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

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>

src/drivers/camera_trigger/camera_trigger.cpp

@@ -314,7 +314,7 @@ CameraTrigger::CameraTrigger() :
 	// Advertise critical publishers here, because we cannot advertise in interrupt context
 	camera_trigger_s trigger{};
 
-	_trigger_pub = orb_advertise_queue(ORB_ID(camera_trigger), &trigger, camera_trigger_s::ORB_QUEUE_LENGTH);
+	_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger);
 }
 
 CameraTrigger::~CameraTrigger()

src/drivers/drv_orb_dev.h

@@ -64,13 +64,10 @@
 /** Get the priority for the topic */
 #define ORBIOCGPRIORITY		_ORBIOC(14)
 
-/** Set the queue size of the topic */
-#define ORBIOCSETQUEUESIZE	_ORBIOC(15)
-
 /** Get the minimum interval at which the topic can be seen to be updated for this subscription */
-#define ORBIOCGETINTERVAL	_ORBIOC(16)
+#define ORBIOCGETINTERVAL	_ORBIOC(15)
 
 /** Check whether the topic is advertised, sets *(unsigned long *)arg to 1 if advertised, 0 otherwise */
-#define ORBIOCISADVERTISED	_ORBIOC(17)
+#define ORBIOCISADVERTISED	_ORBIOC(16)
 
 #endif /* _DRV_UORB_H */

src/drivers/tone_alarm/ToneAlarm.cpp

@@ -45,8 +45,6 @@ using namespace time_literals;
 ToneAlarm::ToneAlarm() :
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
 {
-	// ensure ORB_ID(tune_control) is advertised with correct queue depth
-	orb_advertise_queue(ORB_ID(tune_control), nullptr, tune_control_s::ORB_QUEUE_LENGTH);
 }
 
 ToneAlarm::~ToneAlarm()

src/lib/adsb/AdsbConflict.h

@@ -151,7 +151,7 @@ private:
 
 	transponder_report_s tr{};
 
-	orb_advert_t fake_traffic_report_publisher = orb_advertise_queue(ORB_ID(transponder_report), &tr, (unsigned int)20);
+	orb_advert_t fake_traffic_report_publisher = orb_advertise(ORB_ID(transponder_report), &tr);
 
 	TRAFFIC_STATE _traffic_state_previous{TRAFFIC_STATE::NO_CONFLICT};
 

src/lib/events/events.cpp

@@ -61,7 +61,7 @@ void send(EventType &event)
 		orb_publish(ORB_ID(event), orb_event_pub, &event);
 
 	} else {
-		orb_event_pub = orb_advertise_queue(ORB_ID(event), &event, event_s::ORB_QUEUE_LENGTH);
+		orb_event_pub = orb_advertise(ORB_ID(event), &event);
 	}
 
 	pthread_mutex_unlock(&publish_event_mutex);

src/lib/systemlib/mavlink_log.cpp

@@ -73,6 +73,6 @@ __EXPORT void mavlink_vasprintf(int severity, orb_advert_t *mavlink_log_pub, con
 		orb_publish(ORB_ID(mavlink_log), *mavlink_log_pub, &log_msg);
 
 	} else {
-		*mavlink_log_pub = orb_advertise_queue(ORB_ID(mavlink_log), &log_msg, mavlink_log_s::ORB_QUEUE_LENGTH);
+		*mavlink_log_pub = orb_advertise(ORB_ID(mavlink_log), &log_msg);
 	}
 }

src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecksTest.cpp

@@ -55,7 +55,7 @@ public:
 	void SetUp() override
 	{
 		// ensure topic exists, otherwise we might lose first queued events
-		orb_advertise_queue(ORB_ID(event), nullptr, event_s::ORB_QUEUE_LENGTH);
+		orb_advertise(ORB_ID(event), nullptr);
 	}
 
 };

src/modules/commander/commander_helper.cpp

@@ -153,7 +153,7 @@ int buzzer_init()
 	tune_durations[tune_control_s::TUNE_ID_BATTERY_WARNING_SLOW] = 800000;
 	tune_durations[tune_control_s::TUNE_ID_SINGLE_BEEP] = 300000;
 
