uORB::Publication improvements and cleanup (#14784)

- create common uORB::PublicationBase
 - uORB::PublicationQueued types are now type aliases
 - ORB_PRIO use enum type everywhere to avoid accidental misuse
 - PX4Accelerometer/PX4Gyroscope/etc driver libs explicitly advertise on construction, unadvertise on destruction. This is a workaround for any potential issues that might appear when accel/gyro cdev and uORB indexing doesn't align.

src/modules/uORB/CMakeLists.txt

@@ -43,8 +43,6 @@ if(NOT "${PX4_BOARD}" MATCHES "px4_io") # TODO: fix this hack (move uORB to plat
 			ORBSet.hpp
 			Publication.hpp
 			PublicationMulti.hpp
-			PublicationQueued.hpp
-			PublicationQueuedMulti.hpp
 			Subscription.cpp
 			Subscription.hpp
 			SubscriptionCallback.hpp

src/modules/uORB/Publication.hpp

@@ -40,16 +40,47 @@
 
 #include <px4_platform_common/defines.h>
 #include <systemlib/err.h>
+
 #include <uORB/uORB.h>
+#include "uORBDeviceNode.hpp"
+#include <uORB/topics/uORBTopics.hpp>
 
 namespace uORB
 {
 
+class PublicationBase
+{
+public:
+
+	bool advertised() const { return _handle != nullptr; }
+
+	bool unadvertise() { return (DeviceNode::unadvertise(_handle) == PX4_OK); }
+
+	orb_id_t get_topic() const { return get_orb_meta(_orb_id); }
+
+protected:
+
+	PublicationBase(ORB_ID id) : _orb_id(id) {}
+
+	~PublicationBase()
+	{
+		if (_handle != nullptr) {
+			// don't automatically unadvertise queued publications (eg vehicle_command)
+			if (static_cast<DeviceNode *>(_handle)->get_queue_size() == 1) {
+				unadvertise();
+			}
+		}
+	}
+
+	orb_advert_t _handle{nullptr};
+	const ORB_ID _orb_id;
+};
+
 /**
- * Base publication wrapper class
+ * uORB publication wrapper class
  */
-template<typename T>
-class Publication
+template<typename T, uint8_t ORB_QSIZE = 1>
+class Publication : public PublicationBase
 {
 public:
 
@@ -58,8 +89,17 @@ public:
 	 *
 	 * @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
 	 */
-	Publication(const orb_metadata *meta) : _meta(meta) {}
-	~Publication() { orb_unadvertise(_handle); }
+	Publication(ORB_ID id) : PublicationBase(id) {}
+	Publication(const orb_metadata *meta) : PublicationBase(static_cast<ORB_ID>(meta->o_id)) {}
+
+	bool advertise()
+	{
+		if (!advertised()) {
+			_handle = orb_advertise_queue(get_topic(), nullptr, ORB_QSIZE);
+		}
+
+		return advertised();
+	}
 
 	/**
 	 * Publish the struct
@@ -67,25 +107,12 @@ public:
 	 */
 	bool publish(const T &data)
 	{
-		if (_handle != nullptr) {
-			return (orb_publish(_meta, _handle, &data) == PX4_OK);
-
-		} else {
-			orb_advert_t handle = orb_advertise(_meta, &data);
-
-			if (handle != nullptr) {
-				_handle = handle;
-				return true;
-			}
+		if (!advertised()) {
+			advertise();
 		}
 
-		return false;
+		return (DeviceNode::publish(get_topic(), _handle, &data) == PX4_OK);
 	}
-
-protected:
-	const orb_metadata *_meta;
-
-	orb_advert_t _handle{nullptr};
 };
 
 /**
@@ -100,8 +127,8 @@ public:
 	 *
 	 * @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
 	 */
+	PublicationData(ORB_ID id) : Publication<T>(id) {}
 	PublicationData(const orb_metadata *meta) : Publication<T>(meta) {}
-	~PublicationData() = default;
 
 	T	&get() { return _data; }
 	void	set(const T &data) { _data = data; }
@@ -118,4 +145,10 @@ private:
 	T _data{};
 };
 
