uORB::Publication simplify and cleanup

- base class is now template
 - drop linked list
 - virtualization no longer required

src/drivers/md25/md25.cpp

@@ -583,8 +583,7 @@ int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitu
 	float prev_revolution = md25.getRevolutions1();
 
 	// debug publication
-	uORB::Publication<debug_key_value_s> debug_msg(NULL,
-			ORB_ID(debug_key_value));
+	uORB::PublicationData<debug_key_value_s> debug_msg{ORB_ID(debug_key_value)};
 
 	// sine wave for motor 1
 	md25.resetEncoders();

src/examples/segway/BlockSegwayController.cpp

@@ -61,6 +61,6 @@ void BlockSegwayController::update()
 		actuators.control[CH_RIGHT] = -_manual.get().x;
 	}
 
-	// update all publications
-	updatePublications();
+	// publish
+	_actuators.update();
 }

src/examples/segway/blocks.cpp

@@ -95,7 +95,7 @@ BlockUorbEnabledAutopilot::BlockUorbEnabledAutopilot(SuperBlock *parent, const c
 	_status(ORB_ID(vehicle_status), 20, 0, &getSubscriptions()),
 
 	// publications
-	_actuators(ORB_ID(actuator_controls_0), -1, &getPublications())
+	_actuators(ORB_ID(actuator_controls_0))
 {
 }
 

src/examples/segway/blocks.hpp

@@ -102,7 +102,8 @@ protected:
 	uORB::SubscriptionPollable<vehicle_status_s> _status;
 
 	// publications
-	uORB::Publication<actuator_controls_s> _actuators;
+	uORB::PublicationData<actuator_controls_s> _actuators{ORB_ID(actuator_controls_0)};
+
 public:
 	BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name);
 	virtual ~BlockUorbEnabledAutopilot() = default;

src/lib/controllib/block/Block.cpp

@@ -43,7 +43,6 @@
 #include <cstring>
 
 #include <uORB/SubscriptionPollable.hpp>
-#include <uORB/Publication.hpp>
 
 namespace control
 {
@@ -118,24 +117,6 @@ void Block::updateSubscriptions()
 	}
 }
 
-void Block::updatePublications()
-{
-	uORB::PublicationNode *pub = getPublications().getHead();
-	int count = 0;
-
-	while (pub != nullptr) {
-		if (count++ > maxPublicationsPerBlock) {
-			char name[blockNameLengthMax];
-			getName(name, blockNameLengthMax);
-			PX4_ERR("exceeded max publications for block: %s", name);
-			break;
-		}
-
-		pub->update();
-		pub = pub->getSibling();
-	}
-}
-
 void SuperBlock::setDt(float dt)
 {
 	Block::setDt(dt);
@@ -191,26 +172,7 @@ void SuperBlock::updateChildSubscriptions()
 	}
 }
 
-void SuperBlock::updateChildPublications()
-{
-	Block *child = getChildren().getHead();
-	int count = 0;
-
-	while (child != nullptr) {
-		if (count++ > maxChildrenPerBlock) {
-			char name[blockNameLengthMax];
-			getName(name, blockNameLengthMax);
-			PX4_ERR("exceeded max children for block: %s", name);
-			break;
-		}
-
-		child->updatePublications();
-		child = child->getSibling();
-	}
-}
-
 } // namespace control
 
 template class List<uORB::SubscriptionPollableNode *>;
-template class List<uORB::PublicationNode *>;
 template class List<control::BlockParamBase *>;

src/lib/controllib/block/Block.hpp

@@ -40,7 +40,6 @@
 #pragma once
 
 #include <containers/List.hpp>
-#include <uORB/Publication.hpp>
 #include <uORB/SubscriptionPollable.hpp>
 #include <controllib/block/BlockParam.hpp>
 
@@ -50,7 +49,6 @@ namespace control
 static constexpr uint8_t maxChildrenPerBlock = 100;
 static constexpr uint8_t maxParamsPerBlock = 110;
 static constexpr uint8_t maxSubscriptionsPerBlock = 100;
-static constexpr uint8_t maxPublicationsPerBlock = 100;
 static constexpr uint8_t blockNameLengthMax = 40;
 
 // forward declaration
@@ -77,7 +75,6 @@ public:
 
 	virtual void updateParams();
 	virtual void updateSubscriptions();
-	virtual void updatePublications();
 
 	virtual void setDt(float dt) { _dt = dt; }
 	float getDt() { return _dt; }
@@ -88,7 +85,6 @@ protected:
 
 	SuperBlock *getParent() { return _parent; }
 	List<uORB::SubscriptionPollableNode *> &getSubscriptions() { return _subscriptions; }
-	List<uORB::PublicationNode *> &getPublications() { return _publications; }
 	List<BlockParamBase *> &getParams() { return _params; }
 
 	const char *_name;
@@ -96,7 +92,6 @@ protected:
 	float _dt{0.0f};
 
