From 278e4cef84beccdd2eee4033e9675e973e17a7af Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Wed, 4 Jul 2018 20:48:02 -0400
Subject: [PATCH] uORB fix ORB_COMMUNICATOR defined sections

 - keep portions of internal add/remove helpers
---
 src/modules/uORB/uORBDevices.cpp | 25 ++++++++++++++-----------
 src/modules/uORB/uORBDevices.hpp |  6 +++---
 2 files changed, 17 insertions(+), 14 deletions(-)

diff --git a/src/modules/uORB/uORBDevices.cpp b/src/modules/uORB/uORBDevices.cpp
index 871578f003..00ae985d5e 100644
--- a/src/modules/uORB/uORBDevices.cpp
+++ b/src/modules/uORB/uORBDevices.cpp
@@ -161,9 +161,7 @@ uORB::DeviceNode::open(device::file_t *filp)
 
 		ret = CDev::open(filp);
 
-#ifdef ORB_COMMUNICATOR
 		add_internal_subscriber();
-#endif /* ORB_COMMUNICATOR */
 
 		if (ret != PX4_OK) {
 			PX4_ERR("CDev::open failed");
@@ -196,9 +194,7 @@ uORB::DeviceNode::close(device::file_t *filp)
 				hrt_cancel(&sd->update_interval->update_call);
 			}
 
-#ifdef ORB_COMMUNICATOR
 			remove_internal_subscriber();
-#endif /* ORB_COMMUNICATOR */
 
 			delete sd;
 			sd = nullptr;
@@ -737,39 +733,46 @@ uORB::DeviceNode::print_statistics(bool reset)
 	return true;
 }
 
-#ifdef ORB_COMMUNICATOR
 void uORB::DeviceNode::add_internal_subscriber()
 {
-	uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
-
 	lock();
 	_subscriber_count++;
 
+#ifdef ORB_COMMUNICATOR
+	uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
+
 	if (ch != nullptr && _subscriber_count > 0) {
 		unlock(); //make sure we cannot deadlock if add_subscription calls back into DeviceNode
 		ch->add_subscription(_meta->o_name, 1);
 
-	} else {
+	} else
+#endif /* ORB_COMMUNICATOR */
+
+	{
 		unlock();
 	}
 }
 
 void uORB::DeviceNode::remove_internal_subscriber()
 {
-	uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
-
 	lock();
 	_subscriber_count--;
 
+#ifdef ORB_COMMUNICATOR
+	uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
+
 	if (ch != nullptr && _subscriber_count == 0) {
 		unlock(); //make sure we cannot deadlock if remove_subscription calls back into DeviceNode
 		ch->remove_subscription(_meta->o_name);
 
-	} else {
+	} else
+#endif /* ORB_COMMUNICATOR */
+	{
 		unlock();
 	}
 }
 
+#ifdef ORB_COMMUNICATOR
 int16_t uORB::DeviceNode::process_add_subscription(int32_t rateInHz)
 {
 	// if there is already data in the node, send this out to
diff --git a/src/modules/uORB/uORBDevices.hpp b/src/modules/uORB/uORBDevices.hpp
index 801812ad54..3ac5b87f8a 100644
--- a/src/modules/uORB/uORBDevices.hpp
+++ b/src/modules/uORB/uORBDevices.hpp
@@ -139,6 +139,7 @@ public:
 	 * processed the received data message from remote.
 	 */
 	int16_t process_received_message(int32_t length, uint8_t *data);
+#endif /* ORB_COMMUNICATOR */
 
 	/**
 	  * Add the subscriber to the node's list of subscriber.  If there is
@@ -156,7 +157,6 @@ public:
 	 *   the Subscriber to be removed.
 	 */
 	void remove_internal_subscriber();
-#endif /* ORB_COMMUNICATOR */
 
 	/**
 	 * Return true if this topic has been published.
@@ -182,7 +182,7 @@ public:
 	bool print_statistics(bool reset);
 
 	unsigned int get_queue_size() const { return _queue_size; }
-	int16_t subscriber_count() const { return _subscriber_count; }
+	int8_t subscriber_count() const { return _subscriber_count; }
 	uint32_t lost_message_count() const { return _lost_messages; }
 	unsigned int published_message_count() const { return _generation; }
 	const struct orb_metadata *get_meta() const { return _meta; }
@@ -222,7 +222,7 @@ private:
 	uint8_t   _priority;  /**< priority of the topic */
 	bool _published{false};  /**< has ever data been published */
 	uint8_t _queue_size; /**< maximum number of elements in the queue */
-	int16_t _subscriber_count{0};
+	int8_t _subscriber_count{0};
 
 	inline static SubscriberData    *filp_to_sd(device::file_t *filp);