+
+template<class T>
+using PublicationQueued = Publication<T, T::ORB_QUEUE_LENGTH>;
+
+
+
 } // namespace uORB

src/modules/uORB/PublicationMulti.hpp

@@ -42,14 +42,16 @@
 #include <systemlib/err.h>
 #include <uORB/uORB.h>
 
+#include "Publication.hpp"
+
 namespace uORB
 {
 
 /**
  * Base publication multi wrapper class
  */
-template<typename T>
-class PublicationMulti
+template<typename T, uint8_t QSIZE = 1>
+class PublicationMulti : public PublicationBase
 {
 public:
 
@@ -59,12 +61,25 @@ public:
 	 * @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
 	 * @param priority The priority for multi pub/sub, 0 means don't publish as multi
 	 */
-	PublicationMulti(const orb_metadata *meta, uint8_t priority = ORB_PRIO_DEFAULT) :
-		_meta(meta),
+	PublicationMulti(ORB_ID id, ORB_PRIO priority = ORB_PRIO_DEFAULT) :
+		PublicationBase(id),
 		_priority(priority)
 	{}
 
-	~PublicationMulti() { orb_unadvertise(_handle); }
+	PublicationMulti(const orb_metadata *meta, ORB_PRIO priority = ORB_PRIO_DEFAULT) :
+		PublicationBase(static_cast<ORB_ID>(meta->o_id)),
+		_priority(priority)
+	{}
+
+	bool advertise()
+	{
+		if (!advertised()) {
+			int instance = 0;
+			_handle = orb_advertise_multi_queue(get_topic(), nullptr, &instance, _priority, QSIZE);
+		}
+
+		return advertised();
+	}
 
 	/**
 	 * Publish the struct
@@ -72,28 +87,15 @@ public:
 	 */
 	bool publish(const T &data)
 	{
-		if (_handle != nullptr) {
-			return (orb_publish(_meta, _handle, &data) == PX4_OK);
-
-		} else {
-			int instance = 0;
-			orb_advert_t handle = orb_advertise_multi(_meta, &data, &instance, _priority);
-
-			if (handle != nullptr) {
-				_handle = handle;
-				return true;
-			}
+		if (!advertised()) {
+			advertise();
 		}
 
-		return false;
+		return (orb_publish(get_topic(), _handle, &data) == PX4_OK);
 	}
 
 protected:
-	const orb_metadata *_meta;
-
-	orb_advert_t _handle{nullptr};
-
-	const uint8_t _priority;
+	const ORB_PRIO _priority;
 };
 
 /**
@@ -109,12 +111,13 @@ public:
 	 * @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
 	 * @param priority The priority for multi pub
 	 */
-	PublicationMultiData(const orb_metadata *meta, uint8_t priority = ORB_PRIO_DEFAULT) :
+	PublicationMultiData(ORB_ID id, ORB_PRIO priority = ORB_PRIO_DEFAULT) :
+		PublicationMulti<T>(id, priority)
+	{}
+	PublicationMultiData(const orb_metadata *meta, ORB_PRIO priority = ORB_PRIO_DEFAULT) :
 		PublicationMulti<T>(meta, priority)
 	{}
 
-	~PublicationMultiData() = default;
-
 	T	&get() { return _data; }
 	void	set(const T &data) { _data = data; }
 
@@ -130,4 +133,8 @@ private:
 	T _data{};
 };
 
+
+template<class T>
+using PublicationQueuedMulti = PublicationMulti<T, T::ORB_QUEUE_LENGTH>;
+
 } // namespace uORB