 	List<uORB::SubscriptionPollableNode *> _subscriptions;
-	List<uORB::PublicationNode *> _publications;
 	List<BlockParamBase *> _params;
 };
 
@@ -130,18 +125,11 @@ public:
 
 		if (getChildren().getHead() != nullptr) { updateChildSubscriptions(); }
 	}
-	void updatePublications() override
-	{
-		Block::updatePublications();
-
-		if (getChildren().getHead() != nullptr) { updateChildPublications(); }
-	}
 
 protected:
 	List<Block *> &getChildren() { return _children; }
 	void updateChildParams();
 	void updateChildSubscriptions();
-	void updateChildPublications();
 
 	List<Block *> _children;
 };

src/lib/drivers/accelerometer/PX4Accelerometer.hpp

@@ -68,7 +68,7 @@ private:
 
 	void configure_filter(float cutoff_freq) { _filter.set_cutoff_frequency(_sample_rate, cutoff_freq); }
 
-	uORB::Publication<sensor_accel_s>	_sensor_accel_pub;
+	uORB::PublicationData<sensor_accel_s>	_sensor_accel_pub;
 
 	math::LowPassFilter2pVector3f _filter{1000, 100};
 	Integrator _integrator{4000, false};

src/lib/drivers/barometer/PX4Barometer.hpp

@@ -59,7 +59,7 @@ public:
 
 private:
 
-	uORB::Publication<sensor_baro_s>	_sensor_baro_pub;
+	uORB::PublicationData<sensor_baro_s>	_sensor_baro_pub;
 
 	int			_class_device_instance{-1};
 

src/lib/drivers/gyroscope/PX4Gyroscope.hpp

@@ -68,7 +68,7 @@ private:
 
 	void configure_filter(float cutoff_freq) { _filter.set_cutoff_frequency(_sample_rate, cutoff_freq); }
 
-	uORB::Publication<sensor_gyro_s>	_sensor_gyro_pub;
+	uORB::PublicationData<sensor_gyro_s>	_sensor_gyro_pub;
 
 	math::LowPassFilter2pVector3f _filter{1000, 100};
 	Integrator _integrator{4000, true};

src/lib/drivers/magnetometer/PX4Magnetometer.hpp

@@ -63,7 +63,7 @@ public:
 
 private:
 
-	uORB::Publication<sensor_mag_s>	_sensor_mag_pub;
+	uORB::PublicationData<sensor_mag_s>	_sensor_mag_pub;
 
 	const enum Rotation	_rotation;
 

src/modules/commander/Commander.hpp

@@ -245,7 +245,7 @@ private:
 	uORB::SubscriptionData<vehicle_local_position_s>	_local_position_sub{ORB_ID(vehicle_local_position)};
 
 	// Publications
-	uORB::Publication<home_position_s>			_home_pub{ORB_ID(home_position)};
+	uORB::PublicationData<home_position_s>			_home_pub{ORB_ID(home_position)};
 
 	orb_advert_t					_status_pub{nullptr};
 };

src/modules/ekf2/ekf2_main.cpp

@@ -275,18 +275,17 @@ private:
 	uORB::Subscription _gps_subs[GPS_MAX_RECEIVERS] {{ORB_ID(vehicle_gps_position), 0}, {ORB_ID(vehicle_gps_position), 1}};
 	int _gps_orb_instance{ -1};
 
-	orb_advert_t _att_pub{nullptr};
-	orb_advert_t _wind_pub{nullptr};
-	orb_advert_t _estimator_status_pub{nullptr};
-	orb_advert_t _ekf_gps_drift_pub{nullptr};
-	orb_advert_t _estimator_innovations_pub{nullptr};
-	orb_advert_t _ekf2_timestamps_pub{nullptr};
-	orb_advert_t _sensor_bias_pub{nullptr};
-	orb_advert_t _blended_gps_pub{nullptr};
-
-	uORB::Publication<vehicle_local_position_s> _vehicle_local_position_pub;
-	uORB::Publication<vehicle_global_position_s> _vehicle_global_position_pub;
-	uORB::Publication<vehicle_odometry_s> _vehicle_odometry_pub;
+	uORB::Publication<ekf2_innovations_s>			_estimator_innovations_pub{ORB_ID(ekf2_innovations)};
+	uORB::Publication<ekf2_timestamps_s>			_ekf2_timestamps_pub{ORB_ID(ekf2_timestamps)};
+	uORB::Publication<ekf_gps_drift_s>			_ekf_gps_drift_pub{ORB_ID(ekf_gps_drift)};
+	uORB::Publication<ekf_gps_position_s>			_blended_gps_pub{ORB_ID(ekf_gps_position)};
+	uORB::Publication<estimator_status_s>			_estimator_status_pub{ORB_ID(estimator_status)};
+	uORB::Publication<sensor_bias_s>			_sensor_bias_pub{ORB_ID(sensor_bias)};
+	uORB::Publication<vehicle_attitude_s>			_att_pub{ORB_ID(vehicle_attitude)};
+	uORB::Publication<vehicle_odometry_s>			_vehicle_odometry_pub{ORB_ID(vehicle_odometry)};
+	uORB::Publication<wind_estimate_s>			_wind_pub{ORB_ID(wind_estimate)};
+	uORB::PublicationData<vehicle_global_position_s>	_vehicle_global_position_pub{ORB_ID(vehicle_global_position)};
+	uORB::PublicationData<vehicle_local_position_s>		_vehicle_local_position_pub{ORB_ID(vehicle_local_position)};
 
