uORB::Publication simplify and cleanup

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

src/modules/navigator/gpsfailure.cpp

@@ -93,14 +93,7 @@ GpsFailure::on_active()
 			q.copyTo(att_sp.q_d);
 			att_sp.q_d_valid = true;
 
-			if (_att_sp_pub != nullptr) {
-				/* publish att sp*/
-				orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &att_sp);
-
-			} else {
-				/* advertise and publish */
-				_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
-			}
+			_att_sp_pub.publish(att_sp);
 
 			/* Measure time */
 			if ((_param_nav_gpsf_lt.get() > FLT_EPSILON) &&

src/modules/navigator/gpsfailure.h

@@ -43,6 +43,9 @@
 
 #include "mission_block.h"
 
+#include <uORB/Publication.hpp>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+
 class Navigator;
 
 class GpsFailure : public MissionBlock, public ModuleParams
@@ -72,7 +75,7 @@ private:
 
 	hrt_abstime _timestamp_activation{0}; //*< timestamp when this mode was activated */
 
-	orb_advert_t	_att_sp_pub{nullptr};
+	uORB::Publication<vehicle_attitude_setpoint_s>	_att_sp_pub{ORB_ID(vehicle_attitude_setpoint)};
 
 	/**
 	 * Set the GPSF item

src/modules/navigator/mission_block.cpp

@@ -440,12 +440,7 @@ MissionBlock::issue_command(const mission_item_s &item)
 		// params[1] new value for selected actuator in ms 900...2000
 		actuators.control[(int)item.params[0]] = 1.0f / 2000 * -item.params[1];
 
-		if (_actuator_pub != nullptr) {
-			orb_publish(ORB_ID(actuator_controls_2), _actuator_pub, &actuators);
-
-		} else {
-			_actuator_pub = orb_advertise(ORB_ID(actuator_controls_2), &actuators);
-		}
+		_actuator_pub.publish(actuators);
 
 	} else {
 		_action_start = hrt_absolute_time();

src/modules/navigator/mission_block.h

@@ -45,6 +45,8 @@
 
 #include <drivers/drv_hrt.h>
 #include <systemlib/mavlink_log.h>
+#include <uORB/Publication.hpp>
+#include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/mission.h>
 #include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/vehicle_command.h>
@@ -132,5 +134,5 @@ protected:
 	hrt_abstime _action_start{0};
 	hrt_abstime _time_wp_reached{0};
 
-	orb_advert_t    _actuator_pub{nullptr};
+	uORB::Publication<actuator_controls_s>	_actuator_pub{ORB_ID(actuator_controls_2)};
 };

src/modules/navigator/navigator.h

@@ -117,11 +117,6 @@ public:
 	 */
 	void		load_fence_from_file(const char *filename);
 
-	/**
-	 * Publish the geofence result
-	 */
-	void		publish_geofence_result();
-
 	void		publish_vehicle_cmd(vehicle_command_s *vcmd);
 
 	/**
@@ -329,13 +324,14 @@ private:
 
 	uORB::SubscriptionData<position_controller_status_s>	_position_controller_status_sub{ORB_ID(position_controller_status)};
 
-	orb_advert_t	_geofence_result_pub{nullptr};
+	uORB::Publication<geofence_result_s>		_geofence_result_pub{ORB_ID(geofence_result)};
+	uORB::Publication<mission_result_s>		_mission_result_pub{ORB_ID(mission_result)};
+	uORB::Publication<position_setpoint_triplet_s>	_pos_sp_triplet_pub{ORB_ID(position_setpoint_triplet)};
+	uORB::Publication<vehicle_roi_s>		_vehicle_roi_pub{ORB_ID(vehicle_roi)};
+
 	orb_advert_t	_mavlink_log_pub{nullptr};	/**< the uORB advert to send messages over mavlink */
-	orb_advert_t	_mission_result_pub{nullptr};
-	orb_advert_t	_pos_sp_triplet_pub{nullptr};
 	orb_advert_t	_vehicle_cmd_ack_pub{nullptr};
 	orb_advert_t	_vehicle_cmd_pub{nullptr};
-	orb_advert_t	_vehicle_roi_pub{nullptr};
 
 	// Subscriptions
 	home_position_s					_home_pos{};		/**< home position for RTL */

src/modules/navigator/navigator_main.cpp

@@ -427,12 +427,7 @@ Navigator::run()
 
 				_vroi.timestamp = hrt_absolute_time();
 
-				if (_vehicle_roi_pub != nullptr) {
-					orb_publish(ORB_ID(vehicle_roi), _vehicle_roi_pub, &_vroi);
-
-				} else {
-					_vehicle_roi_pub = orb_advertise(ORB_ID(vehicle_roi), &_vroi);
-				}
+				_vehicle_roi_pub.publish(_vroi);
 
 				publish_vehicle_command_ack(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
 			}
@@ -473,7 +468,7 @@ Navigator::run()
 				_geofence_violation_warning_sent = false;
 			}
 
-			publish_geofence_result();
+			_geofence_result_pub.publish(_geofence_result);
 		}
 
 		/* Do stuff according to navigation state set by commander */
@@ -746,12 +741,7 @@ Navigator::publish_position_setpoint_triplet()
 	_pos_sp_triplet.timestamp = hrt_absolute_time();
 
 	/* lazily publish the position setpoint triplet only once available */
-	if (_pos_sp_triplet_pub != nullptr) {
-		orb_publish(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_pub, &_pos_sp_triplet);
-
-	} else {
-		_pos_sp_triplet_pub = orb_advertise(ORB_ID(position_setpoint_triplet), &_pos_sp_triplet);
-	}
+	_pos_sp_triplet_pub.publish(_pos_sp_triplet);
 
 	_pos_sp_triplet_updated = false;
 }
@@ -1115,14 +1105,7 @@ Navigator::publish_mission_result()
 	_mission_result.timestamp = hrt_absolute_time();
 
 	/* lazily publish the mission result only once available */
-	if (_mission_result_pub != nullptr) {
-		/* publish mission result */
-		orb_publish(ORB_ID(mission_result), _mission_result_pub, &_mission_result);
-
-	} else {
-		/* advertise and publish */
-		_mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result);
-	}
+	_mission_result_pub.publish(_mission_result);
 
 	/* reset some of the flags */
 	_mission_result.item_do_jump_changed = false;
@@ -1132,20 +1115,6 @@ Navigator::publish_mission_result()
 	_mission_result_updated = false;
 }
 
-void
-Navigator::publish_geofence_result()
-{
-	/* lazily publish the geofence result only once available */
-	if (_geofence_result_pub != nullptr) {
-		/* publish mission result */
-		orb_publish(ORB_ID(geofence_result), _geofence_result_pub, &_geofence_result);
-
-	} else {
-		/* advertise and publish */
-		_geofence_result_pub = orb_advertise(ORB_ID(geofence_result), &_geofence_result);
-	}
-}
-
 void
 Navigator::set_mission_failure(const char *reason)
 {