src/modules/uORB/PublicationQueued.hpp

@@ -1,94 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file PublicationQueued.hpp
- *
- */
-
-#pragma once
-
-#include <px4_platform_common/defines.h>
-#include <systemlib/err.h>
-#include <uORB/uORB.h>
-
-namespace uORB
-{
-
-/**
- * Queued publication with queue length set as a message constant (ORB_QUEUE_LENGTH)
- */
-template<typename T>
-class PublicationQueued
-{
-public:
-
-	/**
-	 * Constructor
-	 *
-	 * @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
-	 */
-	PublicationQueued(const orb_metadata *meta) : _meta(meta) {}
-	~PublicationQueued()
-	{
-		//orb_unadvertise(_handle);
-	}
-
-	/**
-	 * Publish the struct
-	 * @param data The uORB message struct we are updating.
-	 */
-	bool publish(const T &data)
-	{
-		if (_handle != nullptr) {
-			return (orb_publish(_meta, _handle, &data) == PX4_OK);
-
-		} else {
-			orb_advert_t handle = orb_advertise_queue(_meta, &data, T::ORB_QUEUE_LENGTH);
-
-			if (handle != nullptr) {
-				_handle = handle;
-				return true;
-			}
-		}
-
-		return false;
-	}
-
-protected:
-	const orb_metadata *_meta;
-
-	orb_advert_t _handle{nullptr};
-};
-
-} // namespace uORB

src/modules/uORB/PublicationQueuedMulti.hpp

@@ -1,101 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file PublicationQueuedMulti.hpp
- *
- */
-
-#pragma once
-
-#include <px4_platform_common/defines.h>
-#include <systemlib/err.h>
-#include <uORB/uORB.h>
-
-namespace uORB
-{
-
-/**
- * Queued publication with queue length set as a message constant (ORB_QUEUE_LENGTH)
- */
-template<typename T>
-class PublicationQueuedMulti
-{
-public:
-
-	/**
-	 * Constructor
-	 *
-	 * @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
-	 */
-	PublicationQueuedMulti(const orb_metadata *meta, uint8_t priority = ORB_PRIO_DEFAULT) :
-		_meta(meta),
-		_priority(priority)
-	{}
-
-	~PublicationQueuedMulti()
-	{
-		//orb_unadvertise(_handle);
-	}
-
-	/**
-	 * Publish the struct
-	 * @param data The uORB message struct we are updating.
-	 */
-	bool publish(const T &data)
-	{
-		if (_handle != nullptr) {
-			return (orb_publish(_meta, _handle, &data) == PX4_OK);
-
-		} else {
-			int instance = 0;
-			orb_advert_t handle = orb_advertise_multi_queue(_meta, &data, &instance, _priority, T::ORB_QUEUE_LENGTH);
-
-			if (handle != nullptr) {
-				_handle = handle;
-				return true;
-			}
-		}
-
-		return false;
-	}
-
-protected:
-	const orb_metadata *_meta;
-
-	orb_advert_t _handle{nullptr};
-
-	const uint8_t _priority;
-};
-
-} // namespace uORB

src/modules/uORB/uORB.cpp

@@ -50,14 +50,13 @@ orb_advert_t orb_advertise_queue(const struct orb_metadata *meta, const void *da
 	return uORB::Manager::get_instance()->orb_advertise(meta, data, queue_size);
 }
 
-orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
-				 int priority)
+orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance, ORB_PRIO priority)
 {
 	return uORB::Manager::get_instance()->orb_advertise_multi(meta, data, instance, priority);
 }
 
 orb_advert_t orb_advertise_multi_queue(const struct orb_metadata *meta, const void *data, int *instance,
-				       int priority, unsigned int queue_size)
+				       ORB_PRIO priority, unsigned int queue_size)
 {
 	return uORB::Manager::get_instance()->orb_advertise_multi(meta, data, instance, priority, queue_size);
 }
@@ -113,7 +112,7 @@ int  orb_group_count(const struct orb_metadata *meta)
 	return instance;
 }
 
-int  orb_priority(int handle, int32_t *priority)
+int  orb_priority(int handle, enum ORB_PRIO *priority)
 {
 	return uORB::Manager::get_instance()->orb_priority(handle, priority);
 }

src/modules/uORB/uORB.h

@@ -152,13 +152,13 @@ extern orb_advert_t orb_advertise_queue(const struct orb_metadata *meta, const v
  * @see uORB::Manager::orb_advertise_multi()
  */
 extern orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
-					int priority) __EXPORT;
+					enum ORB_PRIO priority) __EXPORT;
 