 	Ekf _ekf;
 
@@ -535,9 +534,6 @@ Ekf2::Ekf2():
 	ModuleParams(nullptr),
 	_perf_update_data(perf_alloc_once(PC_ELAPSED, "EKF2 data acquisition")),
 	_perf_ekf_update(perf_alloc_once(PC_ELAPSED, "EKF2 update")),
-	_vehicle_local_position_pub(ORB_ID(vehicle_local_position)),
-	_vehicle_global_position_pub(ORB_ID(vehicle_global_position)),
-	_vehicle_odometry_pub(ORB_ID(vehicle_odometry)),
 	_params(_ekf.getParamHandle()),
 	_param_ekf2_min_obs_dt(_params->sensor_interval_min_ms),
 	_param_ekf2_mag_delay(_params->mag_delay_ms),
@@ -1066,7 +1062,7 @@ void Ekf2::run()
 				gps.selected = _gps_select_index;
 
 				// Publish to the EKF blended GPS topic
-				orb_publish_auto(ORB_ID(ekf_gps_position), &_blended_gps_pub, &gps, &_gps_orb_instance, ORB_PRIO_LOW);
+				_blended_gps_pub.publish(gps);
 
 				// clear flag to avoid re-use of the same data
 				_gps_new_output_data = false;
@@ -1258,7 +1254,7 @@ void Ekf2::run()
 				vehicle_local_position_s &lpos = _vehicle_local_position_pub.get();
 
 				// generate vehicle odometry data
-				vehicle_odometry_s &odom = _vehicle_odometry_pub.get();
+				vehicle_odometry_s odom{};
 
 				lpos.timestamp = now;
 				odom.timestamp = lpos.timestamp;
@@ -1438,7 +1434,7 @@ void Ekf2::run()
 				_vehicle_local_position_pub.update();
 
 				// publish vehicle odometry data
-				_vehicle_odometry_pub.update();
+				_vehicle_odometry_pub.publish(odom);
 
 				if (_ekf.global_position_is_valid() && !_preflt_fail) {
 					// generate and publish global position data
@@ -1509,12 +1505,7 @@ void Ekf2::run()
 				bias.accel_y = sensors.accelerometer_m_s2[1] - accel_bias[1];
 				bias.accel_z = sensors.accelerometer_m_s2[2] - accel_bias[2];
 
-				if (_sensor_bias_pub == nullptr) {
-					_sensor_bias_pub = orb_advertise(ORB_ID(sensor_bias), &bias);
-
-				} else {
-					orb_publish(ORB_ID(sensor_bias), _sensor_bias_pub, &bias);
-				}
+				_sensor_bias_pub.publish(bias);
 			}
 
 			// publish estimator status
@@ -1543,12 +1534,7 @@ void Ekf2::run()
 			status.timeout_flags = 0.0f; // unused
 			status.pre_flt_fail = _preflt_fail;
 
-			if (_estimator_status_pub == nullptr) {
-				_estimator_status_pub = orb_advertise(ORB_ID(estimator_status), &status);
-
-			} else {
-				orb_publish(ORB_ID(estimator_status), _estimator_status_pub, &status);
-			}
+			_estimator_status_pub.publish(status);
 
 			// publish GPS drift data only when updated to minimise overhead
 			float gps_drift[3];
@@ -1562,12 +1548,7 @@ void Ekf2::run()
 				drift_data.hspd = gps_drift[2];
 				drift_data.blocked = blocked;
 
-				if (_ekf_gps_drift_pub == nullptr) {
-					_ekf_gps_drift_pub = orb_advertise(ORB_ID(ekf_gps_drift), &drift_data);
-
-				} else {
-					orb_publish(ORB_ID(ekf_gps_drift), _ekf_gps_drift_pub, &drift_data);
-				}
+				_ekf_gps_drift_pub.publish(drift_data);
 			}
 
 			{
@@ -1732,23 +1713,12 @@ void Ekf2::run()
 					_preflt_fail = false;
 				}
 
-				if (_estimator_innovations_pub == nullptr) {
-					_estimator_innovations_pub = orb_advertise(ORB_ID(ekf2_innovations), &innovations);
-
-				} else {
-					orb_publish(ORB_ID(ekf2_innovations), _estimator_innovations_pub, &innovations);
+				_estimator_innovations_pub.publish(innovations);
 			}
 		}
 
