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topic_listener: reduce flash space by avoiding template bloat

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Use a templated callback method for the code parts that we actually need
templates, and avoid using a template for the rest of the code.

Saves around 20KB of flash.
This commit is contained in:
Beat Küng
2018-09-24 12:11:38 +02:00
parent 3453506471
commit 62550be858
3 changed files with 62 additions and 46 deletions
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src/systemcmds/topic_listener/generate_listener.py
+1 -1
View File
@@ -123,7 +123,7 @@ for index, (m, t) in enumerate(zip(messages, topics)):
print("\tif (strncmp(topic_name,\"%s\", %d) == 0) {" % (t, len(t)))
else:
print("\t} else if (strcmp(topic_name,\"%s\") == 0) {" % (t))
print("\t\tlistener<%s_s>(ORB_ID(%s), num_msgs, topic_instance, topic_interval);" % (m, t))
print("\t\tlistener(listener_print_topic<%s_s>, ORB_ID(%s), num_msgs, topic_instance, topic_interval);" % (m, t))
print("\t} else {")
print("\t\t PX4_INFO_RAW(\" Topic did not match any known topics\\n\");")
src/systemcmds/topic_listener/listener_main.cpp
+48
View File
@@ -47,6 +47,54 @@ extern "C" __EXPORT int listener_main(int argc, char *argv[]);
static void usage();
void listener(listener_print_topic_cb cb, const orb_id_t &id, unsigned num_msgs, unsigned topic_instance,
unsigned topic_interval)
{
if (orb_exists(id, topic_instance) != 0) {
PX4_INFO_RAW("never published\n");
return;
}
int sub = orb_subscribe_multi(id, topic_instance);
orb_set_interval(sub, topic_interval);
bool updated = false;
unsigned i = 0;
hrt_abstime start_time = hrt_absolute_time();
while (i < num_msgs) {
orb_check(sub, &updated);
if (i == 0) {
updated = true;
} else {
usleep(500);
}
if (updated) {
start_time = hrt_absolute_time();
i++;
PX4_INFO_RAW("\nTOPIC: %s instance %d #%d\n", id->o_name, topic_instance, i);
int ret = cb(id, sub);
if (ret != PX4_OK) {
PX4_ERR("listener callback failed (%i)", ret);
}
} else {
if (hrt_elapsed_time(&start_time) > 2 * 1000 * 1000) {
PX4_INFO_RAW("Waited for 2 seconds without a message. Giving up.\n");
break;
}
}
}
orb_unsubscribe(sub);
}
int listener_main(int argc, char *argv[])
{
if (argc <= 1) {
src/systemcmds/topic_listener/topic_listener.hpp
+13 -45
View File
@@ -51,53 +51,21 @@
#include <stdlib.h>
#include <inttypes.h>
typedef int(*listener_print_topic_cb)(const orb_id_t &orb_id, int subscription);
template <typename T>
void listener(const orb_id_t &id, unsigned num_msgs, unsigned topic_instance, unsigned topic_interval)
int listener_print_topic(const orb_id_t &orb_id, int subscription)
{
if (orb_exists(id, topic_instance) != 0) {
PX4_INFO_RAW("never published\n");
return;
T container;
int ret = orb_copy(orb_id, subscription, &container);
if (ret == PX4_OK) {
print_message(container);
}
int sub = orb_subscribe_multi(id, topic_instance);
orb_set_interval(sub, topic_interval);
bool updated = false;
unsigned i = 0;
hrt_abstime start_time = hrt_absolute_time();
while (i < num_msgs) {
orb_check(sub, &updated);
if (i == 0) {
updated = true;
} else {
usleep(500);
}
if (updated) {
start_time = hrt_absolute_time();
i++;
PX4_INFO_RAW("\nTOPIC: %s instance %d #%d\n", id->o_name, topic_instance, i);
T container;
if (orb_copy(id, sub, &container) == PX4_OK) {
print_message(container);
} else {
PX4_ERR("orb_copy failed");
}
} else {
if (hrt_elapsed_time(&start_time) > 2 * 1000 * 1000) {
PX4_INFO_RAW("Waited for 2 seconds without a message. Giving up.\n");
break;
}
}
}
orb_unsubscribe(sub);
return ret;
}
void listener(listener_print_topic_cb cb, const orb_id_t &id, unsigned num_msgs, unsigned topic_instance,
unsigned topic_interval);