Moved UOrbPubliction/Subscription to uORB::Publication/Subscription

src/drivers/md25/md25.cpp

@@ -52,7 +52,7 @@
 #include <arch/board/board.h>
 #include <mavlink/mavlink_log.h>
 
-#include <controllib/uorb/UOrbPublication.hpp>
+#include </uORB/Publication.hpp>
 #include <uORB/topics/debug_key_value.h>
 #include <drivers/drv_hrt.h>
 
@@ -587,7 +587,7 @@ int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitu
 	float prev_revolution = md25.getRevolutions1();
 
 	// debug publication
-	control::UOrbPublication<debug_key_value_s> debug_msg(NULL,
+	uORB::Publication<debug_key_value_s> debug_msg(NULL,
 			ORB_ID(debug_key_value));
 
 	// sine wave for motor 1

src/drivers/md25/md25.hpp

@@ -46,7 +46,7 @@
 
 #include <poll.h>
 #include <stdio.h>
-#include <controllib/uorb/UOrbSubscription.hpp>
+#include <uORB/Subscription.hpp>
 #include <uORB/topics/actuator_controls.h>
 #include <drivers/device/i2c.h>
 
@@ -270,7 +270,7 @@ private:
 	struct pollfd _controlPoll;
 
 	/** actuator controls subscription */
-	control::UOrbSubscription<actuator_controls_s> _actuators;
+	uORB::Subscription<actuator_controls_s> _actuators;
 
 	// local copy of data from i2c device
 	uint8_t _version;

src/drivers/roboclaw/RoboClaw.cpp

@@ -53,7 +53,7 @@
 #include <arch/board/board.h>
 #include <mavlink/mavlink_log.h>
 
-#include <controllib/uorb/UOrbPublication.hpp>
+#include <uORB/Publication.hpp>
 #include <uORB/topics/debug_key_value.h>
 #include <drivers/drv_hrt.h>
 

src/drivers/roboclaw/RoboClaw.hpp

@@ -45,7 +45,7 @@
 
 #include <poll.h>
 #include <stdio.h>
-#include <controllib/uorb/UOrbSubscription.hpp>
+#include <uORB/Subscription.hpp>
 #include <uORB/topics/actuator_controls.h>
 #include <drivers/device/i2c.h>
 
@@ -169,7 +169,7 @@ private:
 	struct pollfd _controlPoll;
 
 	/** actuator controls subscription */
-	control::UOrbSubscription<actuator_controls_s> _actuators;
+	uORB::Subscription<actuator_controls_s> _actuators;
 
 	// private data
 	float _motor1Position;

src/modules/att_pos_estimator_ekf/KalmanNav.hpp

@@ -47,8 +47,8 @@
 #include <mathlib/mathlib.h>
 #include <controllib/blocks.hpp>
 #include <controllib/block/BlockParam.hpp>
-#include <controllib/uorb/UOrbSubscription.hpp>
+#include <uORB/Subscription.hpp>
-#include <controllib/uorb/UOrbPublication.hpp>
+#include <uORB/Publication.hpp>
 
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_global_position.h>
@@ -138,13 +138,13 @@ protected:
 	math::Matrix<3,3> C_nb;             /**< direction cosine matrix from body to nav frame */
 	math::Quaternion q;         /**< quaternion from body to nav frame */
 	// subscriptions
-	control::UOrbSubscription<sensor_combined_s> _sensors;          /**< sensors sub. */
+	uORB::Subscription<sensor_combined_s> _sensors;          /**< sensors sub. */
-	control::UOrbSubscription<vehicle_gps_position_s> _gps;         /**< gps sub. */
+	uORB::Subscription<vehicle_gps_position_s> _gps;         /**< gps sub. */
-	control::UOrbSubscription<parameter_update_s> _param_update;    /**< parameter update sub. */
+	uORB::Subscription<parameter_update_s> _param_update;    /**< parameter update sub. */
 	// publications
-	control::UOrbPublication<vehicle_global_position_s> _pos;       /**< position pub. */
+	uORB::Publication<vehicle_global_position_s> _pos;       /**< position pub. */
-	control::UOrbPublication<vehicle_local_position_s> _localPos;   /**< local position pub. */
+	uORB::Publication<vehicle_local_position_s> _localPos;   /**< local position pub. */
-	control::UOrbPublication<vehicle_attitude_s> _att;              /**< attitude pub. */
+	uORB::Publication<vehicle_attitude_s> _att;              /**< attitude pub. */
 	// time stamps
 	uint64_t _pubTimeStamp;     /**< output data publication time stamp */
 	uint64_t _predictTimeStamp; /**< prediction time stamp */

