uORB::Publication simplify and cleanup

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

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 @@ public:
 
 	virtual void updateParams();
 	virtual void updateSubscriptions();
-	virtual void updatePublications();
 
 	virtual void setDt(float dt) { _dt = dt; }
 	float getDt() { return _dt; }
@@ -88,7 +85,6 @@ protected:
 
 	SuperBlock *getParent() { return _parent; }
 	List<uORB::SubscriptionPollableNode *> &getSubscriptions() { return _subscriptions; }
-	List<uORB::PublicationNode *> &getPublications() { return _publications; }
 	List<BlockParamBase *> &getParams() { return _params; }
 
 	const char *_name;
@@ -96,7 +92,6 @@ protected:
 	float _dt{0.0f};
 
 	List<uORB::SubscriptionPollableNode *> _subscriptions;
-	List<uORB::PublicationNode *> _publications;
 	List<BlockParamBase *> _params;
 };
 
@@ -130,18 +125,11 @@ public:
 
 		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 @@ private:
 
 	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 @@ public:
 
 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 @@ private:
 
 	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 @@ public:
 
 private:
 
-	uORB::Publication<sensor_mag_s>	_sensor_mag_pub;
+	uORB::PublicationData<sensor_mag_s>	_sensor_mag_pub;
 
 	const enum Rotation	_rotation;