-		}
-
 		// publish ekf2_timestamps
-		if (_ekf2_timestamps_pub == nullptr) {
-			_ekf2_timestamps_pub = orb_advertise(ORB_ID(ekf2_timestamps), &ekf2_timestamps);
-
-		} else {
-			orb_publish(ORB_ID(ekf2_timestamps), _ekf2_timestamps_pub, &ekf2_timestamps);
-		}
+		_ekf2_timestamps_pub.publish(ekf2_timestamps);
 	}
 }
 
@@ -1788,18 +1758,15 @@ bool Ekf2::publish_attitude(const sensor_combined_s &sensors, const hrt_abstime
 		att.pitchspeed = sensors.gyro_rad[1] - gyro_bias[1];
 		att.yawspeed = sensors.gyro_rad[2] - gyro_bias[2];
 
-		int instance;
-		orb_publish_auto(ORB_ID(vehicle_attitude), &_att_pub, &att, &instance, ORB_PRIO_HIGH);
+		_att_pub.publish(att);
 
 		return true;
 
 	}  else if (_replay_mode) {
 		// in replay mode we have to tell the replay module not to wait for an update
 		// we do this by publishing an attitude with zero timestamp
-		vehicle_attitude_s att = {};
-
-		int instance;
-		orb_publish_auto(ORB_ID(vehicle_attitude), &_att_pub, &att, &instance, ORB_PRIO_HIGH);
+		vehicle_attitude_s att{};
+		_att_pub.publish(att);
 	}
 
 	return false;
@@ -1822,8 +1789,7 @@ bool Ekf2::publish_wind_estimate(const hrt_abstime &timestamp)
 		wind_estimate.variance_north = wind_var[0];
 		wind_estimate.variance_east = wind_var[1];
 
-		int instance;
-		orb_publish_auto(ORB_ID(wind_estimate), &_wind_pub, &wind_estimate, &instance, ORB_PRIO_DEFAULT);
+		_wind_pub.publish(wind_estimate);
 
 		return true;
 	}

src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp

@@ -47,14 +47,6 @@ BlockLocalPositionEstimator::BlockLocalPositionEstimator() :
 	_sub_sonar(nullptr),
 	_sub_landing_target_pose(ORB_ID(landing_target_pose), 1000 / 40, 0, &getSubscriptions()),
 	_sub_airdata(ORB_ID(vehicle_air_data), 0, 0, &getSubscriptions()),
-
-	// publications
-	_pub_lpos(ORB_ID(vehicle_local_position), -1, &getPublications()),
-	_pub_gpos(ORB_ID(vehicle_global_position), -1, &getPublications()),
-	_pub_odom(ORB_ID(vehicle_odometry), -1, &getPublications()),
-	_pub_est_status(ORB_ID(estimator_status), -1, &getPublications()),
-	_pub_innov(ORB_ID(ekf2_innovations), -1, &getPublications()),
-
 	// map projection
 	_map_ref(),
 

src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp

@@ -266,11 +266,11 @@ private:
 	uORB::SubscriptionPollable<vehicle_air_data_s> _sub_airdata;
 
 	// publications
-	uORB::Publication<vehicle_local_position_s> _pub_lpos;
-	uORB::Publication<vehicle_global_position_s> _pub_gpos;
-	uORB::Publication<vehicle_odometry_s> _pub_odom;
-	uORB::Publication<estimator_status_s> _pub_est_status;
-	uORB::Publication<ekf2_innovations_s> _pub_innov;
+	uORB::PublicationData<vehicle_local_position_s> _pub_lpos{ORB_ID(vehicle_local_position)};
+	uORB::PublicationData<vehicle_global_position_s> _pub_gpos{ORB_ID(vehicle_global_position)};
+	uORB::PublicationData<vehicle_odometry_s> _pub_odom{ORB_ID(vehicle_odometry)};
+	uORB::PublicationData<estimator_status_s> _pub_est_status{ORB_ID(estimator_status)};
+	uORB::PublicationData<ekf2_innovations_s> _pub_innov{ORB_ID(ekf2_innovations)};
 
 	// map projection
 	struct map_projection_reference_s _map_ref;

src/modules/mc_att_control/mc_att_control.hpp

@@ -41,6 +41,7 @@
 #include <px4_module_params.h>
 #include <px4_posix.h>
 #include <px4_tasks.h>
+#include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/battery_status.h>
@@ -161,11 +162,12 @@ private:
 	unsigned _gyro_count{1};
 	int _selected_gyro{0};
 
