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/systemcmds/tests/CMakeLists.txt

@@ -33,8 +33,10 @@
 
 set(srcs
 	test_adc.c
+	test_atomic_bitset.cpp
 	test_autodeclination.cpp
 	test_bezierQuad.cpp
+	test_bitset.cpp
 	test_bson.cpp
 	test_conv.cpp
 	test_dataman.c

src/systemcmds/tests/test_atomic_bitset.cpp

@@ -0,0 +1,175 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#include <unit_test.h>
+
+#include <px4_platform_common/atomic_bitset.h>
+
+class AtomicBitsetTest : public UnitTest
+{
+public:
+	virtual bool run_tests();
+
+private:
+	bool constructTest();
+	bool setAllTest();
+	bool setRandomTest();
+
+};
+
+bool AtomicBitsetTest::run_tests()
+{
+	ut_run_test(constructTest);
+	ut_run_test(setAllTest);
+	ut_run_test(setRandomTest);
+
+	return (_tests_failed == 0);
+}
+
+
+ut_declare_test_c(test_atomic_bitset, AtomicBitsetTest)
+
+bool AtomicBitsetTest::constructTest()
+{
+	px4::AtomicBitset<10> test_bitset1;
+
+	ut_compare("bitset size 10", test_bitset1.size(), 10);
+	ut_compare("bitset init count 0", test_bitset1.count(), 0);
+
+	for (int i = 0; i < test_bitset1.size(); i++) {
+		ut_compare("bitset not set by default", test_bitset1[i], false);
+	}
+
+	return true;
+}
+
+bool AtomicBitsetTest::setAllTest()
+{
+	px4::AtomicBitset<100> test_bitset2;
+
+	ut_compare("bitset size 100", test_bitset2.size(), 100);
+	ut_compare("bitset init count 0", test_bitset2.count(), 0);
+
+	for (int i = 0; i < test_bitset2.size(); i++) {
+		ut_compare("bitset not set by default", test_bitset2[i], false);
+	}
+
+	// set all
+	for (int i = 0; i < test_bitset2.size(); i++) {
+		test_bitset2.set(i, true);
+	}
+
+	// check count
+	ut_compare("bitset count", test_bitset2.count(), 100);
+
+	// verify all set
+	for (int i = 0; i < test_bitset2.size(); i++) {
+		ut_compare("bitset not true", test_bitset2[i], true);
+	}
+
+	// set all back to false
+	for (int i = 0; i < test_bitset2.size(); i++) {
+		test_bitset2.set(i, false);
+	}
+
+	// check count
+	ut_compare("bitset count", test_bitset2.count(), 0);
+
+	// verify all no longer set
+	for (int i = 0; i < test_bitset2.size(); i++) {
+		ut_compare("bitset not false", test_bitset2[i], false);
+	}
+
+	return true;
+}
+
+bool AtomicBitsetTest::setRandomTest()
+{
+	px4::AtomicBitset<999> test_bitset3;
+
+	ut_compare("bitset size 999", test_bitset3.size(), 999);
+	ut_compare("bitset init count 0", test_bitset3.count(), 0);
+
+	for (int i = 0; i < test_bitset3.size(); i++) {
+		ut_compare("bitset not set by default", test_bitset3[i], false);
+	}
+
+	// random set and verify 100 elements
+	const int random_test_size = 5;
+	int random_array[random_test_size] = { 3, 1, 4, 5, 9 };
+
+	// set random elements
+	for (auto x : random_array) {
+		test_bitset3.set(x, true);
+		ut_less_than("invalid test element range", x, test_bitset3.size());
+	}
+
+	// check count
+	ut_compare("bitset count", test_bitset3.count(), random_test_size);
+
+	// check that only random elements are set
+	for (int i = 0; i < test_bitset3.size(); i++) {
+
+		// is i in the random test array
+		// if so it should be set
+		bool i_in_random = false;
+
+		for (auto x : random_array) {
+			if (i == x) {
+				i_in_random = true;
+			}
+		}
+
+		if (i_in_random) {
+			ut_compare("bitset true", test_bitset3[i], true);
+
+		} else {
+			ut_compare("bitset false", test_bitset3[i], false);
+		}
+	}
+
+	// set all back to false
+	for (int i = 0; i < test_bitset3.size(); i++) {
+		test_bitset3.set(i, false);
+	}
+
+	// check count
+	ut_compare("bitset count", test_bitset3.count(), 0);
+
+	// verify all no longer set
+	for (int i = 0; i < test_bitset3.size(); i++) {
+		ut_compare("bitset not false", test_bitset3[i], false);
+	}
+
+	return true;
+}

