fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-19 22:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

topic_listener: avoid code generation, use existing metadata at runtime

Browse Source 
This reduces flash size for v5 by ~110KB, the topic listener now only adds
about 1.2KB.
This commit is contained in:
Beat Küng
2021-10-20 08:10:05 +02:00
parent a0e72b35a4
commit 8a2b310b83
16 changed files with 330 additions and 347 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/gps/gps.cpp
+1 -1
View File
@@ -1045,7 +1045,7 @@ GPS::print_status()
PX4_INFO("rate publication:\t\t%6.2f Hz", (double)_rate);
PX4_INFO("rate RTCM injection:\t%6.2f Hz", (double)_rate_rtcm_injection);
print_message(_report_gps_pos);
print_message(ORB_ID(sensor_gps), _report_gps_pos);
}
if (_instance == Instance::Main && _secondary_instance.load()) {
src/drivers/px4io/px4io.cpp
+1 -1
View File
@@ -1508,7 +1508,7 @@ int PX4IO::print_status()
uORB::SubscriptionData<px4io_status_s> status_sub{ORB_ID(px4io_status)};
status_sub.update();
print_message(status_sub.get());
print_message(ORB_ID(px4io_status), status_sub.get());
/* now clear alarms */
io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, 0x0000);
src/drivers/rc_input/RCInput.cpp
+1 -1
View File
@@ -861,7 +861,7 @@ int RCInput::print_status()
perf_print_counter(_publish_interval_perf);
if (hrt_elapsed_time(&_rc_in.timestamp) < 1_s) {
print_message(_rc_in);
print_message(ORB_ID(input_rc), _rc_in);
}
return 0;
src/drivers/rpm/rpm_simulator/rpm_simulator.cpp
+1 -1
View File
@@ -72,7 +72,7 @@ int rpm_simulator_main(int argc, char *argv[])
// Publish data and let the user know what was published
rpm_pub.publish(rpm);
print_message(rpm);
print_message(ORB_ID(rpm), rpm);
return 0;
}
src/drivers/uavcan_v1/Subscribers/legacy/LegacyBatteryInfo.hpp
+1 -1
View File
@@ -120,7 +120,7 @@ public:
_battery_status_pub.publish(bat_status);
print_message(bat_status);
print_message(ORB_ID(battery_status), bat_status);
};
private:
src/modules/airship_att_control/airship_att_control_main.cpp
+1 -1
View File
@@ -170,7 +170,7 @@ int AirshipAttitudeControl::print_status()
perf_print_counter(_loop_perf);
print_message(_actuators);
print_message(ORB_ID(actuator_controls), _actuators);
return 0;
}
src/systemcmds/topic_listener/CMakeLists.txt
-20
View File
@@ -31,31 +31,11 @@
#
############################################################################
add_custom_command(OUTPUT listener_generated.cpp
COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_listener.py ${PX4_SOURCE_DIR} ${msg_files} > listener_generated.cpp
DEPENDS generate_listener.py ${msg_files}
)
add_custom_target(generate_topic_listener
DEPENDS
listener_generated.cpp
generate_listener.py
)
add_dependencies(prebuild_targets generate_topic_listener)
px4_add_module(
MODULE systemcmds__topic_listener
MAIN listener
COMPILE_FLAGS
STACK_MAIN 4096
INCLUDES
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_CURRENT_BINARY_DIR}
SRCS
listener_main.cpp
${CMAKE_CURRENT_BINARY_DIR}/listener_generated.cpp
DEPENDS
generate_topic_listener
uorb_msgs
)
src/systemcmds/topic_listener/generate_listener.py
-135
View File
@@ -1,135 +0,0 @@
#!/usr/bin/python
import glob
import os
import sys
import re
# This script is run from Build/<target>_default.build/$(PX4_BASE)/Firmware/src/systemcmds/topic_listener
# argv[1] must be the full path of the top Firmware dir
# argv[2] - argv[n] is the full list of msg files
raw_messages = sys.argv[2:]
messages = []
topics = []
message_elements = []
for index,m in enumerate(raw_messages):
topic_list = []
msg_path = sys.argv[1]+ '/msg/' + m
if os.path.isfile(msg_path):
# first try opening file in msg/ directory
f = open(msg_path,'r')
else:
# otherwise try opening directly (could be an external module msg)
f = open(m,'r')
for line in f.readlines():
items = re.split('\s+', line.strip())
if '# TOPICS' == ' '.join(items[:2]):
for topic in items[2:]:
topic_list.append(topic)
f.close()
(m_head, m_tail) = os.path.split(m)
message = m_tail.split('.')[0]
if len(topic_list) == 0:
topic_list.append(message)
for topic in topic_list:
messages.append(message)
topics.append(topic)
num_messages = len(messages);
print("""
/****************************************************************************
*
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file topic_listener.cpp
*
* Autogenerated by Tools/generate_listener.py
*
* Tool for listening to topics when running flight stack on linux.
