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rft(dds): reduce the number of conditional checks

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Pedro-Roque
2026-03-12 11:13:59 -07:00
parent 71ac74827a
commit 23613e7e4a
1 changed files with 41 additions and 19 deletions
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src/modules/uxrce_dds_client/dds_topics.h.em
+41 -19
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@@ -193,21 +193,22 @@ static void on_topic_update(uxrSession *session, uxrObjectId object_id, uint16_t
const int64_t time_offset_us = session->time_offset / 1000; // ns -> us
pubs->num_payload_received += length;
switch (object_id.id) {
switch (object_id.id) {
@[ for idx, sub in enumerate(subscriptions)]@
case @(idx)+ (65535U / 32U) + 1: {
@(sub['simple_base_type'])_s data;
@[ if sub['topic_simple'] == 'vehicle_command']@
if (ucdr_deserialize_@(sub['simple_base_type'])(*ub, data, time_offset_us)) {
//print_message(ORB_ID(@(sub['simple_base_type'])), data);
@[ if sub['topic_simple'] not in whitelist_topics]@
if (pubs->_allow_publishing) {
@[ end if]@
pubs->@(sub['topic_simple'])_pub.publish(data);
@[ if sub['topic_simple'] not in whitelist_topics]@
}
@[ end if]@
}
@[ else]@
if (pubs->_allow_publishing && ucdr_deserialize_@(sub['simple_base_type'])(*ub, data, time_offset_us)) {
//print_message(ORB_ID(@(sub['simple_base_type'])), data);
pubs->@(sub['topic_simple'])_pub.publish(data);
}
@[ end if]@
}
break;
@@ -216,9 +217,10 @@ switch (object_id.id) {
case @(idx + len(subscriptions))+ (65535U / 32U) + 1: {
@(sub['simple_base_type'])_s data;
@[ if sub.get('route_field')]@
@[ if sub['topic_simple'] == 'vehicle_command']@
if (ucdr_deserialize_@(sub['simple_base_type'])(*ub, data, time_offset_us)) {
//print_message(ORB_ID(@(sub['simple_base_type'])), data);
@[ if sub.get('route_field')]@
int instance = -1;
for (uint8_t i = 0; i < pubs->@(sub['topic_simple'])_demux.num_assigned; i++) {
@@ -234,24 +236,44 @@ switch (object_id.id) {
}
if (instance >= 0) {
@[ if sub['topic_simple'] not in whitelist_topics]@
if (pubs->_allow_publishing) {
@[ end if]@
pubs->@(sub['topic_simple'])_pubs[instance].publish(data);
@[ if sub['topic_simple'] not in whitelist_topics]@
}
}
@[ else]@
if (pubs->_allow_publishing && ucdr_deserialize_@(sub['simple_base_type'])(*ub, data, time_offset_us)) {
//print_message(ORB_ID(@(sub['simple_base_type'])), data);
int instance = -1;
for (uint8_t i = 0; i < pubs->@(sub['topic_simple'])_demux.num_assigned; i++) {
if (pubs->@(sub['topic_simple'])_demux.assigned_ids[i] == data.@(sub['route_field'])) {
instance = i;
break;
}
@[ end if]@
}
if (instance < 0 && pubs->@(sub['topic_simple'])_demux.num_assigned < @(sub['max_instances'])) {
instance = pubs->@(sub['topic_simple'])_demux.num_assigned++;
pubs->@(sub['topic_simple'])_demux.assigned_ids[instance] = data.@(sub['route_field']);
}
if (instance >= 0) {
pubs->@(sub['topic_simple'])_pubs[instance].publish(data);
}
}
@[ end if]@
@[ else]@
@[ if sub['topic_simple'] not in whitelist_topics]@
if (pubs->_allow_publishing) {
@[ end if]@
@[ if sub['topic_simple'] == 'vehicle_command']@
if (ucdr_deserialize_@(sub['simple_base_type'])(*ub, data, time_offset_us)) {
//print_message(ORB_ID(@(sub['simple_base_type'])), data);
pubs->@(sub['topic_simple'])_pub.publish(data);
@[ if sub['topic_simple'] not in whitelist_topics]@
}
}
@[ else]@
if (pubs->_allow_publishing && ucdr_deserialize_@(sub['simple_base_type'])(*ub, data, time_offset_us)) {
//print_message(ORB_ID(@(sub['simple_base_type'])), data);
pubs->@(sub['topic_simple'])_pub.publish(data);
}
@[ end if]@
@[ end if]@
}
}
break;