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uorb: compress format definitions

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Reduces flash usage by ~16KB.

- compress formats at build-time into a single string with all formats
- then at runtime iteratively decompress using
  https://github.com/atomicobject/heatshrink
This commit is contained in:
Beat Küng
2023-08-21 16:02:14 +02:00
committed by Thomas Stastny
parent 142e44c418
commit 1ad5a9de08
27 changed files with 1736 additions and 252 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/CMakeLists.txt
+41 -4
View File
@@ -253,6 +253,7 @@ set(msg_source_out_path ${CMAKE_CURRENT_BINARY_DIR}/topics_sources)
set(uorb_headers)
set(uorb_sources)
set(uorb_ucdr_headers)
set(uorb_json_files)
foreach(msg_file ${msg_files})
get_filename_component(msg ${msg_file} NAME_WE)
@@ -264,11 +265,9 @@ foreach(msg_file ${msg_files})
list(APPEND uorb_headers ${msg_out_path}/${msg}.h)
list(APPEND uorb_sources ${msg_source_out_path}/${msg}.cpp)
list(APPEND uorb_ucdr_headers ${ucdr_out_path}/${msg}.h)
list(APPEND uorb_json_files ${msg_source_out_path}/${msg}.json)
endforeach()
# set parent scope msg_files for other modules to consume (eg topic_listener)
set(msg_files ${msg_files} PARENT_SCOPE)
# Generate uORB headers
add_custom_command(
OUTPUT
@@ -292,6 +291,44 @@ add_custom_command(
)
add_custom_target(uorb_headers DEPENDS ${uorb_headers})
add_custom_command(
OUTPUT
${uorb_json_files}
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
--json
-f ${msg_files}
-i ${CMAKE_CURRENT_SOURCE_DIR}
-o ${msg_source_out_path}
-e ${PX4_SOURCE_DIR}/Tools/msg/templates/uorb
DEPENDS
${msg_files}
${PX4_SOURCE_DIR}/Tools/msg/templates/uorb/msg.json.em
${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
COMMENT "Generating uORB json files"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
VERBATIM
)
add_custom_target(uorb_json_files DEPENDS ${uorb_json_files})
set(uorb_message_fields_cpp_file ${msg_source_out_path}/uORBMessageFieldsGenerated.cpp)
set(uorb_message_fields_header_file ${msg_out_path}/uORBMessageFieldsGenerated.hpp)
add_custom_command(
OUTPUT
${uorb_message_fields_cpp_file}
${uorb_message_fields_header_file}
COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_compressed_fields.py
-f ${uorb_json_files}
--source-output-file ${uorb_message_fields_cpp_file}
--header-output-file ${uorb_message_fields_header_file}
DEPENDS
uorb_json_files
${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_compressed_fields.py
COMMENT "Generating uORB compressed fields"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
VERBATIM
)
# Generate microcdr headers
add_custom_command(
OUTPUT ${uorb_ucdr_headers}
@@ -334,7 +371,7 @@ add_custom_command(
VERBATIM
)
add_library(uorb_msgs ${uorb_headers} ${msg_out_path}/uORBTopics.hpp ${uorb_sources} ${msg_source_out_path}/uORBTopics.cpp)
add_library(uorb_msgs ${uorb_headers} ${msg_out_path}/uORBTopics.hpp ${uorb_sources} ${msg_source_out_path}/uORBTopics.cpp ${uorb_message_fields_cpp_file})
target_link_libraries(uorb_msgs PRIVATE m)
add_dependencies(uorb_msgs prebuild_targets uorb_headers)