introduce uORB::PublicationQueued and transition most orb_advertise_queue usage

src/modules/uORB/Publication.hpp

@@ -45,8 +45,7 @@ namespace uORB
 {
 
 /**
- * Base publication wrapper class, used in list traversal
- * of various publications.
+ * Base publication wrapper class
  */
 template<typename T>
 class Publication
@@ -61,7 +60,7 @@ public:
 	 * @param priority The priority for multi pub/sub, 0-based, -1 means
 	 * 	don't publish as multi
 	 */
-	Publication(const orb_metadata *meta, int priority = -1) : _meta(meta), _priority(priority) {}
+	Publication(const orb_metadata *meta, uint8_t priority = 0) : _meta(meta), _priority(priority) {}
 
 	~Publication() { orb_unadvertise(_handle); }
 
@@ -74,12 +73,7 @@ public:
 		bool updated = false;
 
 		if (_handle != nullptr) {
-			if (orb_publish(_meta, _handle, &data) != PX4_OK) {
-				PX4_ERR("%s publish fail", _meta->o_name);
-
-			} else {
-				updated = true;
-			}
+			updated = (orb_publish(_meta, _handle, &data) == PX4_OK);
 
 		} else {
 			orb_advert_t handle = nullptr;
@@ -106,13 +100,14 @@ public:
 
 protected:
 	const orb_metadata *_meta;
-	const int _priority;
 
 	orb_advert_t _handle{nullptr};
+
+	const uint8_t _priority;
 };
 
 /**
- * The publication base class as a list node.
+ * The publication class with data.
  */
 template<typename T>
 class PublicationData : public Publication<T>

src/modules/uORB/PublicationQueued.hpp

@@ -0,0 +1,97 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file PublicationQueued.hpp
+ *
+ */
+
+#pragma once
+
+#include <uORB/uORB.h>
+#include <px4_defines.h>
+
+namespace uORB
+{
+
+/**
+ * Queued publication with queue length set as a message constant (ORB_QUEUE_LENGTH)
+ */
+template<typename T>
+class PublicationQueued
+{
+public:
+
+	/**
+	 * Constructor
+	 *
+	 * @param meta The uORB metadata (usually from
+	 * 	the ORB_ID() macro) for the topic.
+	 */
+	PublicationQueued(const orb_metadata *meta) : _meta(meta) {}
+
+	~PublicationQueued() { orb_unadvertise(_handle); }
+
+	/**
+	 * Publish the struct
+	 * @param data The uORB message struct we are updating.
+	 */
+	bool publish(const T &data)
+	{
+		bool updated = false;
+
+		if (_handle != nullptr) {
+			updated = (orb_publish(_meta, _handle, &data) == PX4_OK);
+
+		} else {
+			orb_advert_t handle = orb_advertise_queue(_meta, &data, T::ORB_QUEUE_LENGTH);
+
+			if (handle != nullptr) {
+				_handle = handle;
+				updated = true;
+
+			} else {
+				PX4_ERR("%s advertise failed", _meta->o_name);
+			}
+		}
+
+		return updated;
+	}
+
+protected:
+	const orb_metadata *_meta;
+
+	orb_advert_t _handle{nullptr};
+};
+
+} // namespace uORB