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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 13:28:24 -08:00
committed by GitHub
parent 006dcfafb7
commit 57df7e35b2
28 changed files with 108 additions and 228 deletions
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platforms/common/uORB/uORBDeviceNode.cpp
+5 -55
View File
@@ -48,37 +48,10 @@
static uORB::SubscriptionInterval *filp_to_subscription(cdev::file_t *filp) { return static_cast<uORB::SubscriptionInterval *>(filp->f_priv); }
// round up to nearest power of two
// Such as 0 => 1, 1 => 1, 2 => 2 ,3 => 4, 10 => 16, 60 => 64, 65...255 => 128
// Note: When the input value > 128, the output is always 128
static inline uint8_t round_pow_of_two_8(uint8_t n)
{
if (n == 0) {
return 1;
}
// Avoid is already a power of 2
uint8_t value = n - 1;
// Fill 1
value |= value >> 1U;
value |= value >> 2U;
value |= value >> 4U;
// Unable to round-up, take the value of round-down
if (value == UINT8_MAX) {
value >>= 1U;
}
return value + 1;
}
uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path,
uint8_t queue_size) :
uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path) :
CDev(strdup(path)), // success is checked in CDev::init
_meta(meta),
_instance(instance),
_queue_size(round_pow_of_two_8(queue_size))
_instance(instance)
{
}
@@ -186,7 +159,7 @@ uORB::DeviceNode::write(cdev::file_t *filp, const char *buffer, size_t buflen)
/* re-check size */
if (nullptr == _data) {
const size_t data_size = _meta->o_size * _queue_size;
const size_t data_size = _meta->o_size * _meta->o_queue;
_data = (uint8_t *) px4_cache_aligned_alloc(data_size);
if (_data) {
@@ -217,7 +190,7 @@ uORB::DeviceNode::write(cdev::file_t *filp, const char *buffer, size_t buflen)
/* wrap-around happens after ~49 days, assuming a publisher rate of 1 kHz */
unsigned generation = _generation.fetch_add(1);
memcpy(_data + (_meta->o_size * (generation % _queue_size)), buffer, _meta->o_size);
memcpy(_data + (_meta->o_size * (generation % _meta->o_queue)), buffer, _meta->o_size);
// callbacks
for (auto item : _callbacks) {
@@ -254,13 +227,6 @@ uORB::DeviceNode::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
*(uintptr_t *)arg = (uintptr_t)this;
return PX4_OK;
case ORBIOCSETQUEUESIZE: {
lock();
int ret = update_queue_size(arg);
unlock();
return ret;
}
case ORBIOCGETINTERVAL:
*(unsigned *)arg = filp_to_subscription(filp)->get_interval_us();
return PX4_OK;
@@ -389,12 +355,11 @@ uORB::DeviceNode::print_statistics(int max_topic_length)
const uint8_t instance = get_instance();
const int8_t sub_count = subscriber_count();
const uint8_t queue_size = get_queue_size();
unlock();
PX4_INFO_RAW("%-*s %2i %4i %2i %4i %s\n", max_topic_length, get_meta()->o_name, (int)instance, (int)sub_count,
queue_size, get_meta()->o_size, get_devname());
get_meta()->o_queue, get_meta()->o_size, get_devname());
return true;
}
@@ -483,21 +448,6 @@ int16_t uORB::DeviceNode::process_received_message(int32_t length, uint8_t *data
}
#endif /* CONFIG_ORB_COMMUNICATOR */
int uORB::DeviceNode::update_queue_size(unsigned int queue_size)
{
if (_queue_size == queue_size) {
return PX4_OK;
}
//queue size is limited to 255 for the single reason that we use uint8 to store it
if (_data || _queue_size > queue_size || queue_size > 255) {
return PX4_ERROR;
}
_queue_size = round_pow_of_two_8(queue_size);
return PX4_OK;
}
unsigned uORB::DeviceNode::get_initial_generation()
{
ATOMIC_ENTER;