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uorb: use single byte for internal types in o_fields metadata

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Reduces flash usage by ~9KB.
This commit is contained in:
Beat Küng
2021-10-18 20:47:46 +02:00
parent 9aaf6e3f3e
commit 4c73ac3805
8 changed files with 131 additions and 36 deletions
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src/modules/logger/logger.cpp
+33 -16
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@@ -1626,7 +1626,37 @@ void Logger::write_format(LogType type, const orb_metadata &meta, WrittenFormats
PX4_DEBUG("writing format for %s", meta.o_name);
// Write the current format (we don't need to check if we already added it to written_formats)
int format_len = snprintf(msg.format, sizeof(msg.format), "%s:%s", meta.o_name, meta.o_fields);
int format_len = snprintf(msg.format, sizeof(msg.format), "%s:", meta.o_name);
for (int format_idx = 0; meta.o_fields[format_idx] != 0;) {
const char *end_field = strchr(meta.o_fields + format_idx, ';');
if (!end_field) {
PX4_ERR("Format error in %s", meta.o_fields);
return;
}
const char *c_type = orb_get_c_type(meta.o_fields[format_idx]);
if (c_type) {
format_len += snprintf(msg.format + format_len, sizeof(msg.format) - format_len, "%s", c_type);
++format_idx;
}
int len = end_field - (meta.o_fields + format_idx) + 1;
if (len >= (int)sizeof(msg.format) - format_len) {
PX4_WARN("skip topic %s, format string is too large, max is %zu", meta.o_name,
sizeof(ulog_message_format_s::format));
return;
}
memcpy(msg.format + format_len, meta.o_fields + format_idx, len);
format_len += len;
format_idx += len;
}
msg.format[format_len] = '\0';
size_t msg_size = sizeof(msg) - sizeof(msg.format) + format_len;
msg.msg_size = msg_size - ULOG_MSG_HEADER_LEN;
@@ -1637,7 +1667,7 @@ void Logger::write_format(LogType type, const orb_metadata &meta, WrittenFormats
}
// Now go through the fields and check for nested type usages.
// o_fields looks like this for example: "uint64_t timestamp;uint8_t[5] array;"
// o_fields looks like this for example: "<chr> timestamp;<chr>[5] array;"
const char *fmt = meta.o_fields;
while (fmt && *fmt) {
@@ -1670,20 +1700,7 @@ void Logger::write_format(LogType type, const orb_metadata &meta, WrittenFormats
type_name[type_length] = '\0';
// ignore built-in types
if (strcmp(type_name, "int8_t") != 0 &&
strcmp(type_name, "uint8_t") != 0 &&
strcmp(type_name, "int16_t") != 0 &&
strcmp(type_name, "uint16_t") != 0 &&
strcmp(type_name, "int16_t") != 0 &&
strcmp(type_name, "uint16_t") != 0 &&
strcmp(type_name, "int32_t") != 0 &&
strcmp(type_name, "uint32_t") != 0 &&
strcmp(type_name, "int64_t") != 0 &&
strcmp(type_name, "uint64_t") != 0 &&
strcmp(type_name, "float") != 0 &&
strcmp(type_name, "double") != 0 &&
strcmp(type_name, "bool") != 0 &&
strcmp(type_name, "char") != 0) {
if (orb_get_c_type(type_name[0]) == nullptr) {
// find orb meta for type
const orb_metadata *const *topics = orb_get_topics();