-	tune_control_pub = orb_advertise_queue(ORB_ID(tune_control), &tune_control, tune_control_s::ORB_QUEUE_LENGTH);
+	tune_control_pub = orb_advertise(ORB_ID(tune_control), &tune_control);
 
 	return PX4_OK;
 }
@@ -330,7 +330,7 @@ int led_init()
 	led_control.mode = led_control_s::MODE_OFF;
 	led_control.priority = 0;
 	led_control.timestamp = hrt_absolute_time();
-	led_control_pub = orb_advertise_queue(ORB_ID(led_control), &led_control, led_control_s::ORB_QUEUE_LENGTH);
+	led_control_pub = orb_advertise(ORB_ID(led_control), &led_control);
 
 	/* first open normal LEDs */
 	fd_leds = px4_open(LED0_DEVICE_PATH, O_RDWR);

src/modules/mavlink/mavlink_main.cpp

@@ -124,13 +124,13 @@ Mavlink::Mavlink() :
 
 	// ensure topic exists, otherwise we might lose first queued commands
 	if (orb_exists(ORB_ID(vehicle_command), 0) == PX4_ERROR) {
-		orb_advertise_queue(ORB_ID(vehicle_command), nullptr, vehicle_command_s::ORB_QUEUE_LENGTH);
+		orb_advertise(ORB_ID(vehicle_command), nullptr);
 	}
 
 	_vehicle_command_sub.subscribe();
 
 	if (orb_exists(ORB_ID(event), 0) == PX4_ERROR) {
-		orb_advertise_queue(ORB_ID(event), nullptr, event_s::ORB_QUEUE_LENGTH);
+		orb_advertise(ORB_ID(event), nullptr);
 	}
 
 	_event_sub.subscribe();

src/modules/uxrce_dds_client/dds_topics.h.em

@@ -168,7 +168,7 @@ bool RcvTopicsPubs::init(uxrSession *session, uxrStreamId reliable_out_stream_id
 {
 @[    for idx, sub in enumerate(subscriptions + subscriptions_multi)]@
 	{
-			uint16_t queue_depth = uORB::DefaultQueueSize<@(sub['simple_base_type'])_s>::value * 2; // use a bit larger queue size than internal
+			uint16_t queue_depth = orb_get_queue_size(ORB_ID(@(sub['simple_base_type']))) * 2; // use a bit larger queue size than internal
 			create_data_reader(session, reliable_out_stream_id, best_effort_in_stream_id, participant_id, @(idx), client_namespace, "@(sub['topic_simple'])", "@(sub['dds_type'])", queue_depth);
 	}
 @[    end for]@

src/modules/uxrce_dds_client/vehicle_command_srv.cpp

@@ -39,8 +39,7 @@ VehicleCommandSrv::VehicleCommandSrv(uxrSession *session, uxrStreamId reliable_o
 				     uxrStreamId input_stream_id, uxrObjectId participant_id, const char *client_namespace, const uint8_t index) :
 	SrvBase(session, reliable_out_stream_id, input_stream_id, participant_id)
 {
-	uint16_t queue_depth = uORB::DefaultQueueSize<vehicle_command_s>::value *
-			       2; // use a bit larger queue size than internal
+	uint16_t queue_depth = orb_get_queue_size(ORB_ID(vehicle_command)) * 2; // use a bit larger queue size than internal
 	create_replier(input_stream_id, participant_id, index, client_namespace, "vehicle_command", "VehicleCommand",
 		       queue_depth);
 };

src/modules/zenoh/subscribers/uorb_subscriber.hpp

@@ -55,7 +55,7 @@ public:
 		_cdr_ops(ops)
 	{
 		int instance = 0;
-		_uorb_pub_handle = orb_advertise_multi_queue(_uorb_meta, nullptr, &instance, 1); //FIXME template magic qsize
+		_uorb_pub_handle = orb_advertise_multi(_uorb_meta, nullptr, &instance);
 	};
 
 	~uORB_Zenoh_Subscriber() override = default;