-	orb_advert_t	_v_rates_sp_pub{nullptr};		/**< rate setpoint publication */
+	uORB::Publication<rate_ctrl_status_s>		_controller_status_pub{ORB_ID(rate_ctrl_status), ORB_PRIO_DEFAULT};	/**< controller status publication */
+	uORB::Publication<landing_gear_s>		_landing_gear_pub{ORB_ID(landing_gear)};
+	uORB::Publication<vehicle_rates_setpoint_s>	_v_rates_sp_pub{ORB_ID(vehicle_rates_setpoint)};			/**< rate setpoint publication */
+
 	orb_advert_t	_actuators_0_pub{nullptr};		/**< attitude actuator controls publication */
-	orb_advert_t	_controller_status_pub{nullptr};	/**< controller status publication */
 	orb_advert_t	_vehicle_attitude_setpoint_pub{nullptr};
-	orb_advert_t	_landing_gear_pub{nullptr};
 
 	orb_id_t _actuators_id{nullptr};	/**< pointer to correct actuator controls0 uORB metadata structure */
 	orb_id_t _attitude_sp_id{nullptr};	/**< pointer to correct attitude setpoint uORB metadata structure */

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -345,7 +345,7 @@ MulticopterAttitudeControl::generate_attitude_setpoint(float dt, bool reset_yaw_
 
 	_landing_gear.landing_gear = get_landing_gear_state();
 	_landing_gear.timestamp = hrt_absolute_time();
-	orb_publish_auto(ORB_ID(landing_gear), &_landing_gear_pub, &_landing_gear, nullptr, ORB_PRIO_DEFAULT);
+	_landing_gear_pub.publish(_landing_gear);
 }
 
 /**
@@ -508,7 +508,8 @@ MulticopterAttitudeControl::publish_rates_setpoint()
 	_v_rates_sp.thrust_body[1] = 0.0f;
 	_v_rates_sp.thrust_body[2] = -_thrust_sp;
 	_v_rates_sp.timestamp = hrt_absolute_time();
-	orb_publish_auto(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp_pub, &_v_rates_sp, nullptr, ORB_PRIO_DEFAULT);
+
+	_v_rates_sp_pub.publish(_v_rates_sp);
 }
 
 void
@@ -522,7 +523,8 @@ MulticopterAttitudeControl::publish_rate_controller_status()
 	rate_ctrl_status.rollspeed_integ = _rates_int(0);
 	rate_ctrl_status.pitchspeed_integ = _rates_int(1);
 	rate_ctrl_status.yawspeed_integ = _rates_int(2);
-	orb_publish_auto(ORB_ID(rate_ctrl_status), &_controller_status_pub, &rate_ctrl_status, nullptr, ORB_PRIO_DEFAULT);
+
+	_controller_status_pub.publish(rate_ctrl_status);
 }
 
 void

src/modules/mc_pos_control/mc_pos_control_main.cpp

@@ -46,6 +46,7 @@
 #include <lib/hysteresis/hysteresis.h>
 #include <commander/px4_custom_mode.h>
 
+#include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/home_position.h>
 #include <uORB/topics/parameter_update.h>
@@ -107,11 +108,13 @@ private:
 	Takeoff _takeoff; /**< state machine and ramp to bring the vehicle off the ground without jumps */
 
 	orb_advert_t	_att_sp_pub{nullptr};			/**< attitude setpoint publication */
-	orb_advert_t	_traj_sp_pub{nullptr};		/**< trajectory setpoints publication */
-	orb_advert_t	_local_pos_sp_pub{nullptr};		/**< vehicle local position setpoint publication */
 	orb_advert_t _pub_vehicle_command{nullptr};           /**< vehicle command publication */
+
 	orb_id_t _attitude_setpoint_id{nullptr};
-	orb_advert_t	_landing_gear_pub{nullptr};
+
+	uORB::Publication<landing_gear_s>			_landing_gear_pub{ORB_ID(landing_gear)};
+	uORB::Publication<vehicle_local_position_setpoint_s>	_local_pos_sp_pub{ORB_ID(vehicle_local_position_setpoint)};	/**< vehicle local position setpoint publication */
+	uORB::Publication<vehicle_local_position_setpoint_s>	_traj_sp_pub{ORB_ID(trajectory_setpoint)};			/**< trajectory setpoints publication */
 
 	int		_local_pos_sub{-1};			/**< vehicle local position */
 
@@ -218,18 +221,6 @@ private:
 	 */
 	void publish_attitude();
 
-	/**
-	 * Publish local position setpoint.
-	 * This is only required for logging.
-	 */
-	void publish_local_pos_sp(const vehicle_local_position_setpoint_s &local_pos_sp);
-
-	/**
-	 * Publish local position setpoint.
-	 * This is only required for logging.
-	 */
-	void publish_trajectory_sp(const vehicle_local_position_setpoint_s &traj);
-
 	/**
 	 * Adjust the setpoint during landing.
 	 * Thrust is adjusted to support the land-detector during detection.
@@ -573,7 +564,8 @@ MulticopterPositionControl::run()
 				}
 			}
 
-			publish_trajectory_sp(setpoint);
+			// publish trajectory setpoint
+			_traj_sp_pub.publish(setpoint);
 
 			vehicle_constraints_s constraints = _flight_tasks.getConstraints();
 			landing_gear_s gear = _flight_tasks.getGear();
@@ -647,7 +639,7 @@ MulticopterPositionControl::run()
 			// Publish local position setpoint
 			// This message will be used by other modules (such as Landdetector) to determine
 			// vehicle intention.
-			publish_local_pos_sp(local_pos_sp);
+			_local_pos_sp_pub.publish(local_pos_sp);
 
