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Merged in alessiomorale/librepilot/amorale/LP-207_callback_optimizations (pull request #149)

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Amorale/lp 207_callback_optimizations
This commit is contained in:
Alessio Morale 2016-02-19 20:20:25 +01:00
commit 9b45435928
4 changed files with 173 additions and 115 deletions
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86
flight/uavobjects/inc/uavobject.h.template
View File

@ -1,20 +1,20 @@
/**
******************************************************************************
* @addtogroup UAVObjects OpenPilot UAVObjects
* @{
* @addtogroup $(NAME) $(NAME)
* @{
* @addtogroup $(NAME) $(NAME)
* @brief $(DESCRIPTION)
*
* Autogenerated files and functions for $(NAME) Object
*
* @{
* @{
*
* @file $(NAMELC).h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2013.
* @brief Implementation of the $(NAME) object. This file has been
* @brief Implementation of the $(NAME) object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: $(XMLFILE).
*
* @note Object definition file: $(XMLFILE).
* This is an automatically generated file.
* DO NOT modify manually.
*
@ -39,7 +39,7 @@
#ifndef $(NAMEUC)_H
#define $(NAMEUC)_H
#include <stdbool.h>
/* Object constants */
#define $(NAMEUC)_OBJID $(OBJIDHEX)
#define $(NAMEUC)_ISSINGLEINST $(ISSINGLEINST)
@ -61,7 +61,8 @@ $(DATASTRUCTURES)
* (eg a single instance on the heap)
*/
typedef struct {
$(DATAFIELDS)} __attribute__((packed)) $(NAME)DataPacked;
$(DATAFIELDS)
} __attribute__((packed)) $(NAME)DataPacked;
/*
* Packed Object data.
@ -69,24 +70,59 @@ $(DATAFIELDS)} __attribute__((packed)) $(NAME)DataPacked;
* on Cortex M4F during load/store of float UAVO fields
*/
typedef $(NAME)DataPacked __attribute__((aligned(4))) $(NAME)Data;
/* Typesafe Object access functions */
static inline int32_t $(NAME)Get($(NAME)Data *dataOut) { return UAVObjGetData($(NAME)Handle(), dataOut); }
static inline int32_t $(NAME)Set(const $(NAME)Data *dataIn) { return UAVObjSetData($(NAME)Handle(), dataIn); }
static inline int32_t $(NAME)InstGet(uint16_t instId, $(NAME)Data *dataOut) { return UAVObjGetInstanceData($(NAME)Handle(), instId, dataOut); }
static inline int32_t $(NAME)InstSet(uint16_t instId, const $(NAME)Data *dataIn) { return UAVObjSetInstanceData($(NAME)Handle(), instId, dataIn); }
static inline int32_t $(NAME)ConnectQueue(xQueueHandle queue) { return UAVObjConnectQueue($(NAME)Handle(), queue, EV_MASK_ALL_UPDATES); }
static inline int32_t $(NAME)ConnectCallback(UAVObjEventCallback cb) { return UAVObjConnectCallback($(NAME)Handle(), cb, EV_MASK_ALL_UPDATES); }
static inline uint16_t $(NAME)CreateInstance() { return UAVObjCreateInstance($(NAME)Handle(), &$(NAME)SetDefaults); }
static inline void $(NAME)RequestUpdate() { UAVObjRequestUpdate($(NAME)Handle()); }
static inline void $(NAME)RequestInstUpdate(uint16_t instId) { UAVObjRequestInstanceUpdate($(NAME)Handle(), instId); }
