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uORB::Subscription subscribe directly to uORB device node object

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This commit is contained in:
Daniel Agar
2019-05-18 11:47:17 -04:00
parent 2d1c60bc85
commit 2c63e335e9
37 changed files with 766 additions and 270 deletions
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src/systemcmds/tests/test_microbench_uorb.cpp
+38 -1
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@@ -47,6 +47,7 @@
#include <px4_config.h>
#include <px4_micro_hal.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/sensor_accel.h>
#include <uORB/topics/sensor_gyro.h>
#include <uORB/topics/vehicle_local_position.h>
@@ -98,6 +99,7 @@ public:
private:
bool time_px4_uorb();
bool time_px4_uorb_direct();
void reset();
@@ -109,6 +111,7 @@ private:
bool MicroBenchORB::run_tests()
{
ut_run_test(time_px4_uorb);
ut_run_test(time_px4_uorb_direct);
return (_tests_failed == 0);
}
@@ -150,13 +153,19 @@ bool MicroBenchORB::time_px4_uorb()
PERF("orb_stat vehicle_status", ret = orb_stat(fd_status, &time), 1000);
PERF("orb_copy vehicle_status", ret = orb_copy(ORB_ID(vehicle_status), fd_status, &status), 1000);
printf("\n");
PERF("orb_check vehicle_local_position", ret = orb_check(fd_lpos, &updated), 1000);
PERF("orb_stat vehicle_local_position", ret = orb_stat(fd_lpos, &time), 1000);
PERF("orb_copy vehicle_local_position", ret = orb_copy(ORB_ID(vehicle_local_position), fd_lpos, &lpos), 1000);
printf("\n");
PERF("orb_check sensor_gyro", ret = orb_check(fd_gyro, &updated), 1000);
PERF("orb_stat sensor_gyro", ret = orb_stat(fd_gyro, &time), 1000);
PERF("orb_copy sensor_gyro", ret = orb_copy(ORB_ID(sensor_gyro), fd_gyro, &lpos), 1000);
PERF("orb_copy sensor_gyro", ret = orb_copy(ORB_ID(sensor_gyro), fd_gyro, &gyro), 1000);
printf("\n");
PERF("orb_exists sensor_accel 0", ret = orb_exists(ORB_ID(sensor_accel), 0), 100);
PERF("orb_exists sensor_accel 1", ret = orb_exists(ORB_ID(sensor_accel), 1), 100);
@@ -171,4 +180,32 @@ bool MicroBenchORB::time_px4_uorb()
return true;
}
bool MicroBenchORB::time_px4_uorb_direct()
{
bool ret = false;
bool updated = false;
uint64_t time = 0;
uORB::Subscription vstatus{ORB_ID(vehicle_status)};
PERF("uORB::Subscription orb_check vehicle_status", ret = vstatus.updated(), 1000);
PERF("uORB::Subscription orb_stat vehicle_status", time = vstatus.last_update(), 1000);
PERF("uORB::Subscription orb_copy vehicle_status", ret = vstatus.copy(&status), 1000);
printf("\n");
uORB::Subscription local_pos{ORB_ID(vehicle_local_position)};
PERF("uORB::Subscription orb_check vehicle_local_position", ret = local_pos.updated(), 1000);
PERF("uORB::Subscription orb_stat vehicle_local_position", time = local_pos.last_update(), 1000);
PERF("uORB::Subscription orb_copy vehicle_local_position", ret = local_pos.copy(&lpos), 1000);
printf("\n");
uORB::Subscription sens_gyro{ORB_ID(sensor_gyro)};
PERF("uORB::Subscription orb_check sensor_gyro", ret = sens_gyro.updated(), 1000);
PERF("uORB::Subscription orb_stat sensor_gyro", time = sens_gyro.last_update(), 1000);
PERF("uORB::Subscription orb_copy sensor_gyro", ret = sens_gyro.copy(&gyro), 1000);
return true;
}
} // namespace MicroBenchORB