src/modules/controllib/block/Block.cpp

@@ -43,8 +43,8 @@
 
 #include "Block.hpp"
 #include "BlockParam.hpp"
-#include "../uorb/UOrbSubscription.hpp"
+#include "uORB/Subscription.hpp"
-#include "../uorb/UOrbPublication.hpp"
+#include "uORB/Publication.hpp"
 
 namespace control
 {
@@ -100,7 +100,7 @@ void Block::updateParams()
 
 void Block::updateSubscriptions()
 {
-	UOrbSubscriptionBase *sub = getSubscriptions().getHead();
+	uORB::SubscriptionBase *sub = getSubscriptions().getHead();
 	int count = 0;
 
 	while (sub != NULL) {
@@ -118,7 +118,7 @@ void Block::updateSubscriptions()
 
 void Block::updatePublications()
 {
-	UOrbPublicationBase *pub = getPublications().getHead();
+	uORB::PublicationBase *pub = getPublications().getHead();
 	int count = 0;
 
 	while (pub != NULL) {

src/modules/controllib/block/Block.hpp

@@ -44,6 +44,12 @@
 
 #include "List.hpp"
 
+// forward declaration
+namespace uORB {
+	class SubscriptionBase;
+	class PublicationBase;
+}
+
 namespace control
 {
 
@@ -55,8 +61,6 @@ static const uint8_t blockNameLengthMax = 80;
 
 // forward declaration
 class BlockParamBase;
-class UOrbSubscriptionBase;
-class UOrbPublicationBase;
 class SuperBlock;
 
 /**
@@ -79,15 +83,15 @@ public:
 protected:
 // accessors
 	SuperBlock *getParent() { return _parent; }
-	List<UOrbSubscriptionBase *> & getSubscriptions() { return _subscriptions; }
+	List<uORB::SubscriptionBase *> & getSubscriptions() { return _subscriptions; }
-	List<UOrbPublicationBase *> & getPublications() { return _publications; }
+	List<uORB::PublicationBase *> & getPublications() { return _publications; }
 	List<BlockParamBase *> & getParams() { return _params; }
 // attributes
 	const char *_name;
 	SuperBlock *_parent;
 	float _dt;
-	List<UOrbSubscriptionBase *> _subscriptions;
+	List<uORB::SubscriptionBase *> _subscriptions;
-	List<UOrbPublicationBase *> _publications;
+	List<uORB::PublicationBase *> _publications;
 	List<BlockParamBase *> _params;
 };
 

src/modules/controllib/module.mk

@@ -37,7 +37,5 @@
 SRCS		 = test_params.c \
 		   block/Block.cpp \
 		   block/BlockParam.cpp \
-		   uorb/UOrbPublication.cpp \
-		   uorb/UOrbSubscription.cpp \
 		   uorb/blocks.cpp \
 		   blocks.cpp

src/modules/controllib/uorb/blocks.hpp

@@ -62,8 +62,8 @@ extern "C" {
 }
 
 #include "../blocks.hpp"
-#include "UOrbSubscription.hpp"
+#include <uORB/Subscription.hpp>
-#include "UOrbPublication.hpp"
+#include <uORB/Publication.hpp>
 
