uORB::Publication simplify and cleanup

 - drop linked list
 - base class is now template
 - virtualization no longer required

src/drivers/md25/md25.cpp

@@ -583,8 +583,7 @@ int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitu
 	float prev_revolution = md25.getRevolutions1();
 
 	// debug publication
-	uORB::Publication<debug_key_value_s> debug_msg(NULL,
-			ORB_ID(debug_key_value));
+	uORB::PublicationData<debug_key_value_s> debug_msg{ORB_ID(debug_key_value)};
 
 	// sine wave for motor 1
 	md25.resetEncoders();

src/examples/segway/BlockSegwayController.cpp

@@ -61,6 +61,6 @@ void BlockSegwayController::update()
 		actuators.control[CH_RIGHT] = -_manual.get().x;
 	}
 
-	// update all publications
-	updatePublications();
+	// publish
+	_actuators.update();
 }

src/examples/segway/blocks.cpp

@@ -95,7 +95,7 @@ BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const c
 	_status(ORB_ID(vehicle_status), 20, 0, &getSubscriptions()),
 
 	// publications
-	_actuators(ORB_ID(actuator_controls_0), -1, &getPublications())
+	_actuators(ORB_ID(actuator_controls_0))
 {
 }
 

src/examples/segway/blocks.hpp

@@ -102,7 +102,8 @@ class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock
 	uORB::SubscriptionPollable<vehicle_status_s> _status;
 
 	// publications
-	uORB::Publication<actuator_controls_s> _actuators;
+	uORB::PublicationData<actuator_controls_s> _actuators{ORB_ID(actuator_controls_0)};
+
 public:
 	BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name);
 	virtual ~BlockUorbEnabledAutopilot() = default;

src/lib/controllib/block/Block.cpp

@@ -43,7 +43,6 @@
 #include <cstring>
 
 #include <uORB/SubscriptionPollable.hpp>
-#include <uORB/Publication.hpp>
 
 namespace control
 {
@@ -118,24 +117,6 @@ void Block::updateSubscriptions()
 	}
 }
 
-void Block::updatePublications()
-{
-	uORB::PublicationNode *pub = getPublications().getHead();
-	int count = 0;
-
-	while (pub != nullptr) {
-		if (count++ > maxPublicationsPerBlock) {
-			char name[blockNameLengthMax];
-			getName(name, blockNameLengthMax);
-			PX4_ERR("exceeded max publications for block: %s", name);
-			break;
-		}
-
-		pub->update();
-		pub = pub->getSibling();
-	}
-}
-
 void SuperBlock::setDt(float dt)
 {
 	Block::setDt(dt);
@@ -191,26 +172,7 @@ void SuperBlock::updateChildSubscriptions()
 	}
 }
 
-void SuperBlock::updateChildPublications()
-{
-	Block *child = getChildren().getHead();
-	int count = 0;
-
-	while (child != nullptr) {
-		if (count++ > maxChildrenPerBlock) {
-			char name[blockNameLengthMax];
-			getName(name, blockNameLengthMax);
-			PX4_ERR("exceeded max children for block: %s", name);
-			break;
-		}
-
-		child->updatePublications();
-		child = child->getSibling();
-	}
-}
-
 } // namespace control
 
 template class List<uORB::SubscriptionPollableNode *>;
-template class List<uORB::PublicationNode *>;
 template class List<control::BlockParamBase *>;

src/lib/controllib/block/Block.hpp

@@ -40,7 +40,6 @@
 #pragma once
 
 #include <containers/List.hpp>
-#include <uORB/Publication.hpp>
 #include <uORB/SubscriptionPollable.hpp>
 #include <controllib/block/BlockParam.hpp>
 
@@ -50,7 +49,6 @@ namespace control
 static constexpr uint8_t maxChildrenPerBlock = 100;
 static constexpr uint8_t maxParamsPerBlock = 110;
 static constexpr uint8_t maxSubscriptionsPerBlock = 100;
-static constexpr uint8_t maxPublicationsPerBlock = 100;
 static constexpr uint8_t blockNameLengthMax = 40;
 
 // forward declaration
@@ -77,7 +75,6 @@ class __EXPORT Block : public ListNode<Block *>
 
 	virtual void updateParams();
 	virtual void updateSubscriptions();
-	virtual void updatePublications();
 
 	virtual void setDt(float dt) { _dt = dt; }
 	float getDt() { return _dt; }
@@ -88,15 +85,13 @@ class __EXPORT Block : public ListNode<Block *>
 
