uavcan_v1: Add Publisher base; Gnss Publisher

src/drivers/uavcan_v1/Uavcan.cpp

@@ -83,6 +83,10 @@ UavcanNode::UavcanNode(CanardInterface *interface, uint32_t node_id) :
 
 	PX4_INFO("main _canard_instance = %p", &_canard_instance);
 
+	for (auto &publisher : _publishers) {
+		publisher->updateParam();
+	}
+
 	for (auto &subscriber : _subscribers) {
 		subscriber->updateParam();
 	}
@@ -229,6 +233,12 @@ void UavcanNode::Run()
 		// update parameters from storage
 		updateParams();
 
+		for (auto &publisher : _publishers) {
+			// Have the publisher update its associated port-id parameter
+			// Setting to 0 disable publication
+			publisher->updateParam();
+		}
+
 		for (auto &subscriber : _subscribers) {
 			// Have the subscriber update its associated port-id parameter
 			// If the port-id changes, (re)start the subscription
@@ -240,8 +250,6 @@ void UavcanNode::Run()
 	perf_begin(_cycle_perf);
 	perf_count(_interval_perf);
 
-
-
 	if (hrt_elapsed_time(&_uavcan_pnp_nodeidallocation_last) >= 1_s &&
 	    _node_register_setup != CANARD_NODE_ID_UNSET &&
 	    _node_register_request_index == _node_register_last_received_index + 1) {
@@ -278,6 +286,11 @@ void UavcanNode::Run()
 	// send uavcan::node::Heartbeat_1_0 @ 1 Hz
 	sendHeartbeat();
 
+	// Check all publishers
+	for (auto &publisher : _publishers) {
+		publisher->update();
+	}
+
 	// Transmitting
 	// Look at the top of the TX queue.
 	for (const CanardFrame *txf = nullptr; (txf = canardTxPeek(&_canard_instance)) != nullptr;) {
@@ -381,6 +394,10 @@ void UavcanNode::print_info()
 	perf_print_counter(_cycle_perf);
 	perf_print_counter(_interval_perf);
 
+	for (auto &publisher : _publishers) {
+		publisher->printInfo();
+	}
+
 	for (auto &subscriber : _subscribers) {
 		subscriber->printInfo();
 	}