static inline void $(NAME)Updated() { UAVObjUpdated($(NAME)Handle()); }
static inline void $(NAME)InstUpdated(uint16_t instId) { UAVObjInstanceUpdated($(NAME)Handle(), instId); }
static inline void $(NAME)Logging() { UAVObjLogging($(NAME)Handle()); }
static inline void $(NAME)InstLogging(uint16_t instId) { UAVObjInstanceLogging($(NAME)Handle(), instId); }
static inline int32_t $(NAME)GetMetadata(UAVObjMetadata *dataOut) { return UAVObjGetMetadata($(NAME)Handle(), dataOut); }
static inline int32_t $(NAME)SetMetadata(const UAVObjMetadata *dataIn) { return UAVObjSetMetadata($(NAME)Handle(), dataIn); }
static inline int8_t $(NAME)ReadOnly() { return UAVObjReadOnly($(NAME)Handle()); }
static inline int32_t $(NAME)Get($(NAME)Data * dataOut) {
return UAVObjGetData($(NAME)Handle(), dataOut);
}
static inline int32_t $(NAME)Set(const $(NAME)Data * dataIn) {
return UAVObjSetData($(NAME)Handle(), dataIn);
}
static inline int32_t $(NAME)InstGet(uint16_t instId, $(NAME)Data * dataOut) {
return UAVObjGetInstanceData($(NAME)Handle(), instId, dataOut);
}
static inline int32_t $(NAME)InstSet(uint16_t instId, const $(NAME)Data * dataIn) {
return UAVObjSetInstanceData($(NAME)Handle(), instId, dataIn);
}
static inline int32_t $(NAME)ConnectQueue(xQueueHandle queue) {
return UAVObjConnectQueue($(NAME)Handle(), queue, EV_MASK_ALL_UPDATES);
}
static inline int32_t $(NAME)ConnectCallback(UAVObjEventCallback cb) {
return UAVObjConnectCallback($(NAME)Handle(), cb, EV_MASK_ALL_UPDATES, false);
}
static inline int32_t $(NAME)ConnectFastCallback(UAVObjEventCallback cb) {
return UAVObjConnectCallback($(NAME)Handle(), cb, EV_MASK_ALL_UPDATES, true);
}
static inline uint16_t $(NAME)CreateInstance() {
return UAVObjCreateInstance($(NAME)Handle(), &$(NAME)SetDefaults);
}
static inline void $(NAME)RequestUpdate() {
UAVObjRequestUpdate($(NAME)Handle());
}
static inline void $(NAME)RequestInstUpdate(uint16_t instId) {
UAVObjRequestInstanceUpdate($(NAME)Handle(), instId);
}
static inline void $(NAME)Updated() {
UAVObjUpdated($(NAME)Handle());
}
static inline void $(NAME)InstUpdated(uint16_t instId) {
UAVObjInstanceUpdated($(NAME)Handle(), instId);
}
static inline void $(NAME)Logging() {
UAVObjLogging($(NAME)Handle());
}
static inline void $(NAME)InstLogging(uint16_t instId) {
UAVObjInstanceLogging($(NAME)Handle(), instId);
}
static inline int32_t $(NAME)GetMetadata(UAVObjMetadata * dataOut) {
return UAVObjGetMetadata($(NAME)Handle(), dataOut);
}
static inline int32_t $(NAME)SetMetadata(const UAVObjMetadata * dataIn) {
return UAVObjSetMetadata($(NAME)Handle(), dataIn);
}
static inline int8_t $(NAME)ReadOnly() {
return UAVObjReadOnly($(NAME)Handle());
}
/* Set/Get functions */
$(SETGETFIELDSEXTERN)

2
flight/uavobjects/inc/uavobjectmanager.h
View File

@ -236,7 +236,7 @@ void UAVObjSetLoggingUpdateMode(UAVObjMetadata *dataOut, UAVObjUpdateMode val);
int8_t UAVObjReadOnly(UAVObjHandle obj);
