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orb: reduce size of SubscriberData struct (#4771) 

- priority field uses only the lower 8 bits, so we can merge with the
  update_reported flag
- orb_set_interval is not used often, so make the necessary data an
  optional pointer and alloc only when needed.

Memory savings:
- pixracer (w. ekf2): 7.3kB
- pixhawk: 5.3kB
This commit is contained in:
Beat Küng 2016-06-22 15:28:23 +02:00 committed by Lorenz Meier
parent dfa2ec8c6c
commit e7f31393bc
4 changed files with 133 additions and 42 deletions
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66
src/modules/uORB/uORBDevices_nuttx.cpp
View File

@ -127,7 +127,7 @@ uORB::DeviceNode::open(struct file *filp)
sd->generation = _generation;
/* set priority */
sd->priority = _priority;
sd->set_priority(_priority);
filp->f_priv = (void *)sd;
@ -157,7 +157,10 @@ uORB::DeviceNode::close(struct file *filp)
SubscriberData *sd = filp_to_sd(filp);
if (sd != nullptr) {
hrt_cancel(&sd->update_call);
if (sd->update_interval) {
hrt_cancel(&sd->update_interval->update_call);
}
remove_internal_subscriber();
delete sd;
sd = nullptr;
@ -209,13 +212,13 @@ uORB::DeviceNode::read(struct file *filp, char *buffer, size_t buflen)
}
/* set priority */
sd->priority = _priority;
sd->set_priority(_priority);
/*
* Clear the flag that indicates that an update has been reported, as
* we have just collected it.
*/
sd->update_reported = false;
sd->set_update_reported(false);
px4_leave_critical_section(flags);
@ -294,16 +297,43 @@ uORB::DeviceNode::ioctl(struct file *filp, int cmd, unsigned long arg)
*(bool *)arg = appears_updated(sd);
return OK;
case ORBIOCSETINTERVAL:
sd->update_interval = arg;
return OK;
case ORBIOCSETINTERVAL: {
int ret = PX4_OK;
lock();
if (arg == 0) {
if (sd->update_interval) {
delete(sd->update_interval);
sd->update_interval = nullptr;
}
} else {
if (sd->update_interval) {
sd->update_interval->interval = arg;
} else {
sd->update_interval = new UpdateIntervalData();
if (sd->update_interval) {
memset(&sd->update_interval->update_call, 0, sizeof(hrt_call));
sd->update_interval->interval = arg;
} else {
ret = -ENOMEM;
}
}
}
unlock();
return ret;
}
case ORBIOCGADVERTISER:
*(uintptr_t *)arg = (uintptr_t)this;
return OK;
case ORBIOCGPRIORITY:
*(int *)arg = sd->priority;
*(int *)arg = sd->priority();
return OK;
case ORBIOCSETQUEUESIZE:
@ -312,7 +342,13 @@ uORB::DeviceNode::ioctl(struct file *filp, int cmd, unsigned long arg)
return update_queue_size(arg);
case ORBIOCGETINTERVAL:
*(unsigned *)arg = sd->update_interval;
if (sd->update_interval) {
*(unsigned *)arg = sd->update_interval->interval;
} else {
*(unsigned *)arg = 0;
}
return OK;
default:
@ -443,7 +479,7 @@ uORB::DeviceNode::appears_updated(SubscriberData *sd)
/*
* Handle non-rate-limited subscribers.
*/
if (sd->update_interval == 0) {
if (sd->update_interval == nullptr) {
ret = true;
break;
}
@ -455,7 +491,7 @@ uORB::DeviceNode::appears_updated(SubscriberData *sd)
* behaviour where checking / polling continues to report an update
* until the topic is read.
*/
if (sd->update_reported) {
if (sd->update_reported()) {
ret = true;
break;
}
@ -467,7 +503,7 @@ uORB::DeviceNode::appears_updated(SubscriberData *sd)
* must have collected the update we reported, otherwise
* update_reported would still be true.
*/
if (!hrt_called(&sd->update_call)) {
if (!hrt_called(&sd->update_interval->update_call)) {
break;
}
@ -476,15 +512,15 @@ uORB::DeviceNode::appears_updated(SubscriberData *sd)
* until the interval has passed once more by restarting the interval
* timer and thereby re-scheduling a poll notification at that time.
*/
hrt_call_after(&sd->update_call,
sd->update_interval,
hrt_call_after(&sd->update_interval->update_call,
sd->update_interval->interval,
&uORB::DeviceNode::update_deferred_trampoline,
(void *)this);
/*
* Remember that we have told the subscriber that there is data.
*/
sd->update_reported = true;
sd->set_update_reported(true);
ret = true;
break;

20
src/modules/uORB/uORBDevices_nuttx.hpp
View File

@ -183,12 +183,22 @@ protected:
virtual void poll_notify_one(struct pollfd *fds, pollevent_t events);
private:
struct SubscriberData {
unsigned generation; /**< last generation the subscriber has seen */
unsigned update_interval; /**< if nonzero minimum interval between updates */
struct UpdateIntervalData {
unsigned interval; /**< if nonzero minimum interval between updates */
struct hrt_call update_call; /**< deferred wakeup call if update_period is nonzero */
bool update_reported; /**< true if we have reported the update via poll/check */
int priority; /**< priority of publisher */
};
struct SubscriberData {
~SubscriberData() { if (update_interval) { delete(update_interval); } }
unsigned generation; /**< last generation the subscriber has seen */
int flags; /**< lowest 8 bits: priority of publisher, 9. bit: update_reported bit */
UpdateIntervalData *update_interval; /**< if null, no update interval */
int priority() const { return flags & 0xff; }
void set_priority(uint8_t prio) { flags = (flags & ~0xff) | prio; }
bool update_reported() const { return flags & (1 << 8); }
void set_update_reported(bool update_reported_flag) { flags = (flags & ~(1 << 8)) | (((int)update_reported_flag) << 8); }
};
const struct orb_metadata *_meta; /**< object metadata information */