 /**
  * @see uORB::Manager::orb_advertise_multi()
  */
 extern orb_advert_t orb_advertise_multi_queue(const struct orb_metadata *meta, const void *data, int *instance,
-		int priority, unsigned int queue_size) __EXPORT;
+		enum ORB_PRIO priority, unsigned int queue_size) __EXPORT;
 
 /**
  * @see uORB::Manager::orb_unadvertise()
@@ -179,8 +179,7 @@ extern int	orb_publish(const struct orb_metadata *meta, orb_advert_t handle, con
  * @see uORB::Manager::orb_advertise_multi() for meaning of the individual parameters
  */
 static inline int orb_publish_auto(const struct orb_metadata *meta, orb_advert_t *handle, const void *data,
-				   int *instance,
-				   int priority)
+				   int *instance, enum ORB_PRIO priority)
 {
 	if (!*handle) {
 		*handle = orb_advertise_multi(meta, data, instance, priority);
@@ -237,7 +236,7 @@ extern int	orb_group_count(const struct orb_metadata *meta) __EXPORT;
 /**
  * @see uORB::Manager::orb_priority()
  */
-extern int	orb_priority(int handle, int32_t *priority) __EXPORT;
+extern int	orb_priority(int handle, enum ORB_PRIO *priority) __EXPORT;
 
 /**
  * @see uORB::Manager::orb_set_interval()

src/modules/uORB/uORBCommon.hpp

@@ -47,7 +47,7 @@ static constexpr unsigned orb_maxpath = 64;
 struct orb_advertdata {
 	const struct orb_metadata *meta;
 	int *instance;
-	int priority;
+	ORB_PRIO priority;
 };
 
 }

src/modules/uORB/uORBDeviceMaster.cpp

@@ -58,8 +58,7 @@ uORB::DeviceMaster::~DeviceMaster()
 	px4_sem_destroy(&_lock);
 }
 
-int
-uORB::DeviceMaster::advertise(const struct orb_metadata *meta, bool is_advertiser, int *instance, int priority)
+int uORB::DeviceMaster::advertise(const struct orb_metadata *meta, bool is_advertiser, int *instance, ORB_PRIO priority)
 {
 	int ret = PX4_ERROR;
 

src/modules/uORB/uORBDeviceMaster.hpp

@@ -65,7 +65,7 @@ class uORB::DeviceMaster
 {
 public:
 
-	int advertise(const struct orb_metadata *meta, bool is_advertiser, int *instance, int priority);
+	int advertise(const struct orb_metadata *meta, bool is_advertiser, int *instance, ORB_PRIO priority);
 
 	/**
 	 * Public interface for getDeviceNodeLocked(). Takes care of synchronization.

src/modules/uORB/uORBDeviceNode.cpp

@@ -55,11 +55,11 @@ uORB::DeviceNode::SubscriberData *uORB::DeviceNode::filp_to_sd(cdev::file_t *fil
 }
 
 uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path,
-			     uint8_t priority, uint8_t queue_size) :
+			     ORB_PRIO priority, uint8_t queue_size) :
 	CDev(path),
 	_meta(meta),
-	_instance(instance),
 	_priority(priority),
+	_instance(instance),
 	_queue_size(queue_size)
 {
 }
@@ -432,7 +432,7 @@ int uORB::DeviceNode::unadvertise(orb_advert_t handle)
 }
 
 #ifdef ORB_COMMUNICATOR
-int16_t uORB::DeviceNode::topic_advertised(const orb_metadata *meta, int priority)
+int16_t uORB::DeviceNode::topic_advertised(const orb_metadata *meta, ORB_PRIO priority)
 {
 	uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
 
@@ -445,7 +445,7 @@ int16_t uORB::DeviceNode::topic_advertised(const orb_metadata *meta, int priorit
 
 /*
 //TODO: Check if we need this since we only unadvertise when things all shutdown and it doesn't actually remove the device
-int16_t uORB::DeviceNode::topic_unadvertised(const orb_metadata *meta, int priority)
+int16_t uORB::DeviceNode::topic_unadvertised(const orb_metadata *meta, ORB_PRIO priority)
 {
 	uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
 	if (ch != nullptr && meta != nullptr) {

src/modules/uORB/uORBDeviceNode.hpp

@@ -55,7 +55,7 @@ class SubscriptionCallback;
 class uORB::DeviceNode : public cdev::CDev, public ListNode<uORB::DeviceNode *>
 {
 public:
-	DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path, uint8_t priority,
+	DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path, ORB_PRIO priority,
 		   uint8_t queue_size = 1);
 	virtual ~DeviceNode();
 
