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topic_listener: avoid code generation, use existing metadata at runtime

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This reduces flash size for v5 by ~110KB, the topic listener now only adds
about 1.2KB.
This commit is contained in:
Beat Küng
2021-10-19 15:19:42 +02:00
parent a0e72b35a4
commit 8a2b310b83
16 changed files with 330 additions and 347 deletions
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msg/templates/uorb/msg.cpp.em
+6 -14
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@@ -82,19 +82,11 @@ constexpr char __orb_@(topic_name)_fields[] = "@( ";".join(topic_fields) );";
ORB_DEFINE(@multi_topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(topic_name)_fields, static_cast<uint8_t>(ORB_ID::@multi_topic));
@[end for]
void print_message(const @uorb_struct &message)
void print_message(const orb_metadata *meta, const @uorb_struct& message)
{
@[if constrained_flash]
(void)message;
PX4_INFO_RAW("Not implemented on flash constrained hardware\n");
@[else]
PX4_INFO_RAW(" @(uorb_struct)\n");
const hrt_abstime now = hrt_absolute_time();
@[for field in sorted_fields]@
@( print_field(field) )@
@[end for]@
@[end if]@
if (sizeof(message) != meta->o_size) {
printf("unexpected message size for %s: %zu != %i\n", meta->o_name, sizeof(message), meta->o_size);
return;
}
orb_print_message_internal(meta, &message, true);
}