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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
2023-11-08 00:31:26 -05:00
committed by Thomas Stastny
parent 142e44c418
commit 1ad5a9de08
27 changed files with 1736 additions and 252 deletions
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platforms/common/uORB/uORB.h
+2 -6
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@@ -51,7 +51,6 @@ struct orb_metadata {
const char *o_name; /**< unique object name */
const uint16_t o_size; /**< object size */
const uint16_t o_size_no_padding; /**< object size w/o padding at the end (for logger) */
const char *o_fields; /**< semicolon separated list of fields (with type) */
orb_id_size_t o_id; /**< ORB_ID enum */
};
@@ -100,15 +99,13 @@ typedef const struct orb_metadata *orb_id_t;
* @param _name The name of the topic.
* @param _struct The structure the topic provides.
* @param _size_no_padding Struct size w/o padding at the end
* @param _fields All fields in a semicolon separated list e.g: "float[3] position;bool armed"
* @param _orb_id_enum ORB ID enum e.g.: ORB_ID::vehicle_status
*/
#define ORB_DEFINE(_name, _struct, _size_no_padding, _fields, _orb_id_enum) \
#define ORB_DEFINE(_name, _struct, _size_no_padding, _orb_id_enum) \
const struct orb_metadata __orb_##_name = { \
#_name, \
sizeof(_struct), \
_size_no_padding, \
_fields, \
_orb_id_enum \
}; struct hack
@@ -236,7 +233,7 @@ extern int orb_set_interval(int handle, unsigned interval) __EXPORT;
extern int orb_get_interval(int handle, unsigned *interval) __EXPORT;
/**
* Returns the C type string from a short type in o_fields metadata, or nullptr
* Returns the C type string from a short type in message fields metadata, or nullptr
* if not a short type
*/
const char *orb_get_c_type(unsigned char short_type);
@@ -248,7 +245,6 @@ const char *orb_get_c_type(unsigned char short_type);
*/
void orb_print_message_internal(const struct orb_metadata *meta, const void *data, bool print_topic_name);
__END_DECLS
/* Diverse uORB header defines */ //XXX: move to better location