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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
Download Patch File Download Diff File Expand all files Collapse all files
msg/CMakeLists.txt
+7 -2
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@@ -88,6 +88,9 @@ set(msg_files
offboard_control_mode.msg
onboard_computer_status.msg
optical_flow.msg
orb_test.msg
orb_test_large.msg
orb_test_medium.msg
orbit_status.msg
parameter_update.msg
ping.msg
@@ -98,13 +101,13 @@ set(msg_files
power_button_state.msg
power_monitor.msg
pwm_input.msg
rpm.msg
qshell_req.msg
qshell_retval.msg
radio_status.msg
rate_ctrl_status.msg
rc_channels.msg
rc_parameter_map.msg
rpm.msg
safety.msg
satellite_info.msg
sensor_accel.msg
@@ -206,7 +209,7 @@ endif()
set(msg_out_path ${PX4_BINARY_DIR}/uORB/topics)
set(msg_source_out_path ${CMAKE_CURRENT_BINARY_DIR}/topics_sources)
set(uorb_headers)
set(uorb_headers ${msg_out_path}/uORBTopics.hpp)
set(uorb_sources ${msg_source_out_path}/uORBTopics.cpp)
foreach(msg_file ${msg_files})
get_filename_component(msg ${msg_file} NAME_WE)
@@ -232,6 +235,7 @@ add_custom_command(OUTPUT ${uorb_headers}
DEPENDS
${msg_files}
templates/uorb/msg.h.em
templates/uorb/uORBTopics.hpp.em
tools/px_generate_uorb_topic_files.py
COMMENT "Generating uORB topic headers"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
@@ -253,6 +257,7 @@ add_custom_command(OUTPUT ${uorb_sources}
DEPENDS
${msg_files}
templates/uorb/msg.cpp.em
templates/uorb/uORBTopics.cpp.em
tools/px_generate_uorb_topic_files.py
COMMENT "Generating uORB topic sources"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
msg/orb_test.msg
+5
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@@ -0,0 +1,5 @@
uint64 timestamp # time since system start (microseconds)
int32 val
# TOPICS orb_test orb_multitest
msg/orb_test_large.msg
+5
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@@ -0,0 +1,5 @@
uint64 timestamp # time since system start (microseconds)
int32 val
uint8[512] junk
msg/orb_test_medium.msg
+7
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@@ -0,0 +1,7 @@
uint64 timestamp # time since system start (microseconds)
int32 val
uint8[64] junk
# TOPICS orb_test_medium orb_test_medium_multi orb_test_medium_queue orb_test_medium_queue_poll
msg/templates/uorb/msg.cpp.em
+3 -2
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@@ -70,6 +70,7 @@ topic_fields = ["%s %s" % (convert_type(field.type), field.name) for field in so
#include <px4_platform_common/log.h>
#include <px4_platform_common/defines.h>
#include <uORB/topics/@(topic_name).h>
#include <uORB/topics/uORBTopics.hpp>
#include <drivers/drv_hrt.h>
#include <lib/drivers/device/Device.hpp>
@@ -78,10 +79,10 @@ topic_fields = ["%s %s" % (convert_type(field.type), field.name) for field in so
constexpr char __orb_@(topic_name)_fields[] = "@( ";".join(topic_fields) );";
@[for multi_topic in topics]@
ORB_DEFINE(@multi_topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(topic_name)_fields);
ORB_DEFINE(@multi_topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(topic_name)_fields, static_cast<uint8_t>(ORB_ID::@multi_topic));
@[end for]
void print_message(const @uorb_struct& message)
void print_message(const @uorb_struct &message)
{
@[if constrained_flash]
(void)message;
msg/templates/uorb/uORBTopics.cpp.em
+13 -9
View File
@@ -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)];
}
msg/templates/uorb/uORBTopics.hpp.em
+76
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@@ -0,0 +1,76 @@
@###############################################
@#
@# EmPy template for generating uORBTopics.hpp file
@# for logging purposes
@#
@###############################################
@# Start of Template
@#
@# Context:
@# - msgs (List) list of all msg files
@# - multi_topics (List) list of all multi-topic names
@# - ids (List) list of all RTPS msg ids
@###############################################
/****************************************************************************
*
* Copyright (C) 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
* 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.
*
****************************************************************************/
@{
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)
}@
#pragma once
#include <stddef.h>
#include <uORB/uORB.h>
static constexpr size_t ORB_TOPICS_COUNT{@(msgs_count_all)};
static constexpr size_t orb_topics_count() { return ORB_TOPICS_COUNT; }
/*
* Returns array of topics metadata
*/
extern const struct orb_metadata *const *orb_get_topics() __EXPORT;
enum class ORB_ID : uint8_t {
@[for idx, msg_name in enumerate(msg_names_all)]@
@(msg_name) = @(idx),
@[end for]
INVALID
};
const struct orb_metadata *get_orb_meta(ORB_ID id);
msg/templates/uorb_microcdr/uORBTopics.hpp.em
+49
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@@ -0,0 +1,49 @@
@###############################################
@#
@# EmPy template for generating uORBTopics.cpp file
@# for logging purposes
@#
@###############################################
@# Start of Template
@#
@# Context:
@# - msgs (List) list of all msg files
@# - multi_topics (List) list of all multi-topic names
@# - ids (List) list of all RTPS msg ids
@###############################################
/****************************************************************************
*
* Copyright (C) 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
* 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.