int32_t UAVObjConnectQueue(UAVObjHandle obj_handle, xQueueHandle queue, uint8_t eventMask);
int32_t UAVObjDisconnectQueue(UAVObjHandle obj_handle, xQueueHandle queue);
int32_t UAVObjConnectCallback(UAVObjHandle obj_handle, UAVObjEventCallback cb, uint8_t eventMask);
int32_t UAVObjConnectCallback(UAVObjHandle obj_handle, UAVObjEventCallback cb, uint8_t eventMask, bool fast);
int32_t UAVObjDisconnectCallback(UAVObjHandle obj_handle, UAVObjEventCallback cb);
void UAVObjRequestUpdate(UAVObjHandle obj);
void UAVObjRequestInstanceUpdate(UAVObjHandle obj_handle, uint16_t instId);

1
flight/uavobjects/inc/uavobjectprivate.h
View File

@ -73,6 +73,7 @@ struct ObjectEventEntry {
xQueueHandle queue;
UAVObjEventCallback cb;
uint8_t eventMask;
bool fast;
};
/*

199
flight/uavobjects/uavobjectmanager.c
View File

@ -37,7 +37,7 @@
// Private functions
static InstanceHandle createInstance(struct UAVOData *obj, uint16_t instId);
static int32_t connectObj(UAVObjHandle obj_handle, xQueueHandle queue, UAVObjEventCallback cb, uint8_t eventMask);
static int32_t connectObj(UAVObjHandle obj_handle, xQueueHandle queue, UAVObjEventCallback cb, uint8_t eventMask, bool fast);
static int32_t disconnectObj(UAVObjHandle obj_handle, xQueueHandle queue, UAVObjEventCallback cb);
static void instanceAutoUpdated(UAVObjHandle obj_handle, uint16_t instId);
@ -67,6 +67,84 @@ static const UAVObjMetadata defMetadata = {
static UAVObjStats stats;
static inline bool IsMetaobject(UAVObjHandle obj_handle)
{
/* Recover the common object header */
struct UAVOBase *uavo_base = (struct UAVOBase *)obj_handle;
return uavo_base->flags.isMeta;
}
static inline bool IsSingleInstance(UAVObjHandle obj_handle)
{
/* Recover the common object header */
struct UAVOBase *uavo_base = (struct UAVOBase *)obj_handle;
return uavo_base->flags.isSingle;
}
static inline bool IsSettings(UAVObjHandle obj_handle)
{
/* Recover the common object header */
struct UAVOBase *uavo_base = (struct UAVOBase *)obj_handle;
return uavo_base->flags.isSettings;
}
static inline bool IsPriority(UAVObjHandle obj_handle)
{
/* Recover the common object header */
struct UAVOBase *uavo_base = (struct UAVOBase *)obj_handle;
return uavo_base->flags.isPriority;
}
/**
* Is this a metaobject?
* \param[in] obj The object handle
* \return True (1) if this is metaobject
*/
bool UAVObjIsMetaobject(UAVObjHandle obj_handle)
{
PIOS_Assert(obj_handle);
return IsMetaobject(obj_handle);
}
/**
* Does this object contains a single instance or multiple instances?
* \param[in] obj The object handle
* \return True (1) if this is a single instance object
*/
bool UAVObjIsSingleInstance(UAVObjHandle obj_handle)
{
PIOS_Assert(obj_handle);
return IsSingleInstance(obj_handle);
}
/**
* Is this a settings object?
* \param[in] obj The object handle
* \return True (1) if this is a settings object
*/
bool UAVObjIsSettings(UAVObjHandle obj_handle)
{
PIOS_Assert(obj_handle);
return IsSettings(obj_handle);
}
/**
* Is this a prioritized object?