*/
#include <drivers/drv_hrt.h>
#include <px4_platform_common/app.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/log.h>
#include <uORB/uORB.h>
#include <string.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <inttypes.h>
#include <topic_listener.hpp>
#include <topic_listener_generated.hpp>
""")
for m in set(messages):
print("#include <uORB/topics/%s.h>" % m)
print ("""
\nvoid listener_generated(char * topic_name, int topic_instance, int topic_rate, int num_msgs) {
""")
print("""
unsigned topic_interval = 0;
if (topic_rate != 0) {
topic_interval = 1000 / topic_rate;
}
""")
for index, (m, t) in enumerate(zip(messages, topics)):
if index == 0:
print("\tif (strcmp(topic_name,\"%s\") == 0) {" % (t))
else:
print("\t} else if (strcmp(topic_name,\"%s\") == 0) {" % (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\");")
print("\t}")
print("}\n")
src/systemcmds/topic_listener/listener_main.cpp
+28 -6
View File
@@ -42,8 +42,8 @@
#include <poll.h>
#include <uORB/topics/uORBTopics.hpp>
#include "topic_listener.hpp"
#include "topic_listener_generated.hpp"
// Amount of time to wait when listening for a message, before giving up.
static constexpr float MESSAGE_TIMEOUT_S = 2.0f;
@@ -52,7 +52,7 @@ 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, int topic_instance,
void listener(const orb_id_t &id, unsigned num_msgs, int topic_instance,
unsigned topic_interval)
{
@@ -69,7 +69,7 @@ void listener(listener_print_topic_cb cb, const orb_id_t &id, unsigned num_msgs,
if (instances == 1) {
PX4_INFO_RAW("\nTOPIC: %s\n", id->o_name);
int sub = orb_subscribe(id);
cb(id, sub);
listener_print_topic(id, sub);
orb_unsubscribe(sub);
} else if (instances > 1) {
@@ -79,7 +79,7 @@ void listener(listener_print_topic_cb cb, const orb_id_t &id, unsigned num_msgs,
if (orb_exists(id, i) == PX4_OK) {
PX4_INFO_RAW("\nInstance %d:\n", i);
int sub = orb_subscribe_multi(id, i);
cb(id, sub);
listener_print_topic(id, sub);
orb_unsubscribe(sub);
}
}
@@ -141,7 +141,7 @@ void listener(listener_print_topic_cb cb, const orb_id_t &id, unsigned num_msgs,
PX4_INFO_RAW("\nTOPIC: %s instance %d #%d\n", id->o_name, topic_instance, msgs_received);
int ret = cb(id, sub);
int ret = listener_print_topic(id, sub);
if (ret != PX4_OK) {
PX4_ERR("listener callback failed (%i)", ret);
@@ -208,7 +208,29 @@ int listener_main(int argc, char *argv[])
}
}
listener_generated(topic_name, topic_instance, topic_rate, num_msgs);
unsigned topic_interval = 0;
if (topic_rate != 0) {
topic_interval = 1000 / topic_rate;
}
const orb_metadata *const *topics = orb_get_topics();
const orb_metadata *found_topic = nullptr;
for (size_t i = 0; i < orb_topics_count(); i++) {
if (strcmp(topics[i]->o_name, topic_name) == 0) {
found_topic = topics[i];
}
}
if (found_topic) {
listener(found_topic, num_msgs, topic_instance, topic_interval);
} else {
PX4_INFO_RAW("Topic %s did not match any known topics\n", topic_name);
return -1;
}
return 0;
}
src/systemcmds/topic_listener/topic_listener.hpp
+10 -7
View File
@@ -50,21 +50,24 @@
#include <stdlib.h>
#include <inttypes.h>
typedef int(*listener_print_topic_cb)(const orb_id_t &orb_id, int subscription);
template <typename T>
int listener_print_topic(const orb_id_t &orb_id, int subscription)
inline int listener_print_topic(const orb_id_t &orb_id, int subscription)
{
T container;
static constexpr int max_size = 512;
alignas(8) char container[max_size];
if (orb_id->o_size > max_size) {
PX4_ERR("topic %s too large (%i > %i)", orb_id->o_name, orb_id->o_size, max_size);
return -1;
}
int ret = orb_copy(orb_id, subscription, &container);
if (ret == PX4_OK) {
print_message(container);
orb_print_message_internal(orb_id, &container, true);
}
return ret;
}
void listener(listener_print_topic_cb cb, const orb_id_t &id, unsigned num_msgs, int topic_instance,
void listener(const orb_id_t &id, unsigned num_msgs, int topic_instance,
unsigned topic_interval);
src/systemcmds/topic_listener/topic_listener_generated.hpp
-36
View File
@@ -1,36 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
void listener_generated(char *topic_name, int topic_instance, int topic_rate, int num_msgs);