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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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63
platforms/common/uORB/uORBManager.cpp
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@@ -265,8 +265,7 @@ int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
return ret;
}
orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
unsigned int queue_size)
orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance)
{
#ifdef ORB_USE_PUBLISHER_RULES
@@ -300,19 +299,10 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta,
return nullptr;
}
/* Set the queue size. This must be done before the first publication; thus it fails if
* this is not the first advertiser.
*/
int result = px4_ioctl(fd, ORBIOCSETQUEUESIZE, (unsigned long)queue_size);
if (result < 0 && queue_size > 1) {
PX4_WARN("orb_advertise_multi: failed to set queue size");
}
/* get the advertiser handle and close the node */
orb_advert_t advertiser;
result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
int result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
px4_close(fd);
if (result == PX4_ERROR) {
@@ -602,6 +592,22 @@ int16_t uORB::Manager::process_remote_topic(const char *topic_name)
{
PX4_DEBUG("entering process_remote_topic: name: %s", topic_name);
// First make sure this is a valid topic
const struct orb_metadata *const *topic_list = orb_get_topics();
orb_id_t topic_ptr = nullptr;
for (size_t i = 0; i < orb_topics_count(); i++) {
if (strcmp(topic_list[i]->o_name, topic_name) == 0) {
topic_ptr = topic_list[i];
break;
}
}
if (! topic_ptr) {
PX4_ERR("process_remote_topic meta not found for %s\n", topic_name);
return -1;
}
// Look to see if we already have a node for this topic
char nodepath[orb_maxpath];
int ret = uORB::Utils::node_mkpath(nodepath, topic_name);
@@ -613,7 +619,7 @@ int16_t uORB::Manager::process_remote_topic(const char *topic_name)
uORB::DeviceNode *node = device_master->getDeviceNode(nodepath);
if (node) {
PX4_INFO("Marking DeviceNode(%s) as advertised in process_remote_topic", topic_name);
PX4_DEBUG("Marking DeviceNode(%s) as advertised in process_remote_topic", topic_name);
node->mark_as_advertised();
_remote_topics.insert(topic_name);
return 0;
@@ -622,27 +628,9 @@ int16_t uORB::Manager::process_remote_topic(const char *topic_name)
}
// We didn't find a node so we need to create it via an advertisement
const struct orb_metadata *const *topic_list = orb_get_topics();
orb_id_t topic_ptr = nullptr;
for (size_t i = 0; i < orb_topics_count(); i++) {
if (strcmp(topic_list[i]->o_name, topic_name) == 0) {
topic_ptr = topic_list[i];
break;
}
}
if (topic_ptr) {
PX4_INFO("Advertising remote topic %s", topic_name);
_remote_topics.insert(topic_name);
// Add some queue depth when advertising remote topics. These
// topics may get aggregated and thus delivered in a batch that
// requires some buffering in a queue.
orb_advertise(topic_ptr, nullptr, 5);
} else {
PX4_INFO("process_remote_topic meta not found for %s\n", topic_name);
}
PX4_DEBUG("Advertising remote topic %s", topic_name);
_remote_topics.insert(topic_name);
orb_advertise(topic_ptr, nullptr, topic_ptr->o_queue);
return 0;
}
@@ -663,8 +651,11 @@ int16_t uORB::Manager::process_add_subscription(const char *messageName)
PX4_DEBUG("DeviceNode(%s) not created yet", messageName);
} else {
// node is present.
node->process_add_subscription();
// node is present. But don't send any data to it if it
// is a node advertised by the remote side
if (_remote_topics.find(messageName) == false) {
node->process_add_subscription();
}
}
} else {