@@ -116,8 +116,8 @@ public:
 	static int        unadvertise(orb_advert_t handle);
 
 #ifdef ORB_COMMUNICATOR
-	static int16_t topic_advertised(const orb_metadata *meta, int priority);
-	//static int16_t topic_unadvertised(const orb_metadata *meta, int priority);
+	static int16_t topic_advertised(const orb_metadata *meta, ORB_PRIO priority);
+	//static int16_t topic_unadvertised(const orb_metadata *meta, ORB_PRIO priority);
 
 	/**
 	 * processes a request for add subscription from remote
@@ -263,8 +263,8 @@ private:
 	uint32_t _lost_messages = 0; /**< nr of lost messages for all subscribers. If two subscribers lose the same
 					message, it is counted as two. */
 
+	ORB_PRIO _priority;  /**< priority of the topic */
 	const uint8_t _instance; /**< orb multi instance identifier */
-	uint8_t _priority;  /**< priority of the topic */
 	bool _advertised{false};  /**< has ever been advertised (not necessarily published data yet) */
 	uint8_t _queue_size; /**< maximum number of elements in the queue */
 	int8_t _subscriber_count{0};

src/modules/uORB/uORBManager.cpp

@@ -168,7 +168,7 @@ int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
 }
 
 orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
-		int priority, unsigned int queue_size)
+		ORB_PRIO priority, unsigned int queue_size)
 {
 #ifdef ORB_USE_PUBLISHER_RULES
 
@@ -227,12 +227,14 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta,
 	uORB::DeviceNode::topic_advertised(meta, priority);
 #endif /* ORB_COMMUNICATOR */
 
-	/* the advertiser must perform an initial publish to initialise the object */
-	result = orb_publish(meta, advertiser, data);
+	/* the advertiser may perform an initial publish to initialise the object */
+	if (data != nullptr) {
+		result = orb_publish(meta, advertiser, data);
 
-	if (result == PX4_ERROR) {
-		PX4_WARN("orb_publish failed");
-		return nullptr;
+		if (result == PX4_ERROR) {
+			PX4_ERR("orb_publish failed %s", meta->o_name);
+			return nullptr;
+		}
 	}
 
 	return advertiser;
@@ -305,7 +307,7 @@ int uORB::Manager::orb_check(int handle, bool *updated)
 	return px4_ioctl(handle, ORBIOCUPDATED, (unsigned long)(uintptr_t)updated);
 }
 
-int uORB::Manager::orb_priority(int handle, int32_t *priority)
+int uORB::Manager::orb_priority(int handle, enum ORB_PRIO *priority)
 {
 	return px4_ioctl(handle, ORBIOCGPRIORITY, (unsigned long)(uintptr_t)priority);
 }
@@ -322,23 +324,7 @@ int uORB::Manager::orb_get_interval(int handle, unsigned *interval)
 	return ret;
 }
 
-int uORB::Manager::node_advertise(const struct orb_metadata *meta, bool is_advertiser, int *instance, int priority)
-{
-	int ret = PX4_ERROR;
-
-	if (get_device_master()) {
-		ret = _device_master->advertise(meta, is_advertiser, instance, priority);
-	}
-
-	/* it's PX4_OK if it already exists */
-	if ((PX4_OK != ret) && (EEXIST == errno)) {
-		ret = PX4_OK;
-	}
-
-	return ret;
-}
-
-int uORB::Manager::node_open(const struct orb_metadata *meta, bool advertiser, int *instance, int priority)
+int uORB::Manager::node_open(const struct orb_metadata *meta, bool advertiser, int *instance, ORB_PRIO priority)
 {
 	char path[orb_maxpath];
 	int fd = -1;
@@ -376,36 +362,32 @@ int uORB::Manager::node_open(const struct orb_metadata *meta, bool advertiser, i
 	/* we may need to advertise the node... */
 	if (fd < 0) {
 
