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uORB performance updates

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Move some logic from Subscriber into uORBManager. This reduces calls from the
modules to the uORB manager, improving performance in protected build.

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This commit is contained in:
Jukka Laitinen
2022-02-24 11:50:05 -05:00
committed by Daniel Agar
parent 611d50edf3
commit caaa13ddc0
4 changed files with 42 additions and 10 deletions
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platforms/common/uORB/uORBManager.hpp
+4 -2
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@@ -117,6 +117,7 @@ typedef struct {
void *handle;
void *dst;
unsigned generation;
bool only_if_updated;
bool ret;
} orbiocdevdatacopy_t;
@@ -450,7 +451,7 @@ public:
static uint8_t orb_get_queue_size(const void *node_handle);
static bool orb_data_copy(void *node_handle, void *dst, unsigned &generation);
static bool orb_data_copy(void *node_handle, void *dst, unsigned &generation, bool only_if_updated);
static bool register_callback(void *node_handle, SubscriptionCallback *callback_sub);
@@ -460,9 +461,10 @@ public:
#if defined(CONFIG_BUILD_FLAT)
/* These are optimized by inlining in NuttX Flat build */
static unsigned updates_available(const void *node_handle, unsigned last_generation) { return static_cast<const DeviceNode *>(node_handle)->updates_available(last_generation); }
static unsigned updates_available(const void *node_handle, unsigned last_generation) { return is_advertised(node_handle) ? static_cast<const DeviceNode *>(node_handle)->updates_available(last_generation) : 0; }
static bool is_advertised(const void *node_handle) { return static_cast<const DeviceNode *>(node_handle)->is_advertised(); }
#else
static unsigned updates_available(const void *node_handle, unsigned last_generation);