* \param[in] obj The object handle
* \return True (1) if this is a prioritized object
*/
bool UAVObjIsPriority(UAVObjHandle obj_handle)
{
return IsPriority(obj_handle);
}
/**
* Initialize the object manager
* \return 0 Success
@ -309,7 +387,7 @@ uint32_t UAVObjGetID(UAVObjHandle obj_handle)
/* Recover the common object header */
struct UAVOBase *uavo_base = (struct UAVOBase *)obj_handle;
if (UAVObjIsMetaobject(obj_handle)) {
if (IsMetaobject(obj_handle)) {
/* We have a meta object, find our containing UAVO */
struct UAVOData *uavo_data = container_of((struct UAVOMeta *)uavo_base, struct UAVOData, metaObj);
@ -362,7 +440,7 @@ UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj_handle)
/* Recover the common object header */
struct UAVOBase *uavo_base = (struct UAVOBase *)obj_handle;
if (UAVObjIsMetaobject(obj_handle)) {
if (IsMetaobject(obj_handle)) {
/* We have a meta object, find our containing UAVO. */
struct UAVOData *uavo_data = container_of((struct UAVOMeta *)uavo_base, struct UAVOData, metaObj);
@ -384,7 +462,7 @@ uint16_t UAVObjGetNumInstances(UAVObjHandle obj_handle)
{
PIOS_Assert(obj_handle);
if (UAVObjIsSingleInstance(obj_handle)) {
if (IsSingleInstance(obj_handle)) {
/* Only one instance is allowed */
return 1;
} else {
@ -405,7 +483,7 @@ uint16_t UAVObjCreateInstance(UAVObjHandle obj_handle,
{
PIOS_Assert(obj_handle);
if (UAVObjIsMetaobject(obj_handle)) {
if (IsMetaobject(obj_handle)) {
return 0;
}
@ -433,67 +511,6 @@ unlock_exit:
return instId;
}
/**
* Does this object contains a single instance or multiple instances?
* \param[in] obj The object handle
* \return True (1) if this is a single instance object
*/
bool UAVObjIsSingleInstance(UAVObjHandle obj_handle)
{
PIOS_Assert(obj_handle);
/* Recover the common object header */
struct UAVOBase *uavo_base = (struct UAVOBase *)obj_handle;
return uavo_base->flags.isSingle;
}
/**
* Is this a metaobject?
* \param[in] obj The object handle
* \return True (1) if this is metaobject
*/
bool UAVObjIsMetaobject(UAVObjHandle obj_handle)
{
PIOS_Assert(obj_handle);
/* Recover the common object header */
struct UAVOBase *uavo_base = (struct UAVOBase *)obj_handle;
return uavo_base->flags.isMeta;
}
/**
* Is this a settings object?
* \param[in] obj The object handle
* \return True (1) if this is a settings object
*/
bool UAVObjIsSettings(UAVObjHandle obj_handle)
{
PIOS_Assert(obj_handle);
/* Recover the common object header */
struct UAVOBase *uavo_base = (struct UAVOBase *)obj_handle;
return uavo_base->flags.isSettings;
}
/**
* Is this a prioritized object?
* \param[in] obj The object handle
* \return True (1) if this is a prioritized object
*/
bool UAVObjIsPriority(UAVObjHandle obj_handle)
{
PIOS_Assert(obj_handle);
/* Recover the common object header */
struct UAVOBase *uavo_base = (struct UAVOBase *)obj_handle;
return uavo_base->flags.isPriority;
}
/**
* Unpack an object from a byte array
* \param[in] obj The object handle
@ -510,7 +527,7 @@ int32_t UAVObjUnpack(UAVObjHandle obj_handle, uint16_t instId, const uint8_t *da
int32_t rc = -1;
if (UAVObjIsMetaobject(obj_handle)) {
if (IsMetaobject(obj_handle)) {
if (instId != 0) {
goto unlock_exit;
}
@ -561,7 +578,7 @@ int32_t UAVObjPack(UAVObjHandle obj_handle, uint16_t instId, uint8_t *dataOut)