 namespace control
 {
@@ -94,16 +94,16 @@ class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock
 {
 protected:
 	// subscriptions
-	UOrbSubscription<vehicle_attitude_s> _att;
+	uORB::Subscription<vehicle_attitude_s> _att;
-	UOrbSubscription<vehicle_attitude_setpoint_s> _attCmd;
+	uORB::Subscription<vehicle_attitude_setpoint_s> _attCmd;
-	UOrbSubscription<vehicle_rates_setpoint_s> _ratesCmd;
+	uORB::Subscription<vehicle_rates_setpoint_s> _ratesCmd;
-	UOrbSubscription<vehicle_global_position_s> _pos;
+	uORB::Subscription<vehicle_global_position_s> _pos;
-	UOrbSubscription<position_setpoint_triplet_s> _missionCmd;
+	uORB::Subscription<position_setpoint_triplet_s> _missionCmd;
-	UOrbSubscription<manual_control_setpoint_s> _manual;
+	uORB::Subscription<manual_control_setpoint_s> _manual;
-	UOrbSubscription<vehicle_status_s> _status;
+	uORB::Subscription<vehicle_status_s> _status;
-	UOrbSubscription<parameter_update_s> _param_update;
+	uORB::Subscription<parameter_update_s> _param_update;
 	// publications
-	UOrbPublication<actuator_controls_s> _actuators;
+	uORB::Publication<actuator_controls_s> _actuators;
 public:
 	BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name);
 	virtual ~BlockUorbEnabledAutopilot();

src/modules/uORB/Publication.cpp

@@ -32,8 +32,8 @@
  ****************************************************************************/
 
 /**
- * @file UOrbPublication.cpp
+ * @file Publication.cpp
  *
  */
 
-#include "UOrbPublication.hpp"
+#include "Publication.hpp"

src/modules/uORB/Publication.hpp

@@ -32,32 +32,29 @@
  ****************************************************************************/
 
 /**
- * @file UOrbPublication.h
+ * @file Publication.h
  *
  */
 
 #pragma once
 
 #include <uORB/uORB.h>
-#include "../block/Block.hpp"
+#include <controllib/block/List.hpp>
-#include "../block/List.hpp"
 
 
-namespace control
+namespace uORB
 {
 
-class Block;
-
 /**
  * Base publication warapper class, used in list traversal
  * of various publications.
  */
-class __EXPORT UOrbPublicationBase : public ListNode<control::UOrbPublicationBase *>
+class __EXPORT PublicationBase : public ListNode<uORB::PublicationBase *>
 {
 public:
 
-	UOrbPublicationBase(
+	PublicationBase(
-		List<UOrbPublicationBase *> * list,
+		List<PublicationBase *> * list,
 		const struct orb_metadata *meta) :
 		_meta(meta),
 		_handle(-1) {
@@ -71,7 +68,7 @@ public:
 		}
 	}
 	virtual void *getDataVoidPtr() = 0;
-	virtual ~UOrbPublicationBase() {
+	virtual ~PublicationBase() {
 		orb_unsubscribe(getHandle());
 	}
 	const struct orb_metadata *getMeta() { return _meta; }
@@ -83,12 +80,12 @@ protected:
 };
 
 /**
- * UOrb Publication wrapper class
+ * Publication wrapper class
  */
 template<class T>
-class UOrbPublication :
+class Publication :
 	public T, // this must be first!
-	public UOrbPublicationBase
+	public PublicationBase
 {
 public:
 	/**
@@ -98,13 +95,13 @@ public:
 	 * @param meta		The uORB metadata (usually from the ORB_ID() macro)
 	 *			for the topic.
 	 */
-	UOrbPublication(
+	Publication(
-		List<UOrbPublicationBase *> * list,
+		List<PublicationBase *> * list,
 		const struct orb_metadata *meta) :
 		T(), // initialize data structure to zero
-		UOrbPublicationBase(list, meta) {
+		PublicationBase(list, meta) {
 	}
-	virtual ~UOrbPublication() {}
+	virtual ~Publication() {}
 	/*
 	 * XXX
 	 * This function gets the T struct, assuming
@@ -115,4 +112,4 @@ public:
 	void *getDataVoidPtr() { return (void *)(T *)(this); }
 };
 
