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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/uORBManager.hpp
+3 -8
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@@ -215,17 +215,15 @@ public:
* @param data A pointer to the initial data to be published.
* For topics updated by interrupt handlers, the advertisement
* must be performed from non-interrupt context.
* @param queue_size Maximum number of buffered elements. If this is 1, no queuing is
* used.
* @return nullptr on error, otherwise returns an object pointer
* that can be used to publish to the topic.
* If the topic in question is not known (due to an
* ORB_DEFINE with no corresponding ORB_DECLARE)
* this function will return nullptr and set errno to ENOENT.
*/
orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data, unsigned int queue_size = 1)
orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data = nullptr)
{
return orb_advertise_multi(meta, data, nullptr, queue_size);
return orb_advertise_multi(meta, data, nullptr);
}
/**
@@ -250,16 +248,13 @@ public:
* @param instance Pointer to an integer which will yield the instance ID (0-based)
* of the publication. This is an output parameter and will be set to the newly
* created instance, ie. 0 for the first advertiser, 1 for the next and so on.
* @param queue_size Maximum number of buffered elements. If this is 1, no queuing is
* used.
* @return nullptr on error, otherwise returns a handle
* that can be used to publish to the topic.
* If the topic in question is not known (due to an
* ORB_DEFINE with no corresponding ORB_DECLARE)
* this function will return nullptr and set errno to ENOENT.
*/
orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
unsigned int queue_size = 1);
orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance);
/**
* Unadvertise a topic.