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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/uORB_tests/uORBTest_UnitTest.cpp
+6 -6
View File
@@ -574,8 +574,8 @@ int uORBTest::UnitTest::test_wrap_around()
bool updated{false};
// Advertise but not publish topics, only generate device_node, which is convenient for modifying DeviceNode::_generation
const int queue_size = 16;
ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_wrap_around), nullptr, queue_size);
const int queue_size = orb_get_queue_size(ORB_ID(orb_test_medium_wrap_around));
ptopic = orb_advertise(ORB_ID(orb_test_medium_wrap_around), nullptr);
if (ptopic == nullptr) {
return test_fail("advertise failed: %d", errno);
@@ -828,9 +828,9 @@ int uORBTest::UnitTest::test_queue()
return test_fail("subscribe failed: %d", errno);
}
const int queue_size = 16;
const int queue_size = orb_get_queue_size(ORB_ID(orb_test_medium_queue));
orb_test_medium_s t{};
ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_queue), &t, queue_size);
ptopic = orb_advertise(ORB_ID(orb_test_medium_queue), &t);
if (ptopic == nullptr) {
return test_fail("advertise failed: %d", errno);
@@ -935,9 +935,9 @@ int uORBTest::UnitTest::pub_test_queue_main()
{
orb_test_medium_s t{};
orb_advert_t ptopic{nullptr};
const int queue_size = 50;
const int queue_size = orb_get_queue_size(ORB_ID(orb_test_medium_queue_poll));
if ((ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_queue_poll), &t, queue_size)) == nullptr) {
if ((ptopic = orb_advertise(ORB_ID(orb_test_medium_queue_poll), &t)) == nullptr) {
_thread_should_exit = true;
return test_fail("advertise failed: %d", errno);
}