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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/replay/Replay.cpp
+35 -5
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@@ -336,6 +336,36 @@ Replay::readFormat(std::ifstream &file, uint16_t msg_size)
return true;
}
string Replay::parseOrbFields(const string &fields)
{
string ret{};
// 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;
}
return ret;
}
bool
Replay::readAndAddSubscription(std::ifstream &file, uint16_t msg_size)
{
@@ -371,12 +401,12 @@ 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];
std::string orb_fields(orb_meta->o_fields);
const string orb_fields = parseOrbFields(orb_meta->o_fields);
if (file_format != orb_fields) {
// check if we have a compatibility conversion available
if (topic_name == "sensor_combined") {
if (string(orb_meta->o_fields) == "uint64_t timestamp;float[3] gyro_rad;uint32_t gyro_integral_dt;"
if (orb_fields == "uint64_t timestamp;float[3] gyro_rad;uint32_t gyro_integral_dt;"
"int32_t accelerometer_timestamp_relative;float[3] accelerometer_m_s2;"
"uint32_t accelerometer_integral_dt" &&
file_format == "uint64_t timestamp;float[3] gyro_rad;float gyro_integral_dt;"
@@ -390,9 +420,9 @@ Replay::readAndAddSubscription(std::ifstream &file, uint16_t msg_size)
int unused;
if (findFieldOffset(file_format, "gyro_integral_dt", gyro_integral_dt_offset_log, unused) &&
findFieldOffset(orb_meta->o_fields, "gyro_integral_dt", gyro_integral_dt_offset_intern, unused) &&
findFieldOffset(orb_fields, "gyro_integral_dt", gyro_integral_dt_offset_intern, unused) &&
findFieldOffset(file_format, "accelerometer_integral_dt", accelerometer_integral_dt_offset_log, unused) &&
findFieldOffset(orb_meta->o_fields, "accelerometer_integral_dt", accelerometer_integral_dt_offset_intern, unused)) {
findFieldOffset(orb_fields, "accelerometer_integral_dt", accelerometer_integral_dt_offset_intern, unused)) {
compat = new CompatSensorCombinedDtType(gyro_integral_dt_offset_log, gyro_integral_dt_offset_intern,
accelerometer_integral_dt_offset_log, accelerometer_integral_dt_offset_intern);
@@ -449,7 +479,7 @@ Replay::readAndAddSubscription(std::ifstream &file, uint16_t msg_size)
//find the timestamp offset
int field_size;
bool timestamp_found = findFieldOffset(orb_meta->o_fields, "timestamp", subscription->timestamp_offset, field_size);
bool timestamp_found = findFieldOffset(orb_fields, "timestamp", subscription->timestamp_offset, field_size);
if (!timestamp_found) {
delete subscription;