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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
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src/modules/replay/Replay.cpp
+22 -24
View File
@@ -47,6 +47,7 @@
#include <px4_platform_common/time.h>
#include <px4_platform_common/shutdown.h>
#include <lib/parameters/param.h>
#include <uORB/uORBMessageFields.hpp>
#include <cstring>
#include <float.h>
@@ -391,33 +392,30 @@ Replay::readFormat(std::ifstream &file, uint16_t msg_size)
}
string Replay::parseOrbFields(const string &fields)
string Replay::getOrbFields(const orb_metadata *meta)
{
string ret{};
char format[3000];
char buffer[512];
uORB::MessageFormatReader format_reader(buffer, sizeof(buffer));
// convert o_fields from "<chr> timestamp;<chr>[5] array;" to "uint64_t timestamp;int8_t[5] array;"
for (int format_idx = 0; format_idx < (int)fields.length();) {
const char *end_field = strchr(fields.c_str() + format_idx, ';');
if (!end_field) {
PX4_ERR("Format error in %s", fields.c_str());
return "";
}
const char *c_type = orb_get_c_type(fields[format_idx]);
if (c_type) {
string str_type = c_type;
ret += str_type;
++format_idx;
}
int len = end_field - (fields.c_str() + format_idx) + 1;
ret += fields.substr(format_idx, len);
format_idx += len;
if (!format_reader.readUntilFormat(meta->o_id)) {
PX4_ERR("failed to find format for topic %s", meta->o_name);
return "";
}
return ret;
int field_length = 0;
int format_length = 0;
while (format_reader.readNextField(field_length)) {
format_length += snprintf(format + format_length, sizeof(buffer) - format_length - 1, "%s;", buffer);
}
if (uORB::MessageFormatReader::expandMessageFormat(format, format_length, sizeof(format)) < 0) {
PX4_ERR("failed to expand message format for %s", meta->o_name);
return "";
}
return format;
}
bool
@@ -455,7 +453,7 @@ Replay::readAndAddSubscription(std::ifstream &file, uint16_t msg_size)
// FIXME: this should check recursively, all used nested types
string file_format = _file_formats[topic_name];
const string orb_fields = parseOrbFields(orb_meta->o_fields);
const string orb_fields = getOrbFields(orb_meta);
if (file_format != orb_fields) {
// check if we have a compatibility conversion available