int32_t rc = -1;
if (UAVObjIsMetaobject(obj_handle)) {
if (IsMetaobject(obj_handle)) {
if (instId != 0) {
goto unlock_exit;
}
@ -603,7 +620,7 @@ uint8_t UAVObjUpdateCRC(UAVObjHandle obj_handle, uint16_t instId, uint8_t crc)
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
if (UAVObjIsMetaobject(obj_handle)) {
if (IsMetaobject(obj_handle)) {
if (instId != 0) {
goto unlock_exit;
}
@ -642,7 +659,7 @@ void UAVObjInstanceWriteToLog(UAVObjHandle obj_handle, uint16_t instId)
// Lock
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
if (UAVObjIsMetaobject(obj_handle)) {
if (IsMetaobject(obj_handle)) {
if (instId != 0) {
goto unlock_exit;
}
@ -683,7 +700,7 @@ int32_t UAVObjSaveSettings()
// Save all settings objects
UAVO_LIST_ITERATE(obj)
// Check if this is a settings object
if (UAVObjIsSettings(obj)) {
if (IsSettings(obj)) {
// Save object
if (UAVObjSave((UAVObjHandle)obj, 0) ==
-1) {
@ -713,7 +730,7 @@ int32_t UAVObjLoadSettings()
// Load all settings objects
UAVO_LIST_ITERATE(obj)
// Check if this is a settings object
if (UAVObjIsSettings(obj)) {
if (IsSettings(obj)) {
// Load object
if (UAVObjLoad((UAVObjHandle)obj, 0) ==
-1) {
@ -743,7 +760,7 @@ int32_t UAVObjDeleteSettings()
// Save all settings objects
UAVO_LIST_ITERATE(obj)
// Check if this is a settings object
if (UAVObjIsSettings(obj)) {
if (IsSettings(obj)) {
// Save object
if (UAVObjDelete((UAVObjHandle)obj, 0)
== -1) {
@ -901,7 +918,7 @@ int32_t UAVObjSetInstanceData(UAVObjHandle obj_handle, uint16_t instId,
int32_t rc = -1;
if (UAVObjIsMetaobject(obj_handle)) {
if (IsMetaobject(obj_handle)) {
if (instId != 0) {
goto unlock_exit;
}
@ -951,7 +968,7 @@ int32_t UAVObjSetInstanceDataField(UAVObjHandle obj_handle, uint16_t instId, con
int32_t rc = -1;
if (UAVObjIsMetaobject(obj_handle)) {
if (IsMetaobject(obj_handle)) {
// Get instance information
if (instId != 0) {
goto unlock_exit;
@ -1018,7 +1035,7 @@ int32_t UAVObjGetInstanceData(UAVObjHandle obj_handle, uint16_t instId,
int32_t rc = -1;
if (UAVObjIsMetaobject(obj_handle)) {
if (IsMetaobject(obj_handle)) {
// Get instance information
if (instId != 0) {
goto unlock_exit;
@ -1064,7 +1081,7 @@ int32_t UAVObjGetInstanceDataField(UAVObjHandle obj_handle, uint16_t instId, voi
int32_t rc = -1;
if (UAVObjIsMetaobject(obj_handle)) {
if (IsMetaobject(obj_handle)) {
// Get instance information
if (instId != 0) {
goto unlock_exit;
@ -1117,7 +1134,7 @@ int32_t UAVObjSetMetadata(UAVObjHandle obj_handle, const UAVObjMetadata *dataIn)
PIOS_Assert(obj_handle);
// Set metadata (metadata of metaobjects can not be modified)
if (UAVObjIsMetaobject(obj_handle)) {
if (IsMetaobject(obj_handle)) {
return -1;
}
@ -1143,7 +1160,7 @@ int32_t UAVObjGetMetadata(UAVObjHandle obj_handle, UAVObjMetadata *dataOut)
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
// Get metadata
if (UAVObjIsMetaobject(obj_handle)) {
if (IsMetaobject(obj_handle)) {
memcpy(dataOut, &defMetadata, sizeof(UAVObjMetadata));
} else {
UAVObjGetData((UAVObjHandle)MetaObjectPtr((struct UAVOData *)obj_handle),
@ -1325,7 +1342,7 @@ void UAVObjSetLoggingUpdateMode(UAVObjMetadata *metadata, UAVObjUpdateMode val)
int8_t UAVObjReadOnly(UAVObjHandle obj_handle)
{
PIOS_Assert(obj_handle);
if (!UAVObjIsMetaobject(obj_handle)) {
if (!IsMetaobject(obj_handle)) {
