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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.h
+18 -20
View File
@@ -53,6 +53,8 @@ struct orb_metadata {
const uint16_t o_size_no_padding; /**< object size w/o padding at the end (for logger) */
uint32_t message_hash; /**< Hash over all fields for message compatibility checks */
orb_id_size_t o_id; /**< ORB_ID enum */
uint8_t o_queue; /**< queue size */
};
typedef const struct orb_metadata *orb_id_t;
@@ -102,14 +104,16 @@ typedef const struct orb_metadata *orb_id_t;
* @param _size_no_padding Struct size w/o padding at the end
* @param _message_hash 32 bit message hash over all fields
* @param _orb_id_enum ORB ID enum e.g.: ORB_ID::vehicle_status
* @param _queue_size Queue size from topic definition
*/
#define ORB_DEFINE(_name, _struct, _size_no_padding, _message_hash, _orb_id_enum) \
const struct orb_metadata __orb_##_name = { \
#_name, \
sizeof(_struct), \
_size_no_padding, \
_message_hash, \
_orb_id_enum \
#define ORB_DEFINE(_name, _struct, _size_no_padding, _message_hash, _orb_id_enum, _queue_size) \
const struct orb_metadata __orb_##_name = { \
#_name, \
sizeof(_struct), \
_size_no_padding, \
_message_hash, \
_orb_id_enum, \
_queue_size \
}; struct hack
__BEGIN_DECLS
@@ -135,23 +139,11 @@ typedef void *orb_advert_t;
*/
extern orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data) __EXPORT;
/**
* @see uORB::Manager::orb_advertise()
*/
extern orb_advert_t orb_advertise_queue(const struct orb_metadata *meta, const void *data,
unsigned int queue_size) __EXPORT;
/**
* @see uORB::Manager::orb_advertise_multi()
*/
extern orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance) __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,
unsigned int queue_size) __EXPORT;
/**
* @see uORB::Manager::orb_unadvertise()
*/
@@ -160,7 +152,7 @@ extern int orb_unadvertise(orb_advert_t handle) __EXPORT;
/**
* @see uORB::Manager::orb_publish()
*/
extern int orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data) __EXPORT;
extern int orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data) __EXPORT;
/**
* Advertise as the publisher of a topic.
@@ -241,6 +233,12 @@ extern int orb_get_interval(int handle, unsigned *interval) __EXPORT;
*/
const char *orb_get_c_type(unsigned char short_type);
/**
* Returns the queue size of a topic
* @param meta orb topic metadata
*/
extern uint8_t orb_get_queue_size(const struct orb_metadata *meta);
/**
* Print a topic to console. Do not call this directly, use print_message() instead.
* @param meta orb topic metadata