-} // namespace control
+} // namespace uORB

src/modules/uORB/Subscription.cpp

@@ -32,20 +32,20 @@
  ****************************************************************************/
 
 /**
- * @file UOrbSubscription.cpp
+ * @file Subscription.cpp
  *
  */
 
-#include "UOrbSubscription.hpp"
+#include "Subscription.hpp"
 
-namespace control
+namespace uORB
 {
 
-bool __EXPORT UOrbSubscriptionBase::updated()
+bool __EXPORT SubscriptionBase::updated()
 {
 	bool isUpdated = false;
 	orb_check(_handle, &isUpdated);
 	return isUpdated;
 }
 
-} // namespace control
+} // namespace uORB

src/modules/uORB/Subscription.hpp

@@ -32,28 +32,25 @@
  ****************************************************************************/
 
 /**
- * @file UOrbSubscription.h
+ * @file Subscription.h
  *
  */
 
 #pragma once
 
 #include <uORB/uORB.h>
-#include "../block/Block.hpp"
+#include <controllib/block/List.hpp>
-#include "../block/List.hpp"
 
 
-namespace control
+namespace uORB
 {
 
-class Block;
-
 /**
  * Base subscription warapper class, used in list traversal
  * of various subscriptions.
  */
-class __EXPORT UOrbSubscriptionBase :
+class __EXPORT SubscriptionBase :
-	public ListNode<control::UOrbSubscriptionBase *>
+	public ListNode<SubscriptionBase *>
 {
 public:
 // methods
@@ -64,8 +61,8 @@ public:
 	 * @param meta		The uORB metadata (usually from the ORB_ID() macro)
 	 *			for the topic.
 	 */
-	UOrbSubscriptionBase(
+	SubscriptionBase(
-		List<UOrbSubscriptionBase *> * list,
+		List<SubscriptionBase *> * list,
 		const struct orb_metadata *meta) :
 		_meta(meta),
 		_handle() {
@@ -78,7 +75,7 @@ public:
 		}
 	}
 	virtual void *getDataVoidPtr() = 0;
-	virtual ~UOrbSubscriptionBase() {
+	virtual ~SubscriptionBase() {
 		orb_unsubscribe(_handle);
 	}
 // accessors
@@ -93,12 +90,12 @@ protected:
 };
 
 /**
- * UOrb Subscription wrapper class
+ * Subscription wrapper class
  */
 template<class T>
-class __EXPORT UOrbSubscription :
+class __EXPORT Subscription :
 	public T, // this must be first!
-	public UOrbSubscriptionBase
+	public SubscriptionBase
 {
 public:
 	/**
@@ -109,11 +106,11 @@ public:
 	 *			for the topic.
 	 * @param interval  The minimum interval in milliseconds between updates
 	 */
-	UOrbSubscription(
+	Subscription(
-		List<UOrbSubscriptionBase *> * list,
+		List<SubscriptionBase *> * list,
 		const struct orb_metadata *meta, unsigned interval) :
 		T(), // initialize data structure to zero
-		UOrbSubscriptionBase(list, meta) {
+		SubscriptionBase(list, meta) {
 		setHandle(orb_subscribe(getMeta()));
 		orb_set_interval(getHandle(), interval);
 	}
@@ -121,7 +118,7 @@ public:
 	/**
 	 * Deconstructor
 	 */
-	virtual ~UOrbSubscription() {}
+	virtual ~Subscription() {}
 
 	/*
 	 * XXX
@@ -134,4 +131,4 @@ public:
 	T getData() { return T(*this); }
 };
 
-} // namespace control
+} // namespace uORB

src/modules/uORB/module.mk

@@ -41,4 +41,6 @@ MODULE_COMMAND		= uorb
 MODULE_STACKSIZE	= 4096
 
 SRCS			= uORB.cpp \
-			  objects_common.cpp
+			  objects_common.cpp \
+			  Publication.cpp \
+			  Subscription.cpp