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uORB::DeviceNode: reduce the size of some members

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The limits the maximum queue size to 255, which I think is ok for the
forseable future.

sizeof(uORB::DeviceNode) is reduces from 128 to 112 on NuttX, and with
~80 instances, this saves over 1KB of RAM.
This commit is contained in:
Beat Küng
2016-10-23 15:25:20 +02:00
committed by Lorenz Meier
parent 03c12c4c78
commit c50e4a6e21
2 changed files with 9 additions and 12 deletions
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src/modules/uORB/uORBDevices.cpp
+5 -7
View File
@@ -93,14 +93,11 @@ uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const char *name,
_data(nullptr),
_last_update(0),
_generation(0),
_priority(priority),
_priority((uint8_t)priority),
_published(false),
_queue_size(queue_size),
_publisher(0),
#ifdef __PX4_NUTTX
_IsRemoteSubscriberPresent(false),
#endif
_subscriber_count(0)
_subscriber_count(0),
_publisher(0)
{
// enable debug() calls
//_debug_enabled = true;
@@ -749,7 +746,8 @@ int uORB::DeviceNode::update_queue_size(unsigned int queue_size)
return PX4_OK;
}
if (_data || _queue_size > queue_size) {
//queue size is limited to 255 for the single reason that we use uint8 to store it
if (_data || _queue_size > queue_size || queue_size > 255) {
return ERROR;
}
src/modules/uORB/uORBDevices.hpp
+4 -5
View File
@@ -186,7 +186,7 @@ public:
bool print_statistics(bool reset);
unsigned int get_queue_size() const { return _queue_size; }
int32_t subscriber_count() const { return _subscriber_count; }
int16_t subscriber_count() const { return _subscriber_count; }
uint32_t lost_message_count() const { return _lost_messages; }
unsigned int published_message_count() const { return _generation; }
const struct orb_metadata *get_meta() const { return _meta; }
@@ -221,21 +221,20 @@ private:
uint8_t *_data; /**< allocated object buffer */
hrt_abstime _last_update; /**< time the object was last updated */
volatile unsigned _generation; /**< object generation count */
const int _priority; /**< priority of topic */
const uint8_t _priority; /**< priority of the topic */
bool _published; /**< has ever data been published */
unsigned int _queue_size; /**< maximum number of elements in the queue */
uint8_t _queue_size; /**< maximum number of elements in the queue */
int16_t _subscriber_count;
inline static SubscriberData *filp_to_sd(device::file_t *filp);
#ifdef __PX4_NUTTX
pid_t _publisher; /**< if nonzero, current publisher. Only used inside the advertise call.
We allow one publisher to have an open file descriptor at the same time. */
bool _IsRemoteSubscriberPresent;
#else
px4_task_t _publisher; /**< if nonzero, current publisher. Only used inside the advertise call.
We allow one publisher to have an open file descriptor at the same time. */
#endif
int32_t _subscriber_count;
//statistics
uint32_t _lost_messages = 0; ///< nr of lost messages for all subscribers. If two subscribers lose the same