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

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- add PX4 bitset and atomic_bitset with testing
 - add uORB::Subscription constructor to take ORB_ID enum
 - move orb test messages into msg/
This commit is contained in:
Daniel Agar
2020-03-11 09:06:33 -04:00
committed by GitHub
parent 88c9761f1f
commit 9585055e9e
38 changed files with 919 additions and 200 deletions
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src/modules/logger/logged_topics.cpp
+3 -3
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@@ -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",