src/systemcmds/tests/test_bitset.cpp

@@ -0,0 +1,175 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#include <unit_test.h>
+
+#include <include/containers/Bitset.hpp>
+
+class BitsetTest : public UnitTest
+{
+public:
+	virtual bool run_tests();
+
+private:
+	bool constructTest();
+	bool setAllTest();
+	bool setRandomTest();
+
+};
+
+bool BitsetTest::run_tests()
+{
+	ut_run_test(constructTest);
+	ut_run_test(setAllTest);
+	ut_run_test(setRandomTest);
+
+	return (_tests_failed == 0);
+}
+
+
+ut_declare_test_c(test_bitset, BitsetTest)
+
+bool BitsetTest::constructTest()
+{
+	px4::Bitset<10> test_bitset1;
+
+	ut_compare("bitset size 10", test_bitset1.size(), 10);
+	ut_compare("bitset init count 0", test_bitset1.count(), 0);
+
+	for (int i = 0; i < test_bitset1.size(); i++) {
+		ut_compare("bitset not set by default", test_bitset1[i], false);
+	}
+
+	return true;
+}
+
+bool BitsetTest::setAllTest()
+{
+	px4::Bitset<100> test_bitset2;
+
+	ut_compare("bitset size 100", test_bitset2.size(), 100);
+	ut_compare("bitset init count 0", test_bitset2.count(), 0);
+
+	for (int i = 0; i < test_bitset2.size(); i++) {
+		ut_compare("bitset not set by default", test_bitset2[i], false);
+	}
+
+	// set all
+	for (int i = 0; i < test_bitset2.size(); i++) {
+		test_bitset2.set(i, true);
+	}
+
+	// check count
+	ut_compare("bitset count", test_bitset2.count(), 100);
+
+	// verify all set
+	for (int i = 0; i < test_bitset2.size(); i++) {
+		ut_compare("bitset not true", test_bitset2[i], true);
+	}
+
+	// set all back to false
+	for (int i = 0; i < test_bitset2.size(); i++) {
+		test_bitset2.set(i, false);
+	}
+
+	// check count
+	ut_compare("bitset count", test_bitset2.count(), 0);
+
+	// verify all no longer set
+	for (int i = 0; i < test_bitset2.size(); i++) {
+		ut_compare("bitset not false", test_bitset2[i], false);
+	}
+
+	return true;
+}
+
+bool BitsetTest::setRandomTest()
+{
+	px4::Bitset<999> test_bitset3;
+
+	ut_compare("bitset size 999", test_bitset3.size(), 999);
+	ut_compare("bitset init count 0", test_bitset3.count(), 0);
+
+	for (int i = 0; i < test_bitset3.size(); i++) {
+		ut_compare("bitset not set by default", test_bitset3[i], false);
+	}
+
+	// random set and verify 100 elements
+	const int random_test_size = 5;
+	int random_array[random_test_size] = { 3, 1, 4, 5, 9 };
+
+	// set random elements
+	for (auto x : random_array) {
+		test_bitset3.set(x, true);
+		ut_less_than("invalid test element range", x, test_bitset3.size());
+	}
+
+	// check count
+	ut_compare("bitset count", test_bitset3.count(), random_test_size);
+
+	// check that only random elements are set
+	for (int i = 0; i < test_bitset3.size(); i++) {
+
+		// is i in the random test array
+		// if so it should be set
+		bool i_in_random = false;
+
+		for (auto x : random_array) {
+			if (i == x) {
+				i_in_random = true;
+			}
+		}
+
+		if (i_in_random) {
+			ut_compare("bitset true", test_bitset3[i], true);
+
+		} else {
+			ut_compare("bitset false", test_bitset3[i], false);
+		}
+	}
+
+	// set all back to false
+	for (int i = 0; i < test_bitset3.size(); i++) {
+		test_bitset3.set(i, false);
+	}
+
+	// check count
+	ut_compare("bitset count", test_bitset3.count(), 0);
+
+	// verify all no longer set
+	for (int i = 0; i < test_bitset3.size(); i++) {
+		ut_compare("bitset not false", test_bitset3[i], false);
+	}
+
+	return true;
+}

