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/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;
+}