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uORB: make queue size (ORB_QUEUE_LENGTH) completely static (#22815)

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Previously uORB queue size was an awkward mix of runtime configurable (at advertise or IOCTL before allocate), but effectively static with all queue size settings (outside of test code) actually coming from the topic declaration (presently ORB_QUEUE_LENGTH in the .msg). This change finally resolves the inconsistency making the queue size fully static.

Additionally there were some corner cases that the muorb and orb communicator implementation were not correctly handling. This PR provides fixes for those issues. Also correctly sets remote queue lengths now based on the topic definitions.

* Made setting of uORB topic queue size in based on topic definition only
* Fixes to the ModalAI muorb implementation
* Removed libfc sensor from format checks
* msg/TransponderReport.msg ORB_QUEUE_LENGTH 8->16 (was set to higher in AdsbConflict.h

---------

Co-authored-by: Eric Katzfey <eric.katzfey@modalai.com>
Co-authored-by: Daniel Agar <daniel@agar.ca>
This commit is contained in:
Eric Katzfey
2024-03-08 16:28:24 -05:00
committed by GitHub
co-authored by Eric Katzfey Daniel Agar
parent 006dcfafb7
commit 57df7e35b2
28 changed files with 108 additions and 228 deletions
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platforms/common/uORB/uORB.cpp
+8 -11
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@@ -118,22 +118,11 @@ orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data)
return uORB::Manager::get_instance()->orb_advertise(meta, data);
}
orb_advert_t orb_advertise_queue(const struct orb_metadata *meta, const void *data, unsigned int queue_size)
{
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)
{
return uORB::Manager::get_instance()->orb_advertise_multi(meta, data, instance);
}
orb_advert_t orb_advertise_multi_queue(const struct orb_metadata *meta, const void *data, int *instance,
unsigned int queue_size)
{
return uORB::Manager::get_instance()->orb_advertise_multi(meta, data, instance, queue_size);
}
int orb_unadvertise(orb_advert_t handle)
{
return uORB::Manager::get_instance()->orb_unadvertise(handle);
@@ -227,6 +216,14 @@ const char *orb_get_c_type(unsigned char short_type)
return nullptr;
}
uint8_t orb_get_queue_size(const struct orb_metadata *meta)
{
if (meta) {
return meta->o_queue;
}
return 0;
}
void orb_print_message_internal(const orb_metadata *meta, const void *data, bool print_topic_name)
{