From dd67766f6c11e4aaa6008959fe8f8bee95ff34ef Mon Sep 17 00:00:00 2001
From: Eric Katzfey <eric.katzfey@modalai.com>
Date: Fri, 1 Mar 2024 14:18:52 -0800
Subject: [PATCH] Made setting of queue size in orb node based on topic
 definition

---
 platforms/common/uORB/uORB.cpp        |  4 ++--
 platforms/common/uORB/uORB.h          | 15 +--------------
 platforms/common/uORB/uORBManager.cpp |  1 -
 3 files changed, 3 insertions(+), 17 deletions(-)

diff --git a/platforms/common/uORB/uORB.cpp b/platforms/common/uORB/uORB.cpp
index c91ac6bcce..cb56f6111c 100644
--- a/platforms/common/uORB/uORB.cpp
+++ b/platforms/common/uORB/uORB.cpp
@@ -115,7 +115,7 @@ int uorb_top(char **topic_filter, int num_filters)
 
 orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data)
 {
-	return uORB::Manager::get_instance()->orb_advertise(meta, data);
+	return uORB::Manager::get_instance()->orb_advertise(meta, data, meta->o_queue);
 }
 
 orb_advert_t orb_advertise_queue(const struct orb_metadata *meta, const void *data, unsigned int queue_size)
@@ -125,7 +125,7 @@ orb_advert_t orb_advertise_queue(const struct orb_metadata *meta, const void *da
 
 orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance)
 {
-	return uORB::Manager::get_instance()->orb_advertise_multi(meta, data, instance);
+	return uORB::Manager::get_instance()->orb_advertise_multi(meta, data, instance, meta->o_queue);
 }
 
 orb_advert_t orb_advertise_multi_queue(const struct orb_metadata *meta, const void *data, int *instance,
diff --git a/platforms/common/uORB/uORB.h b/platforms/common/uORB/uORB.h
index 90c401337d..7fc0ae86ff 100644
--- a/platforms/common/uORB/uORB.h
+++ b/platforms/common/uORB/uORB.h
@@ -53,9 +53,7 @@ struct orb_metadata {
 	const uint16_t o_size_no_padding;   /**< object size w/o padding at the end (for logger) */
 	uint32_t message_hash;	/**< Hash over all fields for message compatibility checks */
 	orb_id_size_t  o_id;                /**< ORB_ID enum */
-#ifdef CONFIG_ORB_COMMUNICATOR
 	uint8_t o_queue;					/**< queue size */
-#endif
 
 };
 
@@ -106,9 +104,8 @@ typedef const struct orb_metadata *orb_id_t;
  * @param _size_no_padding	Struct size w/o padding at the end
  * @param _message_hash	32 bit message hash over all fields
  * @param _orb_id_enum	ORB ID enum e.g.: ORB_ID::vehicle_status
- * @param _queue_size Queue size for remote topics in communicator interface
+ * @param _queue_size Queue size from topic definition
  */
-#ifdef CONFIG_ORB_COMMUNICATOR
 #define ORB_DEFINE(_name, _struct, _size_no_padding, _message_hash, _orb_id_enum, _queue_size)               \
 	const struct orb_metadata __orb_##_name = {     \
 		#_name,                                 \
@@ -118,16 +115,6 @@ typedef const struct orb_metadata *orb_id_t;
 		_orb_id_enum,                           \
 		_queue_size                             \
 	}; struct hack
-#else
-#define ORB_DEFINE(_name, _struct, _size_no_padding, _message_hash, _orb_id_enum, _queue_size)               \
-	const struct orb_metadata __orb_##_name = {	\
-		#_name,					\
-		sizeof(_struct),		\
-		_size_no_padding,			\
-		_message_hash,				\
-		_orb_id_enum				\
-	}; struct hack
-#endif
 
 __BEGIN_DECLS
 
diff --git a/platforms/common/uORB/uORBManager.cpp b/platforms/common/uORB/uORBManager.cpp
index c9ff7670ae..f0b5b2d457 100644
--- a/platforms/common/uORB/uORBManager.cpp
+++ b/platforms/common/uORB/uORBManager.cpp
@@ -630,7 +630,6 @@ int16_t uORB::Manager::process_remote_topic(const char *topic_name)
 
 			if (node) {
 				PX4_DEBUG("Marking DeviceNode(%s) as advertised in process_remote_topic", topic_name);
-				node->update_queue_size(topic_ptr->o_queue);
 				node->mark_as_advertised();
 				_remote_topics.insert(topic_name);
 				return 0;