return UAVObjGetAccess(LinkedMetaDataPtr((struct UAVOData *)obj_handle)) == ACCESS_READONLY;
}
return -1;
@ -1346,7 +1363,7 @@ int32_t UAVObjConnectQueue(UAVObjHandle obj_handle, xQueueHandle queue,
PIOS_Assert(queue);
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = connectObj(obj_handle, queue, 0, eventMask);
res = connectObj(obj_handle, queue, 0, eventMask, false);
xSemaphoreGiveRecursive(mutex);
return res;
}
@ -1377,12 +1394,12 @@ int32_t UAVObjDisconnectQueue(UAVObjHandle obj_handle, xQueueHandle queue)
* \return 0 if success or -1 if failure
*/
int32_t UAVObjConnectCallback(UAVObjHandle obj_handle, UAVObjEventCallback cb,
uint8_t eventMask)
uint8_t eventMask, bool fast)
{
PIOS_Assert(obj_handle);
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
res = connectObj(obj_handle, 0, cb, eventMask);
res = connectObj(obj_handle, 0, cb, eventMask, fast);
xSemaphoreGiveRecursive(mutex);
return res;
}
@ -1535,8 +1552,10 @@ int32_t sendEvent(struct UAVOBase *obj, uint16_t instId, UAVObjEventType trigger
// Invoke callback (from event task) if a valid one is registered
if (event->cb) {
// invoke callback from the event task, will not block
if (EventCallbackDispatch(&msg, event->cb) != pdTRUE) {
if (event->fast) {
event->cb(&msg);
} else if (EventCallbackDispatch(&msg, event->cb) != pdTRUE) {
// invoke callback from the event task, will not block
++stats.eventCallbackErrors;
stats.lastCallbackErrorID = UAVObjGetID(obj);
}
@ -1555,7 +1574,7 @@ static InstanceHandle createInstance(struct UAVOData *obj, uint16_t instId)
struct UAVOMultiInst *instEntry;
/* Don't allow more than one instance for single instance objects */
if (UAVObjIsSingleInstance(&(obj->base))) {
if (IsSingleInstance(&(obj->base))) {
PIOS_Assert(0);
return NULL;
}
@ -1600,7 +1619,7 @@ static InstanceHandle createInstance(struct UAVOData *obj, uint16_t instId)
*/
InstanceHandle getInstance(struct UAVOData *obj, uint16_t instId)
{
if (UAVObjIsMetaobject(&obj->base)) {
if (IsMetaobject(&obj->base)) {
/* Metadata Instance */
if (instId != 0) {
@ -1610,7 +1629,7 @@ InstanceHandle getInstance(struct UAVOData *obj, uint16_t instId)
/* Augment our pointer to reflect the proper type */
struct UAVOMeta *uavo_meta = (struct UAVOMeta *)obj;
return &(uavo_meta->instance0);
} else if (UAVObjIsSingleInstance(&(obj->base))) {
} else if (IsSingleInstance(&(obj->base))) {
/* Single Instance */
if (instId != 0) {
@ -1651,7 +1670,7 @@ InstanceHandle getInstance(struct UAVOData *obj, uint16_t instId)
* \return 0 if success or -1 if failure
*/
static int32_t connectObj(UAVObjHandle obj_handle, xQueueHandle queue,
UAVObjEventCallback cb, uint8_t eventMask)
UAVObjEventCallback cb, uint8_t eventMask, bool fast)
{
struct ObjectEventEntry *event;
struct UAVOBase *obj;
@ -1662,6 +1681,7 @@ static int32_t connectObj(UAVObjHandle obj_handle, xQueueHandle queue,
if (event->queue == queue && event->cb == cb) {
// Already connected, update event mask and return
event->eventMask = eventMask;
event->fast = fast;
return 0;
}
}
@ -1674,6 +1694,7 @@ static int32_t connectObj(UAVObjHandle obj_handle, xQueueHandle queue,
event->queue = queue;
event->cb = cb;
event->eventMask = eventMask;
event->fast = fast;
LL_APPEND(obj->next_event, event);
// Done