uORB::Subscription subscribe directly to uORB device node object

src/lib/CollisionPrevention/CollisionPrevention.hpp

@@ -77,7 +77,7 @@ private:
 	orb_advert_t _constraints_pub{nullptr};		/**< constraints publication */
 	orb_advert_t _mavlink_log_pub{nullptr};	 	/**< Mavlink log uORB handle */
 
-	uORB::Subscription<obstacle_distance_s> *_sub_obstacle_distance{nullptr}; /**< obstacle distances received form a range sensor */
+	uORB::SubscriptionPollable<obstacle_distance_s> *_sub_obstacle_distance{nullptr}; /**< obstacle distances received form a range sensor */
 
 	static constexpr uint64_t RANGE_STREAM_TIMEOUT_US = 500000;
 	static constexpr uint64_t MESSAGE_THROTTLE_US = 5000000;

src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp

@@ -98,7 +98,7 @@ protected:
 	matrix::Vector3f _next_wp{}; /**< The next waypoint after target (local frame). If no next setpoint is available, next is set to target. */
 	float _mc_cruise_speed{0.0f}; /**< Requested cruise speed. If not valid, default cruise speed is used. */
 	WaypointType _type{WaypointType::idle}; /**< Type of current target triplet. */
-	uORB::Subscription<home_position_s> *_sub_home_position{nullptr};
+	uORB::SubscriptionPollable<home_position_s> *_sub_home_position{nullptr};
 
 	State _current_state{State::none};
 	float _target_acceptance_radius = 0.0f; /**< Acceptances radius of the target */
@@ -121,8 +121,8 @@ protected:
 private:
 	matrix::Vector2f _lock_position_xy{NAN, NAN}; /**< if no valid triplet is received, lock positition to current position */
 	bool _yaw_lock = false; /**< if within acceptance radius, lock yaw to current yaw */
-	uORB::Subscription<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
-	uORB::Subscription<vehicle_status_s> *_sub_vehicle_status{nullptr};
+	uORB::SubscriptionPollable<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
+	uORB::SubscriptionPollable<vehicle_status_s> *_sub_vehicle_status{nullptr};
 
 	matrix::Vector3f
 	_triplet_target; /**< current triplet from navigator which may differ from the intenal one (_target) depending on the vehicle state. */

src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp

@@ -44,7 +44,7 @@
 #include <px4_module_params.h>
 #include <drivers/drv_hrt.h>
 #include <matrix/matrix/math.hpp>
-#include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionPollable.hpp>
 #include <uORB/topics/landing_gear.h>
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_local_position_setpoint.h>
@@ -181,8 +181,8 @@ public:
 
 protected:
 
-	uORB::Subscription<vehicle_local_position_s> *_sub_vehicle_local_position{nullptr};
-	uORB::Subscription<vehicle_attitude_s> *_sub_attitude{nullptr};
+	uORB::SubscriptionPollable<vehicle_local_position_s> *_sub_vehicle_local_position{nullptr};
+	uORB::SubscriptionPollable<vehicle_attitude_s> *_sub_attitude{nullptr};
 	uint8_t _heading_reset_counter{0}; /**< estimator heading reset */
 
 	/** Reset all setpoints to NAN */

src/lib/FlightTasks/tasks/FlightTask/SubscriptionArray.cpp

@@ -53,14 +53,14 @@ void SubscriptionArray::cleanup()
 bool SubscriptionArray::resizeSubscriptions()
 {
 	const int new_size = _subscriptions_size == 0 ? 4 : _subscriptions_size * 2;
-	uORB::SubscriptionNode **new_array = new uORB::SubscriptionNode*[new_size];
+	uORB::SubscriptionPollableNode **new_array = new uORB::SubscriptionPollableNode*[new_size];
 
 	if (!new_array) {
 		return false;
 	}
 
 	if (_subscriptions) {
-		memcpy(new_array, _subscriptions, sizeof(uORB::SubscriptionNode *)*_subscriptions_count);
+		memcpy(new_array, _subscriptions, sizeof(uORB::SubscriptionPollableNode *)*_subscriptions_count);
 		delete[] _subscriptions;
 	}
 

src/lib/FlightTasks/tasks/FlightTask/SubscriptionArray.hpp

@@ -41,7 +41,7 @@
 
 #pragma once
 
-#include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionPollable.hpp>
 
 class SubscriptionArray
 {
@@ -57,7 +57,7 @@ public:
 	 * @return true on success, false otherwise (subscription set to nullptr)
 	 */
 	template<class T>
-	bool get(const struct orb_metadata *meta, uORB::Subscription<T> *&subscription, unsigned instance = 0);
+	bool get(const struct orb_metadata *meta, uORB::SubscriptionPollable<T> *&subscription, unsigned instance = 0);
 
 	/**
 	 * update all subscriptions (if new data is available)
@@ -74,20 +74,21 @@ private:
 
 	bool resizeSubscriptions();
 
