uORB: add bitset for faster orb_exists check and remove uORB::Subscription lazy subscribe hack/optimization

- add PX4 bitset and atomic_bitset with testing
 - add uORB::Subscription constructor to take ORB_ID enum
 - move orb test messages into msg/

msg/templates/uorb/msg.cpp.em

@@ -70,6 +70,7 @@ topic_fields = ["%s %s" % (convert_type(field.type), field.name) for field in so
 #include <px4_platform_common/log.h>
 #include <px4_platform_common/defines.h>
 #include <uORB/topics/@(topic_name).h>
+#include <uORB/topics/uORBTopics.hpp>
 #include <drivers/drv_hrt.h>
 #include <lib/drivers/device/Device.hpp>
 
@@ -78,10 +79,10 @@ topic_fields = ["%s %s" % (convert_type(field.type), field.name) for field in so
 constexpr char __orb_@(topic_name)_fields[] = "@( ";".join(topic_fields) );";
 
 @[for multi_topic in topics]@
-ORB_DEFINE(@multi_topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(topic_name)_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 @uorb_struct &message)
 {
 @[if constrained_flash]
 	(void)message;

msg/templates/uorb/uORBTopics.cpp.em

@@ -13,7 +13,7 @@
 @###############################################
 /****************************************************************************
  *
- *   Copyright (C) 2013-2015 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2013-2020 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
@@ -44,31 +44,35 @@
  *
  ****************************************************************************/
 
-#include <uORB/uORBTopics.h>
+#include <uORB/topics/uORBTopics.hpp>
 #include <uORB/uORB.h>
 @{
 msg_names = [mn.replace(".msg", "") for mn in msgs]
 msgs_count = len(msg_names)
 msg_names_all = list(set(msg_names + multi_topics)) # set() filters duplicates
+msg_names_all.sort()
 msgs_count_all = len(msg_names_all)
 }@
 @[for msg_name in msg_names]@
 #include <uORB/topics/@(msg_name).h>
 @[end for]
 
-const size_t _uorb_topics_count = @(msgs_count_all);
-const constexpr struct orb_metadata* const _uorb_topics_list[_uorb_topics_count] = {
+const constexpr struct orb_metadata *const uorb_topics_list[ORB_TOPICS_COUNT] = {
 @[for idx, msg_name in enumerate(msg_names_all, 1)]@
-    ORB_ID(@(msg_name))@[if idx != msgs_count_all],@[end if]
+	ORB_ID(@(msg_name))@[if idx != msgs_count_all], @[end if]
 @[end for]
 };
 
-size_t orb_topics_count()
+const struct orb_metadata *const *orb_get_topics()
 {
-	return _uorb_topics_count;
+	return uorb_topics_list;
 }
 
-const struct orb_metadata *const*orb_get_topics()
+const struct orb_metadata *get_orb_meta(ORB_ID id)
 {
-	return _uorb_topics_list;
+	if (id == ORB_ID::INVALID) {
+		return nullptr;
+	}
+
+	return uorb_topics_list[static_cast<uint8_t>(id)];
 }

msg/templates/uorb/uORBTopics.hpp.em

@@ -0,0 +1,76 @@
+@###############################################
+@#
+@# EmPy template for generating uORBTopics.hpp file
+@# for logging purposes
+@#
+@###############################################
+@# Start of Template
+@#
+@# Context:
+@#  - msgs (List) list of all msg files
+@#  - multi_topics (List) list of all multi-topic names
+@#  - ids (List) list of all RTPS msg ids
+@###############################################
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 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.
+ *
+ ****************************************************************************/
+
+@{
+msg_names = [mn.replace(".msg", "") for mn in msgs]
+msgs_count = len(msg_names)
+msg_names_all = list(set(msg_names + multi_topics)) # set() filters duplicates
+msg_names_all.sort()
+msgs_count_all = len(msg_names_all)
+}@
+
+#pragma once
+
+#include <stddef.h>
+
+#include <uORB/uORB.h>
+
+static constexpr size_t ORB_TOPICS_COUNT{@(msgs_count_all)};
+static constexpr size_t orb_topics_count() { return ORB_TOPICS_COUNT; }
+
+/*
+ * Returns array of topics metadata
+ */
+extern const struct orb_metadata *const *orb_get_topics() __EXPORT;
+
+enum class ORB_ID : uint8_t {
+@[for idx, msg_name in enumerate(msg_names_all)]@
+	@(msg_name) = @(idx),
+@[end for]
+	INVALID
+};
+
+const struct orb_metadata *get_orb_meta(ORB_ID id);