Control lib update.

src/modules/uORB/Publication.cpp

@@ -50,37 +50,63 @@
 #include "topics/encoders.h"
 #include "topics/tecs_status.h"
 #include "topics/rc_channels.h"
+#include "topics/filtered_bottom_flow.h"
+
+#include <px4_defines.h>
 
 namespace uORB
 {
 
-template<class T>
-Publication<T>::Publication(
-	const struct orb_metadata *meta,
-	List<PublicationNode *> *list) :
-	T(), // initialize data structure to zero
-	PublicationNode(meta, list)
+PublicationBase::PublicationBase(const struct orb_metadata *meta,
+				 int priority) :
+	_meta(meta),
+	_priority(priority),
+	_instance(),
+	_handle(nullptr)
 {
 }
 
-template<class T>
-Publication<T>::~Publication() {}
-
-template<class T>
-void *Publication<T>::getDataVoidPtr()
+void PublicationBase::update(void *data)
 {
-	return (void *)(T *)(this);
+	if (_handle != nullptr) {
+		int ret = orb_publish(getMeta(), getHandle(), data);
+
+		if (ret != PX4_OK) { warnx("publish fail"); }
+
+	} else {
+		orb_advert_t handle;
+
+		if (_priority > 0) {
+			handle = orb_advertise_multi(
+					 getMeta(), data,
+					 &_instance, _priority);
+
+		} else {
+			handle = orb_advertise(getMeta(), data);
+		}
+
+		if (int64_t(handle) != PX4_ERROR) {
+			setHandle(handle);
+
+		} else {
+			warnx("advert fail");
+		}
+	}
 }
 
+PublicationBase::~PublicationBase()
+{
+}
 
 PublicationNode::PublicationNode(const struct orb_metadata *meta,
+				 int priority,
 				 List<PublicationNode *> *list) :
-	PublicationBase(meta)
+	PublicationBase(meta, priority)
 {
 	if (list != nullptr) { list->add(this); }
 }
 
-
+// explicit template instantiation
 template class __EXPORT Publication<vehicle_attitude_s>;
 template class __EXPORT Publication<vehicle_local_position_s>;
 template class __EXPORT Publication<vehicle_global_position_s>;
@@ -94,5 +120,6 @@ template class __EXPORT Publication<actuator_direct_s>;
 template class __EXPORT Publication<encoders_s>;
 template class __EXPORT Publication<tecs_status_s>;
 template class __EXPORT Publication<rc_channels_s>;
+template class __EXPORT Publication<filtered_bottom_flow_s>;
 
 }