-	uORB::SubscriptionNode **_subscriptions{nullptr};
+	uORB::SubscriptionPollableNode **_subscriptions{nullptr};
 	int _subscriptions_count{0}; ///< number of valid subscriptions
 	int _subscriptions_size{0}; ///< actual size of the _subscriptions array
 };
 
 
 template<class T>
-bool SubscriptionArray::get(const struct orb_metadata *meta, uORB::Subscription<T> *&subscription, unsigned instance)
+bool SubscriptionArray::get(const struct orb_metadata *meta, uORB::SubscriptionPollable<T> *&subscription,
+			    unsigned instance)
 {
 	// does it already exist?
 	for (int i = 0; i < _subscriptions_count; ++i) {
 		if (_subscriptions[i]->getMeta() == meta && _subscriptions[i]->getInstance() == instance) {
 			// we know the type must be correct, so we can use reinterpret_cast (dynamic_cast is not available)
-			subscription = reinterpret_cast<uORB::Subscription<T>*>(_subscriptions[i]);
+			subscription = reinterpret_cast<uORB::SubscriptionPollable<T>*>(_subscriptions[i]);
 			return true;
 		}
 	}
@@ -100,7 +101,7 @@ bool SubscriptionArray::get(const struct orb_metadata *meta, uORB::Subscription<
 		}
 	}
 
-	subscription = new uORB::Subscription<T>(meta, 0, instance);
+	subscription = new uORB::SubscriptionPollable<T>(meta, 0, instance);
 
 	if (!subscription) {
 		return false;

src/lib/FlightTasks/tasks/Manual/FlightTaskManual.hpp

@@ -68,7 +68,7 @@ private:
 	bool _evaluateSticks(); /**< checks and sets stick inputs */
 	void _applyGearSwitch(uint8_t gswitch); /**< Sets gears according to switch */
 
-	uORB::Subscription<manual_control_setpoint_s> *_sub_manual_control_setpoint{nullptr};
+	uORB::SubscriptionPollable<manual_control_setpoint_s> *_sub_manual_control_setpoint{nullptr};
 
 	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
 					(ParamFloat<px4::params::MPC_HOLD_DZ>) _param_mpc_hold_dz, /**< 0-deadzone around the center for the sticks */

src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.hpp

@@ -110,7 +110,7 @@ private:
 	 */
 	void _respectGroundSlowdown();
 
-	uORB::Subscription<home_position_s> *_sub_home_position{nullptr};
+	uORB::SubscriptionPollable<home_position_s> *_sub_home_position{nullptr};
 
 	uint8_t _reset_counter = 0; /**< counter for estimator resets in z-direction */
 	float _max_speed_up = 10.0f;

src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.hpp

@@ -53,7 +53,7 @@ public:
 	bool updateInitialize() override;
 
 protected:
-	uORB::Subscription<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
+	uORB::SubscriptionPollable<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
 private:
 	matrix::Vector3f _position_lock{};
 

src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp

@@ -105,8 +105,8 @@ public:
 
 private:
 
-	uORB::Subscription<vehicle_trajectory_waypoint_s> *_sub_vehicle_trajectory_waypoint{nullptr}; /**< vehicle trajectory waypoint subscription */
-	uORB::Subscription<vehicle_status_s> *_sub_vehicle_status{nullptr}; /**< vehicle status subscription */
+	uORB::SubscriptionPollable<vehicle_trajectory_waypoint_s> *_sub_vehicle_trajectory_waypoint{nullptr}; /**< vehicle trajectory waypoint subscription */
+	uORB::SubscriptionPollable<vehicle_status_s> *_sub_vehicle_status{nullptr}; /**< vehicle status subscription */
 
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::NAV_MC_ALT_RAD>) _param_nav_mc_alt_rad    /**< Acceptance radius for multicopter altitude */

src/lib/controllib/block/Block.cpp

@@ -42,7 +42,7 @@
 
 #include <cstring>
 
-#include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionPollable.hpp>
 #include <uORB/Publication.hpp>
 
 namespace control
@@ -102,7 +102,7 @@ void Block::updateParams()
 
 void Block::updateSubscriptions()
 {
-	uORB::SubscriptionNode *sub = getSubscriptions().getHead();
+	uORB::SubscriptionPollableNode *sub = getSubscriptions().getHead();
 	int count = 0;
 
 	while (sub != nullptr) {
@@ -211,6 +211,6 @@ void SuperBlock::updateChildPublications()
 
 } // namespace control
 
-template class List<uORB::SubscriptionNode *>;
+template class List<uORB::SubscriptionPollableNode *>;
 template class List<uORB::PublicationNode *>;
 template class List<control::BlockParamBase *>;

src/lib/controllib/block/Block.hpp

@@ -41,7 +41,7 @@
 
 #include <containers/List.hpp>
 #include <uORB/Publication.hpp>
-#include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionPollable.hpp>
 #include <controllib/block/BlockParam.hpp>
 
 namespace control
@@ -87,7 +87,7 @@ protected:
 	virtual void updateParamsSubclass() {}
 
 	SuperBlock *getParent() { return _parent; }
-	List<uORB::SubscriptionNode *> &getSubscriptions() { return _subscriptions; }
+	List<uORB::SubscriptionPollableNode *> &getSubscriptions() { return _subscriptions; }
 	List<uORB::PublicationNode *> &getPublications() { return _publications; }
 	List<BlockParamBase *> &getParams() { return _params; }
 
@@ -95,7 +95,7 @@ protected:
 	SuperBlock *_parent;
 	float _dt{0.0f};
 
-	List<uORB::SubscriptionNode *> _subscriptions;
+	List<uORB::SubscriptionPollableNode *> _subscriptions;
 	List<uORB::PublicationNode *> _publications;
 	List<BlockParamBase *> _params;
 };