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vdev: replace static list with an std::map

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VDev::getDev() is used in px4_access, which is used in orb_exists. And if
the topic does not exist, it iterates over all 500 indexes, which is slow.
It was slow even if the topic existed, the map reduces runtime from linear
to logarithmic (there are around 80 items in the container).
This is only used on posix.
This commit is contained in:
Beat Küng
2017-08-23 08:10:16 +02:00
committed by Lorenz Meier
parent 409a1ce7d7
commit 5f5dca4804
1 changed files with 37 additions and 76 deletions
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src/drivers/device/vdev.cpp
+37 -76
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@@ -44,33 +44,20 @@
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <string>
#include <map>
#include "DevMgr.hpp"
using namespace DriverFramework;
using namespace std;
namespace device
{
int px4_errno;
struct px4_dev_t {
char *name;
void *cdev;
px4_dev_t(const char *n, void *c) : cdev(c)
{
name = strdup(n);
}
~px4_dev_t() { free(name); }
private:
px4_dev_t() {}
};
#define PX4_MAX_DEV 500
static px4_dev_t *devmap[PX4_MAX_DEV];
static map<string, void *> devmap;
pthread_mutex_t devmutex = PTHREAD_MUTEX_INITIALIZER;
@@ -137,39 +124,27 @@ int
VDev::register_driver(const char *name, void *data)
{
PX4_DEBUG("VDev::register_driver %s", name);
int ret = -ENOSPC;
int ret = 0;
if (name == nullptr || data == nullptr) {
return -EINVAL;
}
// Make sure the device does not already exist
// FIXME - convert this to a map for efficiency
pthread_mutex_lock(&devmutex);
for (int i = 0; i < PX4_MAX_DEV; ++i) {
if (devmap[i] && (strcmp(devmap[i]->name, name) == 0)) {
pthread_mutex_unlock(&devmutex);
return -EEXIST;
}
// Make sure the device does not already exist
auto item = devmap.find(name);
if (item != devmap.end()) {
pthread_mutex_unlock(&devmutex);
return -EEXIST;
}
for (int i = 0; i < PX4_MAX_DEV; ++i) {
if (devmap[i] == nullptr) {
devmap[i] = new px4_dev_t(name, (void *)data);
PX4_DEBUG("Registered DEV %s", name);
ret = PX4_OK;
break;
}
}
devmap[name] = (void *)data;
PX4_DEBUG("Registered DEV %s", name);
pthread_mutex_unlock(&devmutex);
if (ret != PX4_OK) {
PX4_ERR("No free devmap entries - increase PX4_MAX_DEV");
}
return ret;
}
@@ -185,14 +160,9 @@ VDev::unregister_driver(const char *name)
pthread_mutex_lock(&devmutex);
for (int i = 0; i < PX4_MAX_DEV; ++i) {
if (devmap[i] && (strcmp(name, devmap[i]->name) == 0)) {
delete devmap[i];
devmap[i] = nullptr;
PX4_DEBUG("Unregistered DEV %s", name);
ret = PX4_OK;
break;
}
if (devmap.erase(name) > 0) {
PX4_DEBUG("Unregistered DEV %s", name);
ret = 0;
}
pthread_mutex_unlock(&devmutex);
@@ -206,22 +176,19 @@ VDev::unregister_class_devname(const char *class_devname, unsigned class_instanc
PX4_DEBUG("VDev::unregister_class_devname");
char name[32];
snprintf(name, sizeof(name), "%s%u", class_devname, class_instance);
int ret = -EINVAL;
PX4_WARN("unregistering class %s", name);
pthread_mutex_lock(&devmutex);
for (int i = 0; i < PX4_MAX_DEV; ++i) {
if (devmap[i] && strcmp(devmap[i]->name, name) == 0) {
delete devmap[i];
PX4_DEBUG("Unregistered class DEV %s", name);
devmap[i] = nullptr;
pthread_mutex_unlock(&devmutex);
return PX4_OK;
}
if (devmap.erase(name) > 0) {
PX4_DEBUG("Unregistered class DEV %s", name);
ret = 0;
}
pthread_mutex_unlock(&devmutex);
return -EINVAL;
return ret;
}
int
@@ -535,18 +502,14 @@ VDev::remove_poll_waiter(px4_pollfd_struct_t *fds)
VDev *VDev::getDev(const char *path)
{
PX4_DEBUG("VDev::getDev");
int i = 0;
pthread_mutex_lock(&devmutex);
for (; i < PX4_MAX_DEV; ++i) {
//if (devmap[i]) {
// printf("%s %s\n", devmap[i]->name, path);
//}
if (devmap[i] && (strcmp(devmap[i]->name, path) == 0)) {
pthread_mutex_unlock(&devmutex);
return (VDev *)(devmap[i]->cdev);
}
auto item = devmap.find(path);
if (item != devmap.end()) {
pthread_mutex_unlock(&devmutex);
return (VDev *)item->second;
}
pthread_mutex_unlock(&devmutex);
@@ -561,9 +524,9 @@ void VDev::showDevices()
pthread_mutex_lock(&devmutex);
for (; i < PX4_MAX_DEV; ++i) {
if (devmap[i] && strncmp(devmap[i]->name, "/dev/", 5) == 0) {
PX4_INFO(" %s", devmap[i]->name);
for (const auto &dev : devmap) {
if (strncmp(dev.first.c_str(), "/dev/", 5) == 0) {
PX4_INFO(" %s", dev.first.c_str());
}
}
@@ -586,14 +549,13 @@ void VDev::showDevices()
void VDev::showTopics()
{
int i = 0;
PX4_INFO("Devices:");
pthread_mutex_lock(&devmutex);
for (; i < PX4_MAX_DEV; ++i) {
if (devmap[i] && strncmp(devmap[i]->name, "/obj/", 5) == 0) {
PX4_INFO(" %s", devmap[i]->name);
for (const auto &dev : devmap) {
if (strncmp(dev.first.c_str(), "/obj/", 5) == 0) {
PX4_INFO(" %s", dev.first.c_str());
}
}
@@ -602,15 +564,14 @@ void VDev::showTopics()
void VDev::showFiles()
{
int i = 0;
PX4_INFO("Files:");
pthread_mutex_lock(&devmutex);
for (; i < PX4_MAX_DEV; ++i) {
if (devmap[i] && strncmp(devmap[i]->name, "/obj/", 5) != 0 &&
strncmp(devmap[i]->name, "/dev/", 5) != 0) {
PX4_INFO(" %s", devmap[i]->name);
for (const auto &dev : devmap) {
if (strncmp(dev.first.c_str(), "/obj/", 5) != 0 &&
strncmp(dev.first.c_str(), "/dev/", 5) != 0) {
PX4_INFO(" %s", dev.first.c_str());
}
}