_names)
msg_names_all = list(set(msg_names + multi_topics)) # set() filters duplicates
msg_names_all.sort()
msgs_count_all = len(msg_names_all)
}@
@[for msg_name in msg_names]@
#include <uORB/topics/@(msg_name).h>
@[end for]
const size_t _uorb_topics_count = @(msgs_count_all);
const constexpr struct orb_metadata* const _uorb_topics_list[_uorb_topics_count] = {
const constexpr struct orb_metadata *const uorb_topics_list[ORB_TOPICS_COUNT] = {
@[for idx, msg_name in enumerate(msg_names_all, 1)]@
ORB_ID(@(msg_name))@[if idx != msgs_count_all],@[end if]
ORB_ID(@(msg_name))@[if idx != msgs_count_all], @[end if]
@[end for]
};
size_t orb_topics_count()
const struct orb_metadata *const *orb_get_topics()
{
return _uorb_topics_count;
return uorb_topics_list;
}
const struct orb_metadata *const*orb_get_topics()
const struct orb_metadata *get_orb_meta(ORB_ID id)
{
return _uorb_topics_list;
if (id == ORB_ID::INVALID) {
return nullptr;
}
return uorb_topics_list[static_cast<uint8_t>(id)];
}