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/

src/modules/logger/logged_topics.cpp

@@ -36,7 +36,7 @@
 
 #include <px4_platform_common/log.h>
 #include <px4_platform_common/px4_config.h>
-#include <uORB/uORBTopics.h>
+#include <uORB/topics/uORBTopics.hpp>
 
 #include <string.h>
 
@@ -297,9 +297,9 @@ bool LoggedTopics::add_topic(const orb_metadata *topic, uint16_t interval_ms, ui
 	}
 
 	RequestedSubscription &sub = _subscriptions.sub[_subscriptions.count++];
-	sub.topic = topic;
 	sub.interval_ms = interval_ms;
 	sub.instance = instance;
+	sub.id = static_cast<ORB_ID>(topic->o_id);
 	return true;
 }
 
@@ -314,7 +314,7 @@ bool LoggedTopics::add_topic(const char *name, uint16_t interval_ms, uint8_t ins
 
 			// check if already added: if so, only update the interval
 			for (int j = 0; j < _subscriptions.count; ++j) {
-				if (_subscriptions.sub[j].topic == topics[i] &&
+				if (_subscriptions.sub[j].id == static_cast<ORB_ID>(topics[i]->o_id) &&
 				    _subscriptions.sub[j].instance == instance) {
 
 					PX4_DEBUG("logging topic %s(%d), interval: %i, already added, only setting interval",

src/modules/logger/logged_topics.h

@@ -36,6 +36,7 @@
 #include <stdint.h>
 
 #include <uORB/uORB.h>
+#include <uORB/topics/uORBTopics.hpp>
 
 namespace px4
 {
@@ -74,9 +75,9 @@ public:
 	static constexpr int 		MAX_TOPICS_NUM = 200; /**< Maximum number of logged topics */
 
 	struct RequestedSubscription {
-		const orb_metadata *topic;
 		uint16_t interval_ms;
 		uint8_t instance;
+		ORB_ID id{ORB_ID::INVALID};
 	};
 	struct RequestedSubscriptionArray {
 		RequestedSubscription sub[MAX_TOPICS_NUM];

src/modules/logger/logger.cpp

@@ -46,7 +46,7 @@
 #include <time.h>
 
 #include <uORB/PublicationQueued.hpp>
-#include <uORB/uORBTopics.h>
+#include <uORB/topics/uORBTopics.hpp>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/vehicle_command_ack.h>
 #include <uORB/topics/battery_status.h>
@@ -508,7 +508,7 @@ bool Logger::initialize_topics(MissionLogType mission_log_mode)
 			const LoggedTopics::RequestedSubscription &sub = logged_topics.subscriptions().sub[i];
 			// if we poll on a topic, we don't use the interval and let the polled topic define the maximum interval
 			uint16_t interval_ms = _polling_topic_meta ? 0 : sub.interval_ms;
-			_subscriptions[i] = LoggerSubscription(sub.topic, interval_ms, sub.instance);
+			_subscriptions[i] = LoggerSubscription(sub.id, interval_ms, sub.instance);
 		}
 	}
 

src/modules/logger/logger.h

@@ -71,8 +71,8 @@ struct LoggerSubscription : public uORB::SubscriptionInterval {
 
 	LoggerSubscription() = default;
 
-	LoggerSubscription(const orb_metadata *meta, uint32_t interval_ms = 0, uint8_t instance = 0) :
-		uORB::SubscriptionInterval(meta, interval_ms * 1000, instance)
+	LoggerSubscription(ORB_ID id, uint32_t interval_ms = 0, uint8_t instance = 0) :
+		uORB::SubscriptionInterval(id, interval_ms * 1000, instance)
 	{}
 };