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uORB performance updates

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Move some logic from Subscriber into uORBManager. This reduces calls from the
modules to the uORB manager, improving performance in protected build.

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This commit is contained in:
Jukka Laitinen
2022-02-23 09:18:14 +02:00
committed by Daniel Agar
parent 611d50edf3
commit caaa13ddc0
4 changed files with 42 additions and 10 deletions
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15
platforms/common/uORB/uORBManager.cpp
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@@ -172,7 +172,7 @@ int uORB::Manager::orb_ioctl(unsigned int cmd, unsigned long arg)
case ORBIOCDEVDATACOPY: {
orbiocdevdatacopy_t *data = (orbiocdevdatacopy_t *)arg;
data->ret = uORB::Manager::orb_data_copy(data->handle, data->dst, data->generation);
data->ret = uORB::Manager::orb_data_copy(data->handle, data->dst, data->generation, data->only_if_updated);
}
break;
@@ -479,8 +479,16 @@ void uORB::Manager::orb_remove_internal_subscriber(void *node_handle)
uint8_t uORB::Manager::orb_get_queue_size(const void *node_handle) { return static_cast<const DeviceNode *>(node_handle)->get_queue_size(); }
bool uORB::Manager::orb_data_copy(void *node_handle, void *dst, unsigned &generation)
bool uORB::Manager::orb_data_copy(void *node_handle, void *dst, unsigned &generation, bool only_if_updated)
{
if (!is_advertised(node_handle)) {
return false;
}
if (only_if_updated && !static_cast<const uORB::DeviceNode *>(node_handle)->updates_available(generation)) {
return false;
}
return static_cast<DeviceNode *>(node_handle)->copy(dst, generation);
}
@@ -509,7 +517,8 @@ uint8_t uORB::Manager::orb_get_instance(const void *node_handle)
#if !defined(CONFIG_BUILD_FLAT)
unsigned uORB::Manager::updates_available(const void *node_handle, unsigned last_generation)
{
return static_cast<const uORB::DeviceNode *>(node_handle)->updates_available(last_generation);
return is_advertised(node_handle) ? static_cast<const uORB::DeviceNode *>(node_handle)->updates_available(
last_generation) : 0;
}
bool uORB::Manager::is_advertised(const void *node_handle)