 			// Inform FlightTask about the input and output of the velocity controller
 			// This is used to properly initialize the velocity setpoint when onpening the position loop (position unlock)
@@ -680,12 +672,7 @@ MulticopterPositionControl::run()
 				_landing_gear.landing_gear = gear.landing_gear;
 				_landing_gear.timestamp = hrt_absolute_time();
 
-				if (_landing_gear_pub != nullptr) {
-					orb_publish(ORB_ID(landing_gear), _landing_gear_pub, &_landing_gear);
-
-				} else {
-					_landing_gear_pub = orb_advertise(ORB_ID(landing_gear), &_landing_gear);
-				}
+				_landing_gear_pub.publish(_landing_gear);
 			}
 
 			_old_landing_gear_position = gear.landing_gear;
@@ -975,30 +962,6 @@ MulticopterPositionControl::publish_attitude()
 	}
 }
 
-void
-MulticopterPositionControl::publish_trajectory_sp(const vehicle_local_position_setpoint_s &traj)
-{
-	// publish trajectory
-	if (_traj_sp_pub != nullptr) {
-		orb_publish(ORB_ID(trajectory_setpoint), _traj_sp_pub, &traj);
-
-	} else {
-		_traj_sp_pub = orb_advertise(ORB_ID(trajectory_setpoint), &traj);
-	}
-}
-
-void
-MulticopterPositionControl::publish_local_pos_sp(const vehicle_local_position_setpoint_s &local_pos_sp)
-{
-	// publish local position setpoint
-	if (_local_pos_sp_pub != nullptr) {
-		orb_publish(ORB_ID(vehicle_local_position_setpoint), _local_pos_sp_pub, &local_pos_sp);
-
-	} else {
-		_local_pos_sp_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &local_pos_sp);
-	}
-}
-
 void MulticopterPositionControl::check_failure(bool task_failure, uint8_t nav_state)
 {
 	if (!task_failure) {

src/modules/navigator/gpsfailure.cpp

@@ -93,14 +93,7 @@ GpsFailure::on_active()
 			q.copyTo(att_sp.q_d);
 			att_sp.q_d_valid = true;
 
-			if (_att_sp_pub != nullptr) {
-				/* publish att sp*/
-				orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &att_sp);
-
-			} else {
-				/* advertise and publish */
-				_att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
-			}
+			_att_sp_pub.publish(att_sp);
 
 			/* Measure time */
 			if ((_param_nav_gpsf_lt.get() > FLT_EPSILON) &&

src/modules/navigator/gpsfailure.h

@@ -43,6 +43,9 @@
 
 #include "mission_block.h"
 
+#include <uORB/Publication.hpp>
+#include <uORB/topics/vehicle_attitude_setpoint.h>
+
 class Navigator;
 
 class GpsFailure : public MissionBlock, public ModuleParams
@@ -72,7 +75,7 @@ private:
 
 	hrt_abstime _timestamp_activation{0}; //*< timestamp when this mode was activated */
 
-	orb_advert_t	_att_sp_pub{nullptr};
+	uORB::Publication<vehicle_attitude_setpoint_s>	_att_sp_pub{ORB_ID(vehicle_attitude_setpoint)};
 
 	/**
 	 * Set the GPSF item

src/modules/navigator/mission_block.cpp

@@ -440,12 +440,7 @@ MissionBlock::issue_command(const mission_item_s &item)
 		// params[1] new value for selected actuator in ms 900...2000
 		actuators.control[(int)item.params[0]] = 1.0f / 2000 * -item.params[1];
 
-		if (_actuator_pub != nullptr) {
-			orb_publish(ORB_ID(actuator_controls_2), _actuator_pub, &actuators);
-
-		} else {
-			_actuator_pub = orb_advertise(ORB_ID(actuator_controls_2), &actuators);
-		}
+		_actuator_pub.publish(actuators);
 
 	} else {
 		_action_start = hrt_absolute_time();

src/modules/navigator/mission_block.h

@@ -45,6 +45,8 @@
 
 #include <drivers/drv_hrt.h>
 #include <systemlib/mavlink_log.h>
+#include <uORB/Publication.hpp>
+#include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/mission.h>
 #include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/vehicle_command.h>
@@ -132,5 +134,5 @@ protected:
 	hrt_abstime _action_start{0};
 	hrt_abstime _time_wp_reached{0};
 
-	orb_advert_t    _actuator_pub{nullptr};
+	uORB::Publication<actuator_controls_s>	_actuator_pub{ORB_ID(actuator_controls_2)};
 };

src/modules/navigator/navigator.h

@@ -117,11 +117,6 @@ public:
 	 */
 	void		load_fence_from_file(const char *filename);
 
-	/**
-	 * Publish the geofence result
-	 */
-	void		publish_geofence_result();
-
 	void		publish_vehicle_cmd(vehicle_command_s *vcmd);
 
