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Inline deviceNodeExists and getDeviceNode in uORB DeviceMaster

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This gives a small performance improvement

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This commit is contained in:
Jukka Laitinen 2021-11-12 13:23:05 +02:00 committed by Beat Küng
parent d9498ade32
commit 3f884c5d24
2 changed files with 27 additions and 30 deletions
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28
platforms/common/uORB/uORBDeviceMaster.cpp
View File

@ -459,34 +459,6 @@ uORB::DeviceNode *uORB::DeviceMaster::getDeviceNode(const char *nodepath)
return nullptr;
}
bool uORB::DeviceMaster::deviceNodeExists(ORB_ID id, const uint8_t instance)
{
if ((id == ORB_ID::INVALID) || (instance > ORB_MULTI_MAX_INSTANCES - 1)) {
return false;
}
return _node_exists[instance][(uint8_t)id];
}
uORB::DeviceNode *uORB::DeviceMaster::getDeviceNode(const struct orb_metadata *meta, const uint8_t instance)
{
if (meta == nullptr) {
return nullptr;
}
if (!deviceNodeExists(static_cast<ORB_ID>(meta->o_id), instance)) {
return nullptr;
}
lock();
uORB::DeviceNode *node = getDeviceNodeLocked(meta, instance);
unlock();
//We can safely return the node that can be used by any thread, because
//a DeviceNode never gets deleted.
return node;
}
uORB::DeviceNode *uORB::DeviceMaster::getDeviceNodeLocked(const struct orb_metadata *meta, const uint8_t instance)
{
for (uORB::DeviceNode *node : _node_list) {

29
platforms/common/uORB/uORBDeviceMaster.hpp
View File

@ -72,9 +72,34 @@ public:
* @return node if exists, nullptr otherwise
*/
uORB::DeviceNode *getDeviceNode(const char *node_name);
uORB::DeviceNode *getDeviceNode(const struct orb_metadata *meta, const uint8_t instance);
uORB::DeviceNode *getDeviceNode(const struct orb_metadata *meta, const uint8_t instance)
{
if (meta == nullptr) {
return nullptr;
}
bool deviceNodeExists(ORB_ID id, const uint8_t instance);
if (!deviceNodeExists(static_cast<ORB_ID>(meta->o_id), instance)) {
return nullptr;
}
lock();
uORB::DeviceNode *node = getDeviceNodeLocked(meta, instance);
unlock();
//We can safely return the node that can be used by any thread, because
//a DeviceNode never gets deleted.
return node;
}
bool deviceNodeExists(ORB_ID id, const uint8_t instance)
{
if ((id == ORB_ID::INVALID) || (instance > ORB_MULTI_MAX_INSTANCES - 1)) {
return false;
}
return _node_exists[instance][(uint8_t)id];
}
/**
* Print statistics for each existing topic.