From 04f7df38481f0ded75aa8d35564b9d5fb5e090eb Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Sat, 6 Aug 2022 19:51:15 +0200
Subject: [PATCH] SubscriptionMultiArray: use Subscription instead of
 SubscriptionInterval

Saves ~3KB RAM on fmu-v5.
---
 platforms/common/uORB/Subscription.hpp         |  2 +-
 .../common/uORB/SubscriptionMultiArray.hpp     | 18 +++++++++---------
 .../airspeed_selector_main.cpp                 |  1 +
 src/modules/commander/Commander.hpp            |  1 +
 4 files changed, 12 insertions(+), 10 deletions(-)

diff --git a/platforms/common/uORB/Subscription.hpp b/platforms/common/uORB/Subscription.hpp
index 496b8cf261..3b56d65e6d 100644
--- a/platforms/common/uORB/Subscription.hpp
+++ b/platforms/common/uORB/Subscription.hpp
@@ -76,7 +76,7 @@ public:
 	 * @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
 	 * @param instance The instance for multi sub.
 	 */
-	Subscription(const orb_metadata *meta, uint8_t instance = 0) :
+	Subscription(const orb_metadata *meta = nullptr, uint8_t instance = 0) :
 		_orb_id((meta == nullptr) ? ORB_ID::INVALID : static_cast<ORB_ID>(meta->o_id)),
 		_instance(instance)
 	{
diff --git a/platforms/common/uORB/SubscriptionMultiArray.hpp b/platforms/common/uORB/SubscriptionMultiArray.hpp
index d99038a4ff..28a7fff95e 100644
--- a/platforms/common/uORB/SubscriptionMultiArray.hpp
+++ b/platforms/common/uORB/SubscriptionMultiArray.hpp
@@ -43,7 +43,7 @@
 #include <px4_platform_common/defines.h>
 #include <lib/mathlib/mathlib.h>
 
-#include "SubscriptionInterval.hpp"
+#include "Subscription.hpp"
 
 namespace uORB
 {
@@ -67,21 +67,21 @@ public:
 	explicit SubscriptionMultiArray(ORB_ID id)
 	{
 		for (uint8_t i = 0; i < SIZE; i++) {
-			_subscriptions[i] = SubscriptionInterval{id, 0, i};
+			_subscriptions[i] = Subscription{id, i};
 			_subscriptions[i].subscribe();
 		}
 	}
 
 	~SubscriptionMultiArray() = default;
 
-	SubscriptionInterval &operator [](int i) { return _subscriptions[i]; }
-	const SubscriptionInterval &operator [](int i) const { return _subscriptions[i]; }
+	Subscription &operator [](int i) { return _subscriptions[i]; }
+	const Subscription &operator [](int i) const { return _subscriptions[i]; }
 
-	SubscriptionInterval *begin() { return _subscriptions; }
-	SubscriptionInterval *end() { return _subscriptions + SIZE; }
+	Subscription *begin() { return _subscriptions; }
+	Subscription *end() { return _subscriptions + SIZE; }
 
-	const SubscriptionInterval *begin() const { return _subscriptions; }
-	const SubscriptionInterval *end() const { return _subscriptions + SIZE; }
+	const Subscription *begin() const { return _subscriptions; }
+	const Subscription *end() const { return _subscriptions + SIZE; }
 
 	// true if any instance is advertised
 	bool advertised()
@@ -122,7 +122,7 @@ public:
 	}
 
 private:
-	SubscriptionInterval _subscriptions[SIZE];
+	Subscription _subscriptions[SIZE];
 };
 
 } // namespace uORB
diff --git a/src/modules/airspeed_selector/airspeed_selector_main.cpp b/src/modules/airspeed_selector/airspeed_selector_main.cpp
index 60d587c0a6..e2c2e1f6b6 100644
--- a/src/modules/airspeed_selector/airspeed_selector_main.cpp
+++ b/src/modules/airspeed_selector/airspeed_selector_main.cpp
@@ -46,6 +46,7 @@
 #include <lib/systemlib/mavlink_log.h>
 
 #include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionInterval.hpp>
 #include <uORB/SubscriptionMultiArray.hpp>
 #include <uORB/topics/airspeed.h>
 #include <uORB/topics/airspeed_validated.h>
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index efbb767f70..f9d04bf693 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -63,6 +63,7 @@
 
 // subscriptions
 #include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionInterval.hpp>
 #include <uORB/SubscriptionMultiArray.hpp>
 #include <uORB/topics/action_request.h>
 #include <uORB/topics/airspeed.h>