 	/**
@@ -329,13 +324,14 @@ private:
 
 	uORB::SubscriptionData<position_controller_status_s>	_position_controller_status_sub{ORB_ID(position_controller_status)};
 
-	orb_advert_t	_geofence_result_pub{nullptr};
+	uORB::Publication<geofence_result_s>		_geofence_result_pub{ORB_ID(geofence_result)};
+	uORB::Publication<mission_result_s>		_mission_result_pub{ORB_ID(mission_result)};
+	uORB::Publication<position_setpoint_triplet_s>	_pos_sp_triplet_pub{ORB_ID(position_setpoint_triplet)};
+	uORB::Publication<vehicle_roi_s>		_vehicle_roi_pub{ORB_ID(vehicle_roi)};
+
 	orb_advert_t	_mavlink_log_pub{nullptr};	/**< the uORB advert to send messages over mavlink */
-	orb_advert_t	_mission_result_pub{nullptr};
-	orb_advert_t	_pos_sp_triplet_pub{nullptr};
 	orb_advert_t	_vehicle_cmd_ack_pub{nullptr};
 	orb_advert_t	_vehicle_cmd_pub{nullptr};
-	orb_advert_t	_vehicle_roi_pub{nullptr};
 
 	// Subscriptions
 	home_position_s					_home_pos{};		/**< home position for RTL */

src/modules/navigator/navigator_main.cpp

@@ -427,12 +427,7 @@ Navigator::run()
 
 				_vroi.timestamp = hrt_absolute_time();
 
-				if (_vehicle_roi_pub != nullptr) {
-					orb_publish(ORB_ID(vehicle_roi), _vehicle_roi_pub, &_vroi);
-
-				} else {
-					_vehicle_roi_pub = orb_advertise(ORB_ID(vehicle_roi), &_vroi);
-				}
+				_vehicle_roi_pub.publish(_vroi);
 
 				publish_vehicle_command_ack(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
 			}
@@ -473,7 +468,7 @@ Navigator::run()
 				_geofence_violation_warning_sent = false;
 			}
 
-			publish_geofence_result();
+			_geofence_result_pub.publish(_geofence_result);
 		}
 
 		/* Do stuff according to navigation state set by commander */
@@ -746,12 +741,7 @@ Navigator::publish_position_setpoint_triplet()
 	_pos_sp_triplet.timestamp = hrt_absolute_time();
 
 	/* lazily publish the position setpoint triplet only once available */
-	if (_pos_sp_triplet_pub != nullptr) {
-		orb_publish(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_pub, &_pos_sp_triplet);
-
-	} else {
-		_pos_sp_triplet_pub = orb_advertise(ORB_ID(position_setpoint_triplet), &_pos_sp_triplet);
-	}
+	_pos_sp_triplet_pub.publish(_pos_sp_triplet);
 
 	_pos_sp_triplet_updated = false;
 }
@@ -1115,14 +1105,7 @@ Navigator::publish_mission_result()
 	_mission_result.timestamp = hrt_absolute_time();
 
 	/* lazily publish the mission result only once available */
-	if (_mission_result_pub != nullptr) {
-		/* publish mission result */
-		orb_publish(ORB_ID(mission_result), _mission_result_pub, &_mission_result);
-
-	} else {
-		/* advertise and publish */
-		_mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result);
-	}
+	_mission_result_pub.publish(_mission_result);
 
 	/* reset some of the flags */
 	_mission_result.item_do_jump_changed = false;
@@ -1132,20 +1115,6 @@ Navigator::publish_mission_result()
 	_mission_result_updated = false;
 }
 
-void
-Navigator::publish_geofence_result()
-{
-	/* lazily publish the geofence result only once available */
-	if (_geofence_result_pub != nullptr) {
-		/* publish mission result */
-		orb_publish(ORB_ID(geofence_result), _geofence_result_pub, &_geofence_result);
-
-	} else {
-		/* advertise and publish */
-		_geofence_result_pub = orb_advertise(ORB_ID(geofence_result), &_geofence_result);
-	}
-}
-
 void
 Navigator::set_mission_failure(const char *reason)
 {

src/modules/uORB/CMakeLists.txt

@@ -41,7 +41,6 @@ if(NOT "${PX4_BOARD}" MATCHES "px4_io") # TODO: fix this hack (move uORB to plat
 		MAIN uorb
 		STACK_MAIN 2100
 		SRCS
-			Publication.cpp
 			Subscription.cpp
 			SubscriptionPollable.cpp
 			uORB.cpp

