INode class. Publisher, Subscriber, ServiceServer, ServiceClient now accept INode in constructor instead of the bunch of independent params. Self NodeID now being configured via setNodeID() method instead of constructor param

libuavcan/include/uavcan/node/subscriber.hpp

@@ -36,8 +36,8 @@ class Subscriber : public GenericSubscriber<DataType_, DataType_,
 public:
     typedef DataType_ DataType;
 
-    Subscriber(Scheduler& scheduler, IAllocator& allocator)
-    : BaseType(scheduler, allocator)
+    explicit Subscriber(INode& node)
+    : BaseType(node)
     , callback_()
     {
         StaticAssert<DataTypeKind(DataType::DataTypeKind) == DataTypeKindMessage>::check();