-		/* try to create the node */
-		ret = node_advertise(meta, advertiser, instance, priority);
+		ret = PX4_ERROR;
+
+		if (get_device_master()) {
+			ret = _device_master->advertise(meta, advertiser, instance, priority);
+		}
+
+		/* it's OK if it already exists */
+		if ((ret != PX4_OK) && (EEXIST == errno)) {
+			ret = PX4_OK;
+		}
 
 		if (ret == PX4_OK) {
-			/* update the path, as it might have been updated during the node_advertise call */
+			/* update the path, as it might have been updated during the node advertise call */
 			ret = uORB::Utils::node_mkpath(path, meta, instance);
 
-			if (ret != PX4_OK) {
+			/* on success, try to open again */
+			if (ret == PX4_OK) {
+				fd = px4_open(path, (advertiser) ? PX4_F_WRONLY : PX4_F_RDONLY);
+
+			} else {
 				errno = -ret;
 				return PX4_ERROR;
 			}
 		}
-
-		/* on success, try to open again */
-		if (ret == PX4_OK) {
-			fd = px4_open(path, (advertiser) ? PX4_F_WRONLY : PX4_F_RDONLY);
-		}
 	}
 
-	/*
-	 else if (advertiser) {
-		 * We have a valid fd and are an advertiser.
-		 * This can happen if the topic is already subscribed/published, and orb_advertise() is called,
-		 * where instance==nullptr.
-		 * We would need to set the priority here (via px4_ioctl(fd, ...) and a new IOCTL), but orb_advertise()
-		 * uses ORB_PRIO_DEFAULT, and a subscriber also creates the node with ORB_PRIO_DEFAULT. So we don't need
-		 * to do anything here.
-	 }
-	 */
-
 	if (fd < 0) {
 		errno = EIO;
 		return PX4_ERROR;

src/modules/uORB/uORBManager.hpp

@@ -161,8 +161,8 @@ public:
 	 *      ORB_DEFINE with no corresponding ORB_DECLARE)
 	 *      this function will return -1 and set errno to ENOENT.
 	 */
-	orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
-					 int priority, unsigned int queue_size = 1);
+	orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance, ORB_PRIO priority,
+					 unsigned int queue_size = 1);
 
 	/**
 	 * Unadvertise a topic.
@@ -318,7 +318,7 @@ public:
 	 *      independent of the startup order of the associated publishers.
 	 * @return    OK on success, PX4_ERROR otherwise with errno set accordingly.
 	 */
-	int  orb_priority(int handle, int32_t *priority);
+	int  orb_priority(int handle, enum ORB_PRIO *priority);
 
 	/**
 	 * Set the minimum interval between which updates are seen for a subscription.
@@ -376,12 +376,6 @@ public:
 #endif /* ORB_COMMUNICATOR */
 
 private: // class methods
-	/**
-	 * Advertise a node; don't consider it an error if the node has
-	 * already been advertised.
-	 */
-	int node_advertise(const struct orb_metadata *meta, bool is_advertiser, int *instance = nullptr,
-			   int priority = ORB_PRIO_DEFAULT);
 
 	/**
 	 * Common implementation for orb_advertise and orb_subscribe.
@@ -390,7 +384,7 @@ private: // class methods
 	 * advertisers.
 	 */
 	int node_open(const struct orb_metadata *meta, bool advertiser, int *instance = nullptr,
-		      int priority = ORB_PRIO_DEFAULT);
+		      ORB_PRIO priority = ORB_PRIO_DEFAULT);
 
 private: // data members
 	static Manager *_Instance;

src/modules/uORB/uORB_tests/uORBTest_UnitTest.cpp

@@ -386,7 +386,7 @@ int uORBTest::UnitTest::test_multi()
 	}
 
 	/* test priorities */
-	int prio;
+	ORB_PRIO prio;
 
 	if (PX4_OK != orb_priority(sfd0, &prio)) {
 		return test_fail("prio #0");