introduce uORB::PublicationQueued and transition most orb_advertise_queue usage

src/modules/events/send_event.cpp

@@ -195,20 +195,15 @@ void SendEvent::process_commands()
 void SendEvent::answer_command(const vehicle_command_s &cmd, unsigned result)
 {
 	/* publish ACK */
-	vehicle_command_ack_s command_ack = {};
+	vehicle_command_ack_s command_ack{};
 	command_ack.timestamp = hrt_absolute_time();
 	command_ack.command = cmd.command;
 	command_ack.result = (uint8_t)result;
 	command_ack.target_system = cmd.source_system;
 	command_ack.target_component = cmd.source_component;
 
-	if (_command_ack_pub != nullptr) {
-		orb_publish(ORB_ID(vehicle_command_ack), _command_ack_pub, &command_ack);
-
-	} else {
-		_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
-						       vehicle_command_ack_s::ORB_QUEUE_LENGTH);
-	}
+	uORB::PublicationQueued<vehicle_command_ack_s>	command_ack_pub{ORB_ID(vehicle_command_ack)};
+	command_ack_pub.publish(command_ack);
 }
 
 int SendEvent::print_usage(const char *reason)
@@ -275,7 +270,7 @@ int SendEvent::custom_command(int argc, char *argv[])
 			}
 		}
 
-		vehicle_command_s vcmd = {};
+		vehicle_command_s vcmd{};
 		vcmd.timestamp = hrt_absolute_time();
 		vcmd.param1 = (float)((gyro_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN);
 		vcmd.param2 = NAN;
@@ -286,7 +281,8 @@ int SendEvent::custom_command(int argc, char *argv[])
 		vcmd.param7 = (float)((baro_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN);
 		vcmd.command = vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION;
 
-		orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);
+		uORB::PublicationQueued<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
+		vcmd_pub.publish(vcmd);
 
 	} else {
 		print_usage("unrecognized command");

src/modules/events/send_event.h

@@ -40,6 +40,7 @@
 #include <px4_workqueue.h>
 #include <px4_module.h>
 #include <px4_module_params.h>
+#include <uORB/PublicationQueued.hpp>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_command_ack.h>
 
@@ -132,9 +133,6 @@ private:
 	/** @var _rc_loss_alarm Pointer to the RC loss alarm object. */
 	rc_loss::RC_Loss_Alarm *_rc_loss_alarm = nullptr;
 
-	/** @var _command_ack_pub The command ackowledgement topic. */
-	orb_advert_t _command_ack_pub = nullptr;
-
 	/** @note Declare local parameters using defined parameters. */
 	DEFINE_PARAMETERS(
 		/** @var _param_status_display Parameter to enable/disable the LED status display. */

src/modules/events/status_display.cpp

@@ -102,12 +102,7 @@ void StatusDisplay::publish()
 {
 	_led_control.timestamp = hrt_absolute_time();
 
-	if (_led_control_pub != nullptr) {
-		orb_publish(ORB_ID(led_control), _led_control_pub, &_led_control);
-
-	} else {
-		_led_control_pub =  orb_advertise_queue(ORB_ID(led_control), &_led_control, LED_UORB_QUEUE_LENGTH);
-	}
+	_led_control_pub.publish(_led_control);
 }
 
 } /* namespace status */

src/modules/events/status_display.h

@@ -44,7 +44,7 @@
 
 #include <drivers/drv_hrt.h>
 
-#include <uORB/uORB.h>
+#include <uORB/PublicationQueued.hpp>
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/cpuload.h>
 #include <uORB/topics/led_control.h>
@@ -96,7 +96,9 @@ private:
 	bool _critical_battery = false;
 	int _old_nav_state = -1;
 	int _old_battery_status_warning = -1;
-	orb_advert_t _led_control_pub = nullptr;
+
+	uORB::PublicationQueued<led_control_s> _led_control_pub{ORB_ID(led_control)};
+
 	const events::SubscriberHandler &_subscriber_handler;
 };
 

src/modules/events/temperature_calibration/task.cpp

@@ -39,6 +39,7 @@
  * @author Beat Küng <beat-kueng@gmx.net>
  */
 
+#include <uORB/PublicationQueued.hpp>
 #include <uORB/topics/sensor_gyro.h>
 #include <mathlib/mathlib.h>
 #include <px4_log.h>
@@ -92,7 +93,7 @@ public:
 private:
 	void publish_led_control(led_control_s &led_control);
 
-	orb_advert_t _led_control_pub = nullptr;
+	uORB::PublicationQueued<led_control_s> _led_control_pub{ORB_ID(led_control)};
 
 	bool	_force_task_exit = false;
 	int	_control_task = -1;		// task handle for task
@@ -349,13 +350,7 @@ int TemperatureCalibration::start()
 void TemperatureCalibration::publish_led_control(led_control_s &led_control)
 {
 	led_control.timestamp = hrt_absolute_time();
-
-	if (_led_control_pub == nullptr) {
-		_led_control_pub = orb_advertise_queue(ORB_ID(led_control), &led_control, LED_UORB_QUEUE_LENGTH);
-
-	} else {
-		orb_publish(ORB_ID(led_control), _led_control_pub, &led_control);
-	}
+	_led_control_pub.publish(led_control);
 }
 
 int run_temperature_calibration(bool accel, bool baro, bool gyro)