src/systemcmds/tests/test_microbench_uorb.cpp

@@ -172,6 +172,12 @@ bool MicroBenchORB::time_px4_uorb()
 	PERF("orb_exists sensor_accel 2", ret = orb_exists(ORB_ID(sensor_accel), 2), 100);
 	PERF("orb_exists sensor_accel 3", ret = orb_exists(ORB_ID(sensor_accel), 3), 100);
 	PERF("orb_exists sensor_accel 4", ret = orb_exists(ORB_ID(sensor_accel), 4), 100);
+	PERF("orb_exists sensor_accel 5", ret = orb_exists(ORB_ID(sensor_accel), 5), 100);
+	PERF("orb_exists sensor_accel 6", ret = orb_exists(ORB_ID(sensor_accel), 6), 100);
+	PERF("orb_exists sensor_accel 7", ret = orb_exists(ORB_ID(sensor_accel), 7), 100);
+	PERF("orb_exists sensor_accel 8", ret = orb_exists(ORB_ID(sensor_accel), 8), 100);
+	PERF("orb_exists sensor_accel 9", ret = orb_exists(ORB_ID(sensor_accel), 9), 100);
+	PERF("orb_exists sensor_accel 10", ret = orb_exists(ORB_ID(sensor_accel), 10), 100);
 
 	orb_unsubscribe(fd_status);
 	orb_unsubscribe(fd_lpos);
@@ -196,11 +202,33 @@ bool MicroBenchORB::time_px4_uorb_direct()
 	PERF("uORB::Subscription orb_check vehicle_local_position", ret = local_pos.updated(), 1000);
 	PERF("uORB::Subscription orb_copy vehicle_local_position", ret = local_pos.copy(&lpos), 1000);
 
-	printf("\n");
+	{
+		printf("\n");
+		uORB::Subscription sens_gyro0{ORB_ID(sensor_gyro), 0};
+		PERF("uORB::Subscription orb_check sensor_gyro:0", ret = sens_gyro0.updated(), 1000);
+		PERF("uORB::Subscription orb_copy sensor_gyro:0", ret = sens_gyro0.copy(&gyro), 1000);
+	}
 
-	uORB::Subscription sens_gyro{ORB_ID(sensor_gyro)};
-	PERF("uORB::Subscription orb_check sensor_gyro", ret = sens_gyro.updated(), 1000);
-	PERF("uORB::Subscription orb_copy sensor_gyro", ret = sens_gyro.copy(&gyro), 1000);
+	{
+		printf("\n");
+		uORB::Subscription sens_gyro1{ORB_ID(sensor_gyro), 1};
+		PERF("uORB::Subscription orb_check sensor_gyro:1", ret = sens_gyro1.updated(), 1000);
+		PERF("uORB::Subscription orb_copy sensor_gyro:1", ret = sens_gyro1.copy(&gyro), 1000);
+	}
+
+	{
+		printf("\n");
+		uORB::Subscription sens_gyro2{ORB_ID(sensor_gyro), 2};
+		PERF("uORB::Subscription orb_check sensor_gyro:2", ret = sens_gyro2.updated(), 1000);
+		PERF("uORB::Subscription orb_copy sensor_gyro:2", ret = sens_gyro2.copy(&gyro), 1000);
+	}
+
+	{
+		printf("\n");
+		uORB::Subscription sens_gyro3{ORB_ID(sensor_gyro), 3};
+		PERF("uORB::Subscription orb_check sensor_gyro:3", ret = sens_gyro3.updated(), 1000);
+		PERF("uORB::Subscription orb_copy sensor_gyro:3", ret = sens_gyro3.copy(&gyro), 1000);
+	}
 
 	return true;
 }

src/systemcmds/tests/tests_main.c

@@ -78,9 +78,10 @@ const struct {
 	{"rc",			rc_tests_main,		0},
 #endif /* __PX4_NUTTX */
 
-
+	{"atomic_bitset",	test_atomic_bitset,	0},
 	{"autodeclination",	test_autodeclination,	0},
 	{"bezier",		test_bezierQuad,	0},
+	{"bitset",		test_bitset,		0},
 	{"bson",		test_bson,		0},
 	{"conv",		test_conv,		0},
 	{"dataman",		test_dataman,		OPT_NOJIGTEST | OPT_NOALLTEST},

src/systemcmds/tests/tests_main.h

@@ -44,8 +44,10 @@
 __BEGIN_DECLS
 
 extern int test_adc(int argc, char *argv[]);
+extern int test_atomic_bitset(int argc, char *argv[]);
 extern int test_autodeclination(int argc, char *argv[]);
 extern int test_bezierQuad(int argc, char *argv[]);
+extern int test_bitset(int argc, char *argv[]);
 extern int test_bson(int argc, char *argv[]);
 extern int test_conv(int argc, char *argv[]);
 extern int test_dataman(int argc, char *argv[]);