aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_Param: make accessing var_info() a bit more efficient

Browse Source
This commit is contained in:
Andrew Tridgell 2022-01-08 11:40:59 +11:00 committed by Peter Barker
parent 10b1f46997
commit 7242b6e3e5
1 changed files with 61 additions and 51 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

112
libraries/AP_Param/AP_Param.cpp
View File

@ -296,18 +296,19 @@ bool AP_Param::check_var_info(void)
uint16_t total_size = sizeof(struct EEPROM_header);
for (uint16_t i=0; i<_num_vars; i++) {
uint8_t type = var_info(i).type;
uint16_t key = var_info(i).key;
const auto &info = var_info(i);
uint8_t type = info.type;
uint16_t key = info.key;
if (type == AP_PARAM_GROUP) {
if (i == 0) {
// first element can't be a group, for first() call
return false;
}
const struct GroupInfo *group_info = get_group_info(var_info(i));
const struct GroupInfo *group_info = get_group_info(info);
if (group_info == nullptr) {
continue;
}
if (!check_group_info(group_info, &total_size, 0, strlen(var_info(i).name))) {
if (!check_group_info(group_info, &total_size, 0, strlen(info.name))) {
return false;
}
} else {
@ -322,7 +323,7 @@ bool AP_Param::check_var_info(void)
if (duplicate_key(i, key)) {
return false;
}
if (type != AP_PARAM_GROUP && (var_info(i).flags & AP_PARAM_FLAG_POINTER)) {
if (type != AP_PARAM_GROUP && (info.flags & AP_PARAM_FLAG_POINTER)) {
// only groups can be pointers
return false;
}
@ -483,14 +484,15 @@ const struct AP_Param::Info *AP_Param::find_by_header(struct Param_header phdr,
{
// loop over all named variables
for (uint16_t i=0; i<_num_vars; i++) {
uint8_t type = var_info(i).type;
uint16_t key = var_info(i).key;
const auto &info = var_info(i);
uint8_t type = info.type;
uint16_t key = info.key;
if (key != get_key(phdr)) {
// not the right key
continue;
}
if (type == AP_PARAM_GROUP) {
const struct GroupInfo *group_info = get_group_info(var_info(i));
const struct GroupInfo *group_info = get_group_info(info);
if (group_info == nullptr) {
continue;
}
@ -499,11 +501,11 @@ const struct AP_Param::Info *AP_Param::find_by_header(struct Param_header phdr,
if (type == phdr.type) {
// found it
ptrdiff_t base;
if (!get_base(var_info(i), base)) {
if (!get_base(info, base)) {
return nullptr;
}
*ptr = (void*)base;
return &var_info(i);
return &info;
}
}
return nullptr;
@ -589,25 +591,26 @@ const struct AP_Param::Info *AP_Param::find_var_info(uint32_t *
group_ret = nullptr;
for (uint16_t i=0; i<_num_vars; i++) {
uint8_t type = var_info(i).type;
const auto &info = var_info(i);
uint8_t type = info.type;
ptrdiff_t base;
if (!get_base(var_info(i), base)) {
if (!get_base(info, base)) {
continue;
}
if (type == AP_PARAM_GROUP) {
const struct GroupInfo *group_info = get_group_info(var_info(i));
const struct GroupInfo *group_info = get_group_info(info);
if (group_info == nullptr) {
continue;
}
const struct AP_Param::Info *info;
info = find_var_info_group(group_info, i, 0, 0, 0, group_element, group_ret, group_nesting, idx);
if (info != nullptr) {
return info;
const struct AP_Param::Info *info2;
info2 = find_var_info_group(group_info, i, 0, 0, 0, group_element, group_ret, group_nesting, idx);
if (info2 != nullptr) {
return info2;
}
} else if (base == (ptrdiff_t) this) {
*group_element = 0;
*idx = 0;
return &var_info(i);
return &info;
} else if (type == AP_PARAM_VECTOR3F &&
(base+(ptrdiff_t)sizeof(float) == (ptrdiff_t) this ||
base+2*(ptrdiff_t)sizeof(float) == (ptrdiff_t) this)) {
@ -615,7 +618,7 @@ const struct AP_Param::Info *AP_Param::find_var_info(uint32_t *
// referring to.
*idx = (((ptrdiff_t) this) - base)/sizeof(float);
*group_element = 0;
return &var_info(i);
return &info;
}
}
return nullptr;
@ -630,27 +633,28 @@ const struct AP_Param::Info *AP_Param::find_var_info_token(const ParamToken &tok
uint8_t * idx) const
{
uint16_t i = token.key;
uint8_t type = var_info(i).type;
const auto &info = var_info(i);
uint8_t type = info.type;
ptrdiff_t base;
if (!get_base(var_info(i), base)) {
if (!get_base(info, base)) {
return nullptr;
}
group_ret = nullptr;
if (type == AP_PARAM_GROUP) {
const struct GroupInfo *group_info = get_group_info(var_info(i));
const struct GroupInfo *group_info = get_group_info(info);
if (group_info == nullptr) {
return nullptr;
}
const struct AP_Param::Info *info;
info = find_var_info_group(group_info, i, 0, 0, 0, group_element, group_ret, group_nesting, idx);
if (info != nullptr) {
return info;
const struct AP_Param::Info *info2;
info2 = find_var_info_group(group_info, i, 0, 0, 0, group_element, group_ret, group_nesting, idx);
