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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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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;