refactor(lightware_laser): simplify device_information handling

- publish every 3 seconds
- adjust to name instead of vendor and model
- buffer size adjusted according to datasheet
- switch to PublicationData

src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp

@@ -54,10 +54,10 @@
 #include <drivers/rangefinder/PX4Rangefinder.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/Publication.hpp>
+#include <uORB/topics/device_information.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/distance_sensor_mode_change_request.h>
-#include <uORB/topics/device_information.h>
 
 using namespace time_literals;
 
@@ -154,17 +154,14 @@ private:
 
 	int updateRestriction();
 
-	void readDeviceInformation();
-	void publishDeviceInformation();
-
 	PX4Rangefinder _px4_rangefinder;
-	uORB::Publication<device_information_s> _device_info_pub{ORB_ID(device_information)};
+
+	void readDeviceInformation();
+	void updateDeviceInformation();
+	uORB::PublicationData<device_information_s> _device_info_pub{ORB_ID(device_information)};
 
 	int _conversion_interval{-1};
 
-	device_information_s _device_info{};
-	bool _device_info_valid{false};
-
 	perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": read")};
 	perf_counter_t _comms_errors{perf_alloc(PC_COUNT, MODULE_NAME": com err")};
 
@@ -185,7 +182,6 @@ private:
 	bool _restriction{false};
 	bool _auto_restriction{false};
 	bool _prev_restriction{false};
-	hrt_abstime _last_device_info_pub{0};
 };
 
 LightwareLaser::LightwareLaser(const I2CSPIDriverConfig &config) :
@@ -428,59 +424,34 @@ int LightwareLaser::configure()
 
 void LightwareLaser::readDeviceInformation()
 {
-	_device_info = {};
+	_device_info_pub.get().device_type = device_information_s::DEVICE_TYPE_RANGEFINDER;
-	_device_info.device_type = device_information_s::DEVICE_TYPE_RANGEFINDER;
+	_device_info_pub.get().device_id = get_device_id();
-	_device_info.device_id = get_device_id();
 
-	strlcpy(_device_info.vendor_name, "LightWare", sizeof(_device_info.vendor_name));
+	char string_buffer[17] {};
-
+	readRegister(Register::ProductName, (uint8_t *)string_buffer, sizeof(string_buffer) - 1);
-	uint8_t buffer[32] = {};
+	snprintf(_device_info_pub.get().name, sizeof(_device_info_pub.get().name), "%s %s", "LightWare", string_buffer);
-
-	if (readRegister(Register::ProductName, buffer, sizeof(buffer) - 1) == PX4_OK) {
-		strlcpy(_device_info.model_name, (char *)buffer, sizeof(_device_info.model_name));
-
-	} else {
-
-		strlcpy(_device_info.model_name, "", sizeof(_device_info.model_name));
-	}
 
 	uint32_t hw_version = 0;
+	readRegister(Register::HardwareVersion, (uint8_t *)&hw_version, sizeof(hw_version));
+	snprintf(_device_info_pub.get().hardware_version, sizeof(_device_info_pub.get().hardware_version), "%" PRIu32, hw_version);
 
-	if (readRegister(Register::HardwareVersion, (uint8_t *)&hw_version, sizeof(hw_version)) == 0) {
+	uint8_t fw_bytes[4] {}; // Datasheet: 4 bytes but forth one is "Reserved"
-		snprintf(_device_info.hardware_version, sizeof(_device_info.hardware_version), "%u", (unsigned int)hw_version);
+	readRegister(Register::FirmwareVersion, fw_bytes, sizeof(fw_bytes));
+	snprintf(_device_info_pub.get().firmware_version, sizeof(_device_info_pub.get().firmware_version), "%u.%u.%u", fw_bytes[2], fw_bytes[1],
+		 fw_bytes[0]);
 
-	} else {
+	readRegister(Register::SerialNumber, (uint8_t *)string_buffer, sizeof(string_buffer) - 1);
-		strlcpy(_device_info.hardware_version, "", sizeof(_device_info.hardware_version));
+	strlcpy(_device_info_pub.get().serial_number, string_buffer, sizeof(_device_info_pub.get().serial_number));
-	}
-
-	uint8_t fw_bytes[4] = {};
-
-	if (readRegister(Register::FirmwareVersion, fw_bytes, sizeof(fw_bytes)) == 0) {
-		snprintf(_device_info.firmware_version, sizeof(_device_info.firmware_version), "%u.%u.%u",
-			 fw_bytes[2], fw_bytes[1], fw_bytes[0]);
-
-	} else {
-		strlcpy(_device_info.firmware_version, "", sizeof(_device_info.firmware_version));
-	}
-
-	if (readRegister(Register::SerialNumber, buffer, sizeof(buffer) - 1) == 0) {
-		strlcpy(_device_info.serial_number, (char *)buffer, sizeof(_device_info.serial_number));
-
-	} else {
-		strlcpy(_device_info.serial_number, "", sizeof(_device_info.serial_number));
-	}
-
-	_device_info_valid = true;
 }
 
-void LightwareLaser::publishDeviceInformation()
+void LightwareLaser::updateDeviceInformation()
 {
-	if (!_device_info_valid) {
+	const hrt_abstime now = hrt_absolute_time();
-		return;
-	}
 
-	_device_info.timestamp = hrt_absolute_time();
+	if (_device_info_pub.get().name[0] != '\0' && now >= _device_info_pub.get().timestamp + 3_s) {
-	_device_info_pub.publish(_device_info);
+		_device_info_pub.get().timestamp = now;
+		_device_info_pub.update();
+	}
 }
 
 int LightwareLaser::collect()
@@ -657,13 +628,7 @@ void LightwareLaser::RunImpl()
 		perf_count(_comms_errors);
 	}
 
-	// Publish device information (1 Hz)
+	updateDeviceInformation();
-	const hrt_abstime now = hrt_absolute_time();
-
-	if (now - _last_device_info_pub >= 1_s) {
-		publishDeviceInformation();
-		_last_device_info_pub = now;
-	}
 
 	switch (_state) {
 	case State::Configuring: {