Qurt uORB communicator fixes (#20705)

- there was an issue sending a message from slpi to apps. Seems the code was stuck in an loop and crashed when the message was sent from slpi to apps

platforms/common/uORB/uORBManager.hpp

@@ -481,11 +481,6 @@ public:
 	 */
 	uORBCommunicator::IChannel *get_uorb_communicator();
 
-	/**
-	 * Utility method to check if there is a remote subscriber present
-	 * for a given topic
-	 */
-	bool is_remote_subscriber_present(const char *messageName);
 #endif /* CONFIG_ORB_COMMUNICATOR */
 
 private: // class methods
@@ -506,7 +501,7 @@ private: // data members
 	uORBCommunicator::IChannel *_comm_channel{nullptr};
 	static pthread_mutex_t _communicator_mutex;
 
-	ORBSet _remote_subscriber_topics;
+	// Track the advertisements we get from the remote side
 	ORBSet _remote_topics;
 #endif /* CONFIG_ORB_COMMUNICATOR */
 
@@ -518,32 +513,28 @@ private: //class methods
 
 #ifdef CONFIG_ORB_COMMUNICATOR
 	/**
-	 * Interface to process a received topic from remote.
+	 * Interface to process a received topic advertisement from remote.
 	 * @param topic_name
 	 * 	This represents the uORB message Name (topic); This message Name should be
 	 * 	globally unique.
-	 * @param isAdvertisement
-	 * 	Represents if the topic has been advertised or is no longer avialable.
 	 * @return
 	 *  0 = success; This means the messages is successfully handled in the
 	 *  	handler.
 	 *  otherwise = failure.
 	 */
-	virtual int16_t process_remote_topic(const char *topic_name, bool isAdvertisement);
+	virtual int16_t process_remote_topic(const char *topic_name);
 
 	/**
 	   * Interface to process a received AddSubscription from remote.
 	   * @param messageName
 	   *  This represents the uORB message Name; This message Name should be
 	   *  globally unique.
-	   * @param msgRate
-	   *  The max rate at which the subscriber can accept the messages.
 	   * @return
 	   *  0 = success; This means the messages is successfully handled in the
 	   *    handler.
 	   *  otherwise = failure.
 	   */
-	virtual int16_t process_add_subscription(const char *messageName, int32_t msgRateInHz);
+	virtual int16_t process_add_subscription(const char *messageName);
 
 	/**
 	 * Interface to process a received control msg to remove subscription