if (info2 != nullptr) {
return info2;
}
} else if (base == (ptrdiff_t) this) {
*group_element = 0;
*idx = 0;
return &var_info(i);
return &info;
} else if (type == AP_PARAM_VECTOR3F &&
(base+(ptrdiff_t)sizeof(float) == (ptrdiff_t) this ||
base+2*(ptrdiff_t)sizeof(float) == (ptrdiff_t) this)) {
@ -658,7 +662,7 @@ const struct AP_Param::Info *AP_Param::find_var_info_token(const ParamToken &tok
// referring to.
*idx = (((ptrdiff_t) this) - base)/sizeof(float);
*group_element = 0;
return &var_info(i);
return &info;
}
return nullptr;
}
@ -887,13 +891,14 @@ AP_Param *
AP_Param::find(const char *name, enum ap_var_type *ptype, uint16_t *flags)
{
for (uint16_t i=0; i<_num_vars; i++) {
uint8_t type = var_info(i).type;
const auto &info = var_info(i);
uint8_t type = info.type;
if (type == AP_PARAM_GROUP) {
uint8_t len = strnlen(var_info(i).name, AP_MAX_NAME_SIZE);
if (strncmp(name, var_info(i).name, len) != 0) {
uint8_t len = strnlen(info.name, AP_MAX_NAME_SIZE);
if (strncmp(name, info.name, len) != 0) {
continue;
}
const struct GroupInfo *group_info = get_group_info(var_info(i));
const struct GroupInfo *group_info = get_group_info(info);
if (group_info == nullptr) {
continue;
}
@ -914,10 +919,10 @@ AP_Param::find(const char *name, enum ap_var_type *ptype, uint16_t *flags)
// we continue looking as we want to allow top level
// parameter to have the same prefix name as group
// parameters, for example CAM_P_G
} else if (strcasecmp(name, var_info(i).name) == 0) {
} else if (strcasecmp(name, info.name) == 0) {
*ptype = (enum ap_var_type)type;
ptrdiff_t base;
if (!get_base(var_info(i), base)) {
if (!get_base(info, base)) {
return nullptr;
}
return (AP_Param *)base;
@ -1008,16 +1013,17 @@ bool AP_Param::find_key_by_pointer_group(const void *ptr, uint16_t vindex,
bool AP_Param::find_key_by_pointer(const void *ptr, uint16_t &key)
{
for (uint16_t i=0; i<_num_vars; i++) {
if (var_info(i).type != AP_PARAM_GROUP) {
const auto &info = var_info(i);
if (info.type != AP_PARAM_GROUP) {
continue;
}
if ((var_info(i).flags & AP_PARAM_FLAG_POINTER) &&
ptr == *(void **)var_info(i).ptr) {
key = var_info(i).key;
if ((info.flags & AP_PARAM_FLAG_POINTER) &&
ptr == *(void **)info.ptr) {
key = info.key;
return true;
}
ptrdiff_t offset = 0;
const struct GroupInfo *ginfo = get_group_info(var_info(i));
const struct GroupInfo *ginfo = get_group_info(info);
if (ginfo == nullptr) {
continue;
}
@ -1034,11 +1040,12 @@ bool AP_Param::find_key_by_pointer(const void *ptr, uint16_t &key)
bool AP_Param::find_top_level_key_by_pointer(const void *ptr, uint16_t &key)
{
for (uint16_t i=0; i<_num_vars; i++) {
if (var_info(i).type != AP_PARAM_GROUP) {
const auto &info = var_info(i);
if (info.type != AP_PARAM_GROUP) {
continue;
}
if (ptr == (void **)var_info(i).ptr) {
key = var_info(i).key;
if (ptr == (void **)info.ptr) {
key = info.key;
return true;
}
}
@ -1067,9 +1074,10 @@ AP_Param *
AP_Param::find_object(const char *name)
{
for (uint16_t i=0; i<_num_vars; i++) {
if (strcasecmp(name, var_info(i).name) == 0) {
const auto &info = var_info(i);
if (strcasecmp(name, info.name) == 0) {
ptrdiff_t base;
if (!get_base(var_info(i), base)) {
if (!get_base(info, base)) {
return nullptr;
}
return (AP_Param *)base;
@ -1480,12 +1488,13 @@ void AP_Param::setup_sketch_defaults(void)
{
setup();
for (uint16_t i=0; i<_num_vars; i++) {
uint8_t type = var_info(i).type;
const auto &info = var_info(i);
uint8_t type = info.type;
if (type <= AP_PARAM_FLOAT) {
ptrdiff_t base;
if (get_base(var_info(i), base)) {
if (get_base(info, base)) {
set_value((enum ap_var_type)type, (void*)base,
get_default_value((const AP_Param *)base, &var_info(i).def_value));
get_default_value((const AP_Param *)base, &info.def_value));
}
}
}
@ -1755,12 +1764,13 @@ AP_Param *AP_Param::next(ParamToken *token, enum ap_var_type *ptype, bool skip_d
found_current = true;
}
for (; i<_num_vars; i++) {
if (!check_frame_type(var_info(i).flags)) {
const auto &info = var_info(i);
if (!check_frame_type(info.flags)) {
continue;
}
type = (enum ap_var_type)var_info(i).type;
type = (enum ap_var_type)info.type;
if (type == AP_PARAM_GROUP) {
const struct GroupInfo *group_info = get_group_info(var_info(i));
const struct GroupInfo *group_info = get_group_info(info);
if (group_info == nullptr) {
continue;
}
@ -1776,7 +1786,7 @@ AP_Param *AP_Param::next(ParamToken *token, enum ap_var_type *ptype, bool skip_d
if (ptype != nullptr) {
*ptype = type;
}
return (AP_Param *)(var_info(i).ptr);
return (AP_Param *)(info.ptr);
}
}
return nullptr;