69
src/modules/uORB/uORBDevices_posix.cpp
View File

@ -136,7 +136,7 @@ uORB::DeviceNode::open(device::file_t *filp)
sd->generation = _generation;
/* set priority */
sd->priority = _priority;
sd->set_priority(_priority);
filp->priv = (void *)sd;
@ -169,7 +169,10 @@ uORB::DeviceNode::close(device::file_t *filp)
SubscriberData *sd = filp_to_sd(filp);
if (sd != nullptr) {
hrt_cancel(&sd->update_call);
if (sd->update_interval) {
hrt_cancel(&sd->update_interval->update_call);
}
remove_internal_subscriber();
delete sd;
sd = nullptr;
@ -222,13 +225,13 @@ uORB::DeviceNode::read(device::file_t *filp, char *buffer, size_t buflen)
}
/* set priority */
sd->priority = _priority;
sd->set_priority(_priority);
/*
* Clear the flag that indicates that an update has been reported, as
* we have just collected it.
*/
sd->update_reported = false;
sd->set_update_reported(false);
unlock();
@ -306,19 +309,45 @@ uORB::DeviceNode::ioctl(device::file_t *filp, int cmd, unsigned long arg)
unlock();
return PX4_OK;
case ORBIOCSETINTERVAL:
lock();
sd->update_interval = arg;
sd->last_update = hrt_absolute_time();
unlock();
return PX4_OK;
case ORBIOCSETINTERVAL: {
int ret = PX4_OK;
lock();
if (arg == 0) {
if (sd->update_interval) {
delete(sd->update_interval);
sd->update_interval = nullptr;
}
} else {
if (sd->update_interval) {
sd->update_interval->interval = arg;
sd->update_interval->last_update = hrt_absolute_time();
} else {
sd->update_interval = new UpdateIntervalData();
if (sd->update_interval) {
memset(&sd->update_interval->update_call, 0, sizeof(hrt_call));
sd->update_interval->interval = arg;
sd->update_interval->last_update = hrt_absolute_time();
} else {
ret = -ENOMEM;
}
}
}
unlock();
return ret;
}
case ORBIOCGADVERTISER:
*(uintptr_t *)arg = (uintptr_t)this;
return PX4_OK;
case ORBIOCGPRIORITY:
*(int *)arg = sd->priority;
*(int *)arg = sd->priority();
return PX4_OK;
case ORBIOCSETQUEUESIZE:
@ -327,7 +356,13 @@ uORB::DeviceNode::ioctl(device::file_t *filp, int cmd, unsigned long arg)
return update_queue_size(arg);
case ORBIOCGETINTERVAL:
*(unsigned *)arg = sd->update_interval;
if (sd->update_interval) {
*(unsigned *)arg = sd->update_interval->interval;
} else {
*(unsigned *)arg = 0;
}
return OK;
default:
@ -466,7 +501,7 @@ uORB::DeviceNode::appears_updated(SubscriberData *sd)
/*
* Handle non-rate-limited subscribers.
*/
if (sd->update_interval == 0) {
if (sd->update_interval == nullptr) {
ret = true;
break;
}
@ -478,22 +513,22 @@ uORB::DeviceNode::appears_updated(SubscriberData *sd)
* behaviour where checking / polling continues to report an update
* until the topic is read.
*/
if (sd->update_reported) {
if (sd->update_reported()) {
ret = true;
break;
}
// If we have not yet reached the deadline, then assume that we can ignore any
// newly received data.
if (sd->last_update + sd->update_interval > hrt_absolute_time()) {
if (sd->update_interval->last_update + sd->update_interval->interval > hrt_absolute_time()) {
break;
}
/*
* Remember that we have told the subscriber that there is data.
*/
sd->update_reported = true;
sd->last_update = hrt_absolute_time();
sd->set_update_reported(true);
sd->update_interval->last_update = hrt_absolute_time();
ret = true;
break;

20
src/modules/uORB/uORBDevices_posix.hpp
View File

@ -120,13 +120,23 @@ protected:
virtual void poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events);
private:
struct SubscriberData {
unsigned generation; /**< last generation the subscriber has seen */
unsigned update_interval; /**< if nonzero minimum interval between updates */
struct UpdateIntervalData {
unsigned interval; /**< if nonzero minimum interval between updates */
uint64_t last_update; /**< time at which the last update was provided, used when update_interval is nonzero */
struct hrt_call update_call; /**< deferred wakeup call if update_period is nonzero */
bool update_reported; /**< true if we have reported the update via poll/check */
int priority; /**< priority of publisher */
};
struct SubscriberData {
~SubscriberData() { if (update_interval) { delete(update_interval); } }
unsigned generation; /**< last generation the subscriber has seen */
int flags; /**< lowest 8 bits: priority of publisher, 9. bit: update_reported bit */
UpdateIntervalData *update_interval; /**< if null, no update interval */
int priority() const { return flags & 0xff; }
void set_priority(uint8_t prio) { flags = (flags & ~0xff) | prio; }
bool update_reported() const { return flags & (1 << 8); }
void set_update_reported(bool update_reported_flag) { flags = (flags & ~(1 << 8)) | (((int)update_reported_flag) << 8); }
};
const struct orb_metadata *_meta; /**< object metadata information */