yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-21 09:22:18 +00:00
Code Issues Packages Projects Releases Wiki Activity

uORB: add bitset for faster orb_exists check and remove uORB::Subscription lazy subscribe hack/optimization

Browse Source 
- 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
Download Patch File Download Diff File Expand all files Collapse all files

14
src/modules/uORB/uORBDeviceMaster.cpp
View File

@@ -163,6 +163,7 @@ uORB::DeviceMaster::advertise(const struct orb_metadata *meta, bool is_advertise
// add to the node map.
_node_list.add(node);
_node_exists[node->get_instance()].set((uint8_t)node->id(), true);
}
group_tries++;
@@ -452,12 +453,25 @@ uORB::DeviceNode *uORB::DeviceMaster::getDeviceNode(const char *nodepath)
return nullptr;
}
bool uORB::DeviceMaster::deviceNodeExists(ORB_ID id, const uint8_t instance)
{
if ((id == ORB_ID::INVALID) || (instance > ORB_MULTI_MAX_INSTANCES - 1)) {
return false;
}
return _node_exists[instance][(uint8_t)id];
}
uORB::DeviceNode *uORB::DeviceMaster::getDeviceNode(const struct orb_metadata *meta, const uint8_t instance)
{
if (meta == nullptr) {
return nullptr;
}
if (!deviceNodeExists(static_cast<ORB_ID>(meta->o_id), instance)) {
return nullptr;
}
lock();
uORB::DeviceNode *node = getDeviceNodeLocked(meta, instance);
unlock();