*
****************************************************************************/
#pragma once
#include <uORB/uORB.h>
msg/tools/px_generate_uorb_topic_files.py
+11 -15
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@@ -72,7 +72,7 @@ __email__ = "thomasgubler@gmail.com"
TEMPLATE_FILE = ['msg.h.em', 'msg.cpp.em']
TOPICS_LIST_TEMPLATE_FILE = 'uORBTopics.cpp.em'
TOPICS_LIST_TEMPLATE_FILE = ['uORBTopics.hpp.em', 'uORBTopics.cpp.em']
OUTPUT_FILE_EXT = ['.h', '.cpp']
INCL_DEFAULT = ['std_msgs:./msg/std_msgs']
PACKAGE = 'px4'
@@ -434,12 +434,12 @@ def convert_dir_save(format_idx, inputdir, outputdir, package, templatedir, temp
# Create new headers in temporary output directory
convert_dir(format_idx, inputdir, temporarydir, package, templatedir)
if generate_idx == 1:
generate_topics_list_file(inputdir, temporarydir, templatedir)
generate_topics_list_file(inputdir, temporarydir, TOPICS_LIST_TEMPLATE_FILE[1], templatedir)
# Copy changed headers from temporary dir to output dir
copy_changed(temporarydir, outputdir, prefix, quiet)
def generate_topics_list_file(msgdir, outputdir, templatedir):
def generate_topics_list_file(msgdir, outputdir, template_filename, templatedir):
# generate cpp file with topics list
msgs = get_msgs_list(msgdir)
multi_topics = []
@@ -447,13 +447,12 @@ def generate_topics_list_file(msgdir, outputdir, templatedir):
msg_filename = os.path.join(msgdir, msg)
multi_topics.extend(get_multi_topics(msg_filename))
tl_globals = {"msgs": msgs, "multi_topics": multi_topics}
tl_template_file = os.path.join(templatedir, TOPICS_LIST_TEMPLATE_FILE)
tl_out_file = os.path.join(
outputdir, TOPICS_LIST_TEMPLATE_FILE.replace(".em", ""))
tl_template_file = os.path.join(templatedir, template_filename)
tl_out_file = os.path.join(outputdir, template_filename.replace(".em", ""))
generate_by_template(tl_out_file, tl_template_file, tl_globals)
def generate_topics_list_file_from_files(files, outputdir, templatedir):
def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir):
# generate cpp file with topics list
filenames = [os.path.basename(
p) for p in files if os.path.basename(p).endswith(".msg")]
@@ -461,9 +460,8 @@ def generate_topics_list_file_from_files(files, outputdir, templatedir):
for msg_filename in files:
multi_topics.extend(get_multi_topics(msg_filename))
tl_globals = {"msgs": filenames, "multi_topics": multi_topics}
tl_template_file = os.path.join(templatedir, TOPICS_LIST_TEMPLATE_FILE)
tl_out_file = os.path.join(
outputdir, TOPICS_LIST_TEMPLATE_FILE.replace(".em", ""))
tl_template_file = os.path.join(templatedir, template_filename)
tl_out_file = os.path.join(outputdir, template_filename.replace(".em", ""))
generate_by_template(tl_out_file, tl_template_file, tl_globals)
@@ -520,11 +518,9 @@ if __name__ == "__main__":
for f in args.file:
generate_output_from_file(
generate_idx, f, args.temporarydir, args.package, args.templatedir, INCL_DEFAULT)
if generate_idx == 1:
generate_topics_list_file_from_files(
args.file, args.outputdir, args.templatedir)
copy_changed(args.temporarydir, args.outputdir,
args.prefix, args.quiet)
generate_topics_list_file_from_files(args.file, args.outputdir, TOPICS_LIST_TEMPLATE_FILE[generate_idx], args.templatedir)
copy_changed(args.temporarydir, args.outputdir, args.prefix, args.quiet)
elif args.dir is not None:
convert_dir_save(
generate_idx,
msg/tools/uorb_rtps_message_ids.yaml
+6
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@@ -293,6 +293,12 @@ rtps:
id: 130
- msg: timesync_status
id: 131
- msg: orb_test
id: 132
- msg: orb_test_medium
id: 133
- msg: orb_test_large
id: 134
########## multi topics: begin ##########
- msg: actuator_controls_0
id: 150