 	SuperBlock *getParent() { return _parent; }
 	List<uORB::SubscriptionPollableNode *> &getSubscriptions() { return _subscriptions; }
-	List<uORB::PublicationNode *> &getPublications() { return _publications; }
 	List<BlockParamBase *> &getParams() { return _params; }
 
 	const char *_name;
 	SuperBlock *_parent;
 	float _dt{0.0f};
 
 	List<uORB::SubscriptionPollableNode *> _subscriptions;
-	List<uORB::PublicationNode *> _publications;
 	List<BlockParamBase *> _params;
 };
 
@@ -130,18 +125,11 @@ class __EXPORT SuperBlock :
 
 		if (getChildren().getHead() != nullptr) { updateChildSubscriptions(); }
 	}
-	void updatePublications() override
-	{
-		Block::updatePublications();
-
-		if (getChildren().getHead() != nullptr) { updateChildPublications(); }
-	}
 
 protected:
 	List<Block *> &getChildren() { return _children; }
 	void updateChildParams();
 	void updateChildSubscriptions();
-	void updateChildPublications();
 
 	List<Block *> _children;
 };

src/lib/drivers/accelerometer/PX4Accelerometer.hpp

@@ -68,7 +68,7 @@ class PX4Accelerometer : public cdev::CDev, public ModuleParams
 
 	void configure_filter(float cutoff_freq) { _filter.set_cutoff_frequency(_sample_rate, cutoff_freq); }
 
-	uORB::Publication<sensor_accel_s>	_sensor_accel_pub;
+	uORB::PublicationData<sensor_accel_s>	_sensor_accel_pub;
 
 	math::LowPassFilter2pVector3f _filter{1000, 100};
 	Integrator _integrator{4000, false};

src/lib/drivers/barometer/PX4Barometer.hpp

@@ -59,7 +59,7 @@ class PX4Barometer : public cdev::CDev
 
 private:
 
-	uORB::Publication<sensor_baro_s>	_sensor_baro_pub;
+	uORB::PublicationData<sensor_baro_s>	_sensor_baro_pub;
 
 	int			_class_device_instance{-1};
 

src/lib/drivers/gyroscope/PX4Gyroscope.hpp

@@ -68,7 +68,7 @@ class PX4Gyroscope : public cdev::CDev, public ModuleParams
 
 	void configure_filter(float cutoff_freq) { _filter.set_cutoff_frequency(_sample_rate, cutoff_freq); }
 
-	uORB::Publication<sensor_gyro_s>	_sensor_gyro_pub;
+	uORB::PublicationData<sensor_gyro_s>	_sensor_gyro_pub;
 
 	math::LowPassFilter2pVector3f _filter{1000, 100};
 	Integrator _integrator{4000, true};

src/lib/drivers/magnetometer/PX4Magnetometer.hpp

@@ -63,7 +63,7 @@ class PX4Magnetometer : public cdev::CDev
 
 private:
 
-	uORB::Publication<sensor_mag_s>	_sensor_mag_pub;
+	uORB::PublicationData<sensor_mag_s>	_sensor_mag_pub;
 
 	const enum Rotation	_rotation;
 

src/modules/commander/Commander.hpp

@@ -245,7 +245,7 @@ class Commander : public ModuleBase<Commander>, public ModuleParams
 	uORB::SubscriptionData<vehicle_local_position_s>	_local_position_sub{ORB_ID(vehicle_local_position)};
 
 	// Publications
-	uORB::Publication<home_position_s>			_home_pub{ORB_ID(home_position)};
+	uORB::PublicationData<home_position_s>			_home_pub{ORB_ID(home_position)};
 
 	orb_advert_t					_status_pub{nullptr};
 };

src/modules/ekf2/ekf2_main.cpp

@@ -275,18 +275,17 @@ class Ekf2 final : public ModuleBase<Ekf2>, public ModuleParams
 	uORB::Subscription _gps_subs[GPS_MAX_RECEIVERS] {{ORB_ID(vehicle_gps_position), 0}, {ORB_ID(vehicle_gps_position), 1}};
 	int _gps_orb_instance{ -1};
 
