From 8cc837230281818b9be442d58bc5b4e80a79d93c Mon Sep 17 00:00:00 2001
From: Jukka Laitinen <jukkax@ssrc.tii.ae>
Date: Thu, 6 Jun 2024 13:50:44 +0300
Subject: [PATCH] Revert "uORB: ack uorb topic"

This reverts commit 7fbba1dc087f79f5fc0e04bc7c3094f8f76e1a4c.
---
 platforms/common/uORB/Subscription.hpp         | 11 -----------
 platforms/common/uORB/SubscriptionInterval.hpp | 11 -----------
 platforms/common/uORB/uORB.cpp                 |  5 -----
 platforms/common/uORB/uORB.h                   |  2 --
 platforms/common/uORB/uORBDeviceNode.hpp       |  2 --
 platforms/common/uORB/uORBManager.cpp          |  6 ------
 platforms/common/uORB/uORBManager.hpp          |  8 --------
 7 files changed, 45 deletions(-)

diff --git a/platforms/common/uORB/Subscription.hpp b/platforms/common/uORB/Subscription.hpp
index eefa7e310413..6850e280d5e3 100644
--- a/platforms/common/uORB/Subscription.hpp
+++ b/platforms/common/uORB/Subscription.hpp
@@ -143,17 +143,6 @@ class Subscription
 		return valid() ? Manager::orb_data_copy(_node, dst, _last_generation, true) : false;
 	}
 
-	void ack()
-	{
-		if (!valid()) {
-			subscribe();
-		}
-
-		if (valid()) {
-			Manager::orb_data_ack(_node, _last_generation);
-		}
-	}
-
 	/**
 	 * Copy the struct
 	 * @param dst The uORB message struct we are updating.
diff --git a/platforms/common/uORB/SubscriptionInterval.hpp b/platforms/common/uORB/SubscriptionInterval.hpp
index 045011a00634..83f27a520dea 100644
--- a/platforms/common/uORB/SubscriptionInterval.hpp
+++ b/platforms/common/uORB/SubscriptionInterval.hpp
@@ -100,17 +100,6 @@ class SubscriptionInterval
 		return false;
 	}
 
-	/**
-	 * Acknowledge a new update.
-	 */
-	void ack()
-	{
-		_subscription.ack();
-		const hrt_abstime now = hrt_absolute_time();
-		// shift last update time forward, but don't let it get further behind than the interval
-		_last_update = math::constrain(_last_update + _interval_us, now - _interval_us, now);
-	}
-
 	/**
 	 * Copy the struct if updated.
 	 * @param dst The destination pointer where the struct will be copied.
diff --git a/platforms/common/uORB/uORB.cpp b/platforms/common/uORB/uORB.cpp
index 3dcf20155e4d..d09be27d6326 100644
--- a/platforms/common/uORB/uORB.cpp
+++ b/platforms/common/uORB/uORB.cpp
@@ -130,11 +130,6 @@ int orb_check(orb_sub_t handle, bool *updated)
 	return uORB::Manager::get_instance()->orb_check(handle, updated);
 }
 
-int orb_ack(orb_sub_t handle)
-{
-	return uORB::Manager::get_instance()->orb_ack(handle);
-}
-
 int orb_exists(const struct orb_metadata *meta, int instance)
 {
 	return uORB::Manager::orb_exists(meta, instance);
diff --git a/platforms/common/uORB/uORB.h b/platforms/common/uORB/uORB.h
index 3b3b80ee7ee1..2006ef08ebcd 100644
--- a/platforms/common/uORB/uORB.h
+++ b/platforms/common/uORB/uORB.h
@@ -246,8 +246,6 @@ extern int	orb_copy(const struct orb_metadata *meta, orb_sub_t handle, void *buf
  */
 extern int	orb_check(orb_sub_t handle, bool *updated) __EXPORT;
 
-extern int	orb_ack(orb_sub_t handle) __EXPORT;
-
 /**
  * @see uORB::Manager::orb_exists()
  */
diff --git a/platforms/common/uORB/uORBDeviceNode.hpp b/platforms/common/uORB/uORBDeviceNode.hpp
index 83e1d5752e33..c0f94174b757 100644
--- a/platforms/common/uORB/uORBDeviceNode.hpp
+++ b/platforms/common/uORB/uORBDeviceNode.hpp
@@ -219,8 +219,6 @@ class DeviceNode
 	 */
 	bool copy(void *dst, orb_advert_t &handle, unsigned &generation);
 
-	void ack(unsigned &generation) { generation = _generation.load(); }
-
 	static bool register_callback(orb_advert_t &node_handle, SubscriptionCallback *callback_sub, int8_t poll_lock,
 				      hrt_abstime last_update, uint32_t interval_us, uorb_cb_handle_t &cb_handle)
 	{
diff --git a/platforms/common/uORB/uORBManager.cpp b/platforms/common/uORB/uORBManager.cpp
index e2846c096bbc..73f559470db1 100644
--- a/platforms/common/uORB/uORBManager.cpp
+++ b/platforms/common/uORB/uORBManager.cpp
@@ -365,12 +365,6 @@ int uORB::Manager::orb_check(orb_sub_t handle, bool *updated)
 	return PX4_OK;
 }
 
-int uORB::Manager::orb_ack(orb_sub_t handle)
-{
-	((uORB::SubscriptionInterval *)handle)->ack();
-	return PX4_OK;
-}
-
 int uORB::Manager::orb_set_interval(orb_sub_t handle, unsigned interval)
 {
 	((uORB::SubscriptionInterval *)handle)->set_interval_us(interval * 1000);
diff --git a/platforms/common/uORB/uORBManager.hpp b/platforms/common/uORB/uORBManager.hpp
index 96e95c7b04b5..cfc297cfedc1 100644
--- a/platforms/common/uORB/uORBManager.hpp
+++ b/platforms/common/uORB/uORBManager.hpp
@@ -292,9 +292,6 @@ class Manager
 	 */
 	static int  orb_check(orb_sub_t handle, bool *updated);
 
-
-	static int  orb_ack(orb_sub_t handle);
-
 	/**
 	 * Check if a topic has already been created and published (advertised)
 	 *
@@ -360,11 +357,6 @@ class Manager
 
 	static uint8_t orb_get_queue_size(const orb_advert_t &node_handle) {return node(node_handle)->get_queue_size();}
 
-	static void orb_data_ack(orb_advert_t &node_handle, unsigned &generation)
-	{
-		node(node_handle)->ack(generation);
-	}
-
 	static bool orb_data_copy(orb_advert_t &node_handle, void *dst, unsigned &generation,
 				  bool only_if_updated)
 	{