fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

SubscriptionInterval: move updated, update, copy function to a cpp file

Browse Source 
Saves 17.3 kilobytes of flash 😮
This commit is contained in:
Matthias Grob 2024-07-12 15:17:58 +02:00
parent 33be5d8356
commit e2b31454a3
3 changed files with 81 additions and 35 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
platforms/common/uORB/CMakeLists.txt
View File

@ -47,6 +47,7 @@ set(SRCS_COMMON
Subscription.cpp
Subscription.hpp
SubscriptionCallback.hpp
SubscriptionInterval.cpp
SubscriptionInterval.hpp
SubscriptionMultiArray.hpp
uORB.cpp

77
platforms/common/uORB/SubscriptionInterval.cpp Normal file
View File

@ -0,0 +1,77 @@
/****************************************************************************
*
* Copyright (c) 2024 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 "SubscriptionInterval.hpp"
namespace uORB
{
bool SubscriptionInterval::updated()
{
if (advertised() && (hrt_elapsed_time(&_last_update) >= _interval_us)) {
return _subscription.updated();
}
return false;
}
bool SubscriptionInterval::update(void *dst)
{
if (updated()) {
return copy(dst);
}
return false;
}
bool SubscriptionInterval::copy(void *dst)
{
if (_subscription.copy(dst)) {
const hrt_abstime now = hrt_absolute_time();
// make sure we don't set a timestamp before the timer started counting (now - _interval_us would wrap because it's unsigned)
if (now > _interval_us) {
// shift last update time forward, but don't let it get further behind than the interval
_last_update = math::constrain(_last_update + _interval_us, now - _interval_us, now);
} else {
_last_update = now;
}
return true;
}
return false;
}
} // namespace uORB

38
platforms/common/uORB/SubscriptionInterval.hpp
View File

@ -93,53 +93,21 @@ public:
/**
* Check if there is a new update.
* */
bool updated()
{
if (advertised() && (hrt_elapsed_time(&_last_update) >= _interval_us)) {
return _subscription.updated();
}
return false;
}
bool updated();
/**
* Copy the struct if updated.
* @param dst The destination pointer where the struct will be copied.
* @return true only if topic was updated and copied successfully.
*/
bool update(void *dst)
{
if (updated()) {
return copy(dst);
}
return false;
}
bool update(void *dst);
/**
* Copy the struct
* @param dst The destination pointer where the struct will be copied.
* @return true only if topic was copied successfully.
*/
bool copy(void *dst)
{
if (_subscription.copy(dst)) {
const hrt_abstime now = hrt_absolute_time();
// make sure we don't set a timestamp before the timer started counting (now - _interval_us would wrap because it's unsigned)
if (now > _interval_us) {
// shift last update time forward, but don't let it get further behind than the interval
_last_update = math::constrain(_last_update + _interval_us, now - _interval_us, now);
} else {
_last_update = now;
}
return true;
}
return false;
}
bool copy(void *dst);
bool valid() const { return _subscription.valid(); }