-	orb_advert_t _att_pub{nullptr};
-	orb_advert_t _wind_pub{nullptr};
-	orb_advert_t _estimator_status_pub{nullptr};
-	orb_advert_t _ekf_gps_drift_pub{nullptr};
-	orb_advert_t _estimator_innovations_pub{nullptr};
-	orb_advert_t _ekf2_timestamps_pub{nullptr};
-	orb_advert_t _sensor_bias_pub{nullptr};
-	orb_advert_t _blended_gps_pub{nullptr};
-
-	uORB::Publication<vehicle_local_position_s> _vehicle_local_position_pub;
-	uORB::Publication<vehicle_global_position_s> _vehicle_global_position_pub;
-	uORB::Publication<vehicle_odometry_s> _vehicle_odometry_pub;
+	uORB::Publication<ekf2_innovations_s>			_estimator_innovations_pub{ORB_ID(ekf2_innovations)};
+	uORB::Publication<ekf2_timestamps_s>			_ekf2_timestamps_pub{ORB_ID(ekf2_timestamps)};
+	uORB::Publication<ekf_gps_drift_s>			_ekf_gps_drift_pub{ORB_ID(ekf_gps_drift)};
+	uORB::Publication<ekf_gps_position_s>			_blended_gps_pub{ORB_ID(ekf_gps_position)};
+	uORB::Publication<estimator_status_s>			_estimator_status_pub{ORB_ID(estimator_status)};
+	uORB::Publication<sensor_bias_s>			_sensor_bias_pub{ORB_ID(sensor_bias)};
+	uORB::Publication<vehicle_attitude_s>			_att_pub{ORB_ID(vehicle_attitude)};
+	uORB::Publication<vehicle_odometry_s>			_vehicle_odometry_pub{ORB_ID(vehicle_odometry)};
+	uORB::Publication<wind_estimate_s>			_wind_pub{ORB_ID(wind_estimate)};
+	uORB::PublicationData<vehicle_global_position_s>	_vehicle_global_position_pub{ORB_ID(vehicle_global_position)};
+	uORB::PublicationData<vehicle_local_position_s>		_vehicle_local_position_pub{ORB_ID(vehicle_local_position)};
 
 	Ekf _ekf;
 
@@ -535,9 +534,6 @@ Ekf2::Ekf2():
 	ModuleParams(nullptr),
 	_perf_update_data(perf_alloc_once(PC_ELAPSED, "EKF2 data acquisition")),
 	_perf_ekf_update(perf_alloc_once(PC_ELAPSED, "EKF2 update")),
-	_vehicle_local_position_pub(ORB_ID(vehicle_local_position)),
-	_vehicle_global_position_pub(ORB_ID(vehicle_global_position)),
-	_vehicle_odometry_pub(ORB_ID(vehicle_odometry)),
 	_params(_ekf.getParamHandle()),
 	_param_ekf2_min_obs_dt(_params->sensor_interval_min_ms),
 	_param_ekf2_mag_delay(_params->mag_delay_ms),
@@ -1066,7 +1062,7 @@ void Ekf2::run()
 				gps.selected = _gps_select_index;
 
 				// Publish to the EKF blended GPS topic
-				orb_publish_auto(ORB_ID(ekf_gps_position), &_blended_gps_pub, &gps, &_gps_orb_instance, ORB_PRIO_LOW);
+				_blended_gps_pub.publish(gps);
 
 				// clear flag to avoid re-use of the same data
 				_gps_new_output_data = false;
@@ -1258,7 +1254,7 @@ void Ekf2::run()
 				vehicle_local_position_s &lpos = _vehicle_local_position_pub.get();
 
 				// generate vehicle odometry data
-				vehicle_odometry_s &odom = _vehicle_odometry_pub.get();
+				vehicle_odometry_s odom{};
 
 				lpos.timestamp = now;
 				odom.timestamp = lpos.timestamp;
@@ -1438,7 +1434,7 @@ void Ekf2::run()
 				_vehicle_local_position_pub.update();
 
 				// publish vehicle odometry data
-				_vehicle_odometry_pub.update();
+				_vehicle_odometry_pub.publish(odom);
 
 				if (_ekf.global_position_is_valid() && !_preflt_fail) {
 					// generate and publish global position data
@@ -1509,12 +1505,7 @@ void Ekf2::run()
 				bias.accel_y = sensors.accelerometer_m_s2[1] - accel_bias[1];
 				bias.accel_z = sensors.accelerometer_m_s2[2] - accel_bias[2];
 
-				if (_sensor_bias_pub == nullptr) {
-					_sensor_bias_pub = orb_advertise(ORB_ID(sensor_bias), &bias);
-
-				} else {
-					orb_publish(ORB_ID(sensor_bias), _sensor_bias_pub, &bias);
-				}
+				_sensor_bias_pub.publish(bias);
 			}
 
