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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/systemcmds/tests/test_microbench_uorb.cpp
+32 -4
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@@ -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;
}