fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-20 03:13:33 +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 23:26:24 +02:00
parent 33be5d8356
commit e2b31454a3
3 changed files with 81 additions and 35 deletions
Download Patch File Download Diff File Expand all files Collapse all files
platforms/common/uORB/SubscriptionInterval.hpp
+3 -35
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(); }