 			// publish estimator status
@@ -1543,12 +1534,7 @@ void Ekf2::run()
 			status.timeout_flags = 0.0f; // unused
 			status.pre_flt_fail = _preflt_fail;
 
-			if (_estimator_status_pub == nullptr) {
-				_estimator_status_pub = orb_advertise(ORB_ID(estimator_status), &status);
-
-			} else {
-				orb_publish(ORB_ID(estimator_status), _estimator_status_pub, &status);
-			}
+			_estimator_status_pub.publish(status);
 
 			// publish GPS drift data only when updated to minimise overhead
 			float gps_drift[3];
@@ -1562,12 +1548,7 @@ void Ekf2::run()
 				drift_data.hspd = gps_drift[2];
 				drift_data.blocked = blocked;
 
-				if (_ekf_gps_drift_pub == nullptr) {
-					_ekf_gps_drift_pub = orb_advertise(ORB_ID(ekf_gps_drift), &drift_data);
-
-				} else {
-					orb_publish(ORB_ID(ekf_gps_drift), _ekf_gps_drift_pub, &drift_data);
-				}
+				_ekf_gps_drift_pub.publish(drift_data);
 			}
 
 			{
@@ -1732,23 +1713,12 @@ void Ekf2::run()
 					_preflt_fail = false;
 				}
 
-				if (_estimator_innovations_pub == nullptr) {
-					_estimator_innovations_pub = orb_advertise(ORB_ID(ekf2_innovations), &innovations);
-
-				} else {
-					orb_publish(ORB_ID(ekf2_innovations), _estimator_innovations_pub, &innovations);
-				}
+				_estimator_innovations_pub.publish(innovations);
 			}
-
 		}
 
 		// publish ekf2_timestamps
-		if (_ekf2_timestamps_pub == nullptr) {
-			_ekf2_timestamps_pub = orb_advertise(ORB_ID(ekf2_timestamps), &ekf2_timestamps);
-
-		} else {
-			orb_publish(ORB_ID(ekf2_timestamps), _ekf2_timestamps_pub, &ekf2_timestamps);
-		}
+		_ekf2_timestamps_pub.publish(ekf2_timestamps);
 	}
 }
 
@@ -1788,18 +1758,15 @@ bool Ekf2::publish_attitude(const sensor_combined_s &sensors, const hrt_abstime
 		att.pitchspeed = sensors.gyro_rad[1] - gyro_bias[1];
 		att.yawspeed = sensors.gyro_rad[2] - gyro_bias[2];
 
-		int instance;
-		orb_publish_auto(ORB_ID(vehicle_attitude), &_att_pub, &att, &instance, ORB_PRIO_HIGH);
+		_att_pub.publish(att);
 
 		return true;
 
 	}  else if (_replay_mode) {
 		// in replay mode we have to tell the replay module not to wait for an update
 		// we do this by publishing an attitude with zero timestamp
-		vehicle_attitude_s att = {};
-
-		int instance;
-		orb_publish_auto(ORB_ID(vehicle_attitude), &_att_pub, &att, &instance, ORB_PRIO_HIGH);
+		vehicle_attitude_s att{};
+		_att_pub.publish(att);
 	}
 
 	return false;
@@ -1822,8 +1789,7 @@ bool Ekf2::publish_wind_estimate(const hrt_abstime &timestamp)
 		wind_estimate.variance_north = wind_var[0];
 		wind_estimate.variance_east = wind_var[1];
 
-		int instance;
-		orb_publish_auto(ORB_ID(wind_estimate), &_wind_pub, &wind_estimate, &instance, ORB_PRIO_DEFAULT);
+		_wind_pub.publish(wind_estimate);
 
 		return true;
 	}

src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp

@@ -47,14 +47,6 @@ BlockLocalPositionEstimator::BlockLocalPositionEstimator() :
 	_sub_sonar(nullptr),
 	_sub_landing_target_pose(ORB_ID(landing_target_pose), 1000 / 40, 0, &getSubscriptions()),
 	_sub_airdata(ORB_ID(vehicle_air_data), 0, 0, &getSubscriptions()),
-
-	// publications
-	_pub_lpos(ORB_ID(vehicle_local_position), -1, &getPublications()),
-	_pub_gpos(ORB_ID(vehicle_global_position), -1, &getPublications()),
-	_pub_odom(ORB_ID(vehicle_odometry), -1, &getPublications()),
-	_pub_est_status(ORB_ID(estimator_status), -1, &getPublications()),
-	_pub_innov(ORB_ID(ekf2_innovations), -1, &getPublications()),
-
 	// map projection
 	_map_ref(),