introduce uORB::PublicationQueued and transition most orb_advertise_queue usage

src/modules/vmount/input_mavlink.cpp

@@ -39,7 +39,7 @@
  */
 
 #include "input_mavlink.h"
-#include <uORB/uORB.h>
+#include <uORB/PublicationQueued.hpp>
 #include <uORB/topics/vehicle_roi.h>
 #include <uORB/topics/vehicle_command_ack.h>
 #include <uORB/topics/position_setpoint_triplet.h>
@@ -333,7 +333,7 @@ int InputMavlinkCmdMount::update_impl(unsigned int timeout_ms, ControlData **con
 
 void InputMavlinkCmdMount::_ack_vehicle_command(vehicle_command_s *cmd)
 {
-	vehicle_command_ack_s vehicle_command_ack = {};
+	vehicle_command_ack_s vehicle_command_ack{};
 
 	vehicle_command_ack.timestamp = hrt_absolute_time();
 	vehicle_command_ack.command = cmd->command;
@@ -341,13 +341,8 @@ void InputMavlinkCmdMount::_ack_vehicle_command(vehicle_command_s *cmd)
 	vehicle_command_ack.target_system = cmd->source_system;
 	vehicle_command_ack.target_component = cmd->source_component;
 
-	if (_vehicle_command_ack_pub == nullptr) {
-		_vehicle_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &vehicle_command_ack,
-					   vehicle_command_ack_s::ORB_QUEUE_LENGTH);
-
-	} else {
-		orb_publish(ORB_ID(vehicle_command_ack), _vehicle_command_ack_pub, &vehicle_command_ack);
-	}
+	uORB::PublicationQueued<vehicle_command_ack_s> cmd_ack_pub{ORB_ID(vehicle_command_ack)};
+	cmd_ack_pub.publish(vehicle_command_ack);
 }
 
 void InputMavlinkCmdMount::print_status()

src/modules/vmount/input_mavlink.h

@@ -43,13 +43,11 @@
 #include "input_rc.h"
 #include <cstdint>
 
-#include <uORB/topics/vehicle_roi.h>
 #include <uORB/topics/vehicle_command.h>
+#include <uORB/topics/vehicle_roi.h>
 
 namespace vmount
 {
-
-
 /**
  ** class InputMavlinkROI
  ** Input based on the vehicle_roi topic
@@ -95,7 +93,6 @@ private:
 	void _ack_vehicle_command(vehicle_command_s *cmd);
 
 	int _vehicle_command_sub = -1;
-	orb_advert_t _vehicle_command_ack_pub = nullptr;
 	bool _stabilize[3] = { false, false, false };
 
 	int32_t _mav_sys_id{1}; ///< our mavlink system id

src/modules/vmount/output_mavlink.cpp

@@ -54,16 +54,9 @@ OutputMavlink::OutputMavlink(const OutputConfig &output_config)
 {
 }
 
-OutputMavlink::~OutputMavlink()
-{
-	if (_vehicle_command_pub) {
-		orb_unadvertise(_vehicle_command_pub);
-	}
-}
-
 int OutputMavlink::update(const ControlData *control_data)
 {
-	vehicle_command_s vehicle_command = {};
+	vehicle_command_s vehicle_command{};
 	vehicle_command.timestamp = hrt_absolute_time();
 	vehicle_command.target_system = (uint8_t)_config.mavlink_sys_id;
 	vehicle_command.target_component = (uint8_t)_config.mavlink_comp_id;
@@ -82,18 +75,7 @@ int OutputMavlink::update(const ControlData *control_data)
 			vehicle_command.param1 = vehicle_command_s::VEHICLE_MOUNT_MODE_MAVLINK_TARGETING;
 		}
 
-		if (_vehicle_command_pub) {
-			orb_publish(ORB_ID(vehicle_command), _vehicle_command_pub, &vehicle_command);
-
-		} else {
-			_vehicle_command_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vehicle_command,
-					       vehicle_command_s::ORB_QUEUE_LENGTH);
-		}
-
-	}
-
-	if (!_vehicle_command_pub) {
-		return 0;
+		_vehicle_command_pub.publish(vehicle_command);
 	}
 
 	_handle_position_update();
@@ -110,7 +92,7 @@ int OutputMavlink::update(const ControlData *control_data)
 	vehicle_command.param2 = (_angle_outputs[0] + _config.roll_offset) * M_RAD_TO_DEG_F;
 	vehicle_command.param3 = (_angle_outputs[2] + _config.yaw_offset) * M_RAD_TO_DEG_F;
 
-	orb_publish(ORB_ID(vehicle_command), _vehicle_command_pub, &vehicle_command);
+	_vehicle_command_pub.publish(vehicle_command);
 
 	_last_update = t;
 

src/modules/vmount/output_mavlink.h

@@ -41,13 +41,11 @@
 
 #include "output.h"
 
-#include <uORB/uORB.h>
-
+#include <uORB/PublicationQueued.hpp>
+#include <uORB/topics/vehicle_command.h>
 
 namespace vmount
 {
-
-
 /**
  ** class OutputMavlink
  *  Output via vehicle_command topic
@@ -56,14 +54,15 @@ class OutputMavlink : public OutputBase
 {
 public:
 	OutputMavlink(const OutputConfig &output_config);
-	virtual ~OutputMavlink();
+	virtual ~OutputMavlink() = default;
 
 	virtual int update(const ControlData *control_data);
 
 	virtual void print_status();
 
 private:
-	orb_advert_t _vehicle_command_pub = nullptr;
+
+	uORB::PublicationQueued<vehicle_command_s> _vehicle_command_pub{ORB_ID(vehicle_command)};
 };