src/modules/uORB/Publication.cpp

@@ -1,99 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012-2017 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 Publication.cpp
- *
- */
-
-#include "Publication.hpp"
-#include <px4_defines.h>
-
-namespace uORB
-{
-
-PublicationBase::PublicationBase(const struct orb_metadata *meta, int priority) :
-	_meta(meta),
-	_priority(priority)
-{
-}
-
-PublicationBase::~PublicationBase()
-{
-	orb_unadvertise(_handle);
-}
-
-bool PublicationBase::update(void *data)
-{
-	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;
-		}
-
-	} else {
-		orb_advert_t handle = nullptr;
-
-		if (_priority > 0) {
-			int instance;
-			handle = orb_advertise_multi(_meta, data, &instance, _priority);
-
-		} else {
-			handle = orb_advertise(_meta, data);
-		}
-
-		if (handle != nullptr) {
-			_handle = handle;
-			updated = true;
-
-		} else {
-			PX4_ERR("%s advert fail", _meta->o_name);
-		}
-	}
-
-	return updated;
-}
-
-PublicationNode::PublicationNode(const struct orb_metadata *meta, int priority, List<PublicationNode *> *list) :
-	PublicationBase(meta, priority)
-{
-	if (list != nullptr) {
-		list->add(this);
-	}
-}
-
-}  // namespace uORB

src/modules/uORB/Publication.hpp

@@ -39,7 +39,6 @@
 #pragma once
 
 #include <uORB/uORB.h>
-#include <containers/List.hpp>
 #include <systemlib/err.h>
 
 namespace uORB
@@ -49,7 +48,8 @@ namespace uORB
  * Base publication wrapper class, used in list traversal
  * of various publications.
  */
-class __EXPORT PublicationBase
+template<typename T>
+class Publication
 {
 public:
 
@@ -61,39 +61,61 @@ public:
 	 * @param priority The priority for multi pub/sub, 0-based, -1 means
 	 * 	don't publish as multi
 	 */
-	PublicationBase(const struct orb_metadata *meta, int priority = -1);
+	Publication(const orb_metadata *meta, int priority = -1) : _meta(meta), _priority(priority) {}
 
-	virtual ~PublicationBase();
-
-	// no copy, assignment, move, move assignment
-	PublicationBase(const PublicationBase &) = delete;
-	PublicationBase &operator=(const PublicationBase &) = delete;
-	PublicationBase(PublicationBase &&) = delete;
-	PublicationBase &operator=(PublicationBase &&) = delete;
+	~Publication() { orb_unadvertise(_handle); }
 
 	/**
-	 * Update the struct
+	 * Publish the struct
 	 * @param data The uORB message struct we are updating.
 	 */
-	bool update(void *data);
+	bool publish(const T &data)
+	{
+		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;
+			}
+
+		} else {
+			orb_advert_t handle = nullptr;
+
+			if (_priority > 0) {
+				int instance;
+				handle = orb_advertise_multi(_meta, &data, &instance, _priority);
+
+			} else {
+				handle = orb_advertise(_meta, &data);
+			}
+
+			if (handle != nullptr) {
+				_handle = handle;
+				updated = true;
+
+			} else {
+				PX4_ERR("%s advert fail", _meta->o_name);
+			}
+		}
+
+		return updated;
+	}
 
 protected:
-	const struct orb_metadata *_meta;
+	const orb_metadata *_meta;
 	const int _priority;
 
 	orb_advert_t _handle{nullptr};
 };
 
-/**
- * alias class name so it is clear that the base class
- * can be used by itself if desired
- */
-typedef PublicationBase PublicationTiny;
-
 /**
  * The publication base class as a list node.
  */
-class __EXPORT PublicationNode : public PublicationBase, public ListNode<PublicationNode *>
+template<typename T>
+class PublicationData : public Publication<T>
 {
 public:
 	/**
@@ -102,70 +124,23 @@ public:
 	 * @param meta The uORB metadata (usually from
 	 * 	the ORB_ID() macro) for the topic.
 	 * @param priority The priority for multi pub, 0-based.
-	 * @param list A list interface for adding to
-	 * 	list during construction
 	 */
-	PublicationNode(const struct orb_metadata *meta, int priority = -1, List<PublicationNode *> *list = nullptr);
-	virtual ~PublicationNode() override = default;
+	PublicationData(const orb_metadata *meta, int priority = -1) : Publication<T>(meta, priority) {}
+	~PublicationData() = default;
 
-	/**
-	 * This function is the callback for list traversal
-	 * updates, a child class must implement it.
-	 */
-	virtual bool update() = 0;
-};
-
-/**
- * Publication wrapper class
- */
-template<class T>
-class __EXPORT Publication final : public PublicationNode
-{
-public:
-	/**
-	 * Constructor
-	 *
-	 * @param meta The uORB metadata (usually from
-	 * 	the ORB_ID() macro) for the topic.
-	 * @param priority The priority for multi pub, 0-based.
-	 * @param list A list interface for adding to
-	 * 	list during construction
-	 */
-	Publication(const struct orb_metadata *meta, int priority = -1, List<PublicationNode *> *list = nullptr)  :
-		PublicationNode(meta, priority, list),
-		_data()
-	{
-	}
-
-	~Publication() override = default;
-
-	// no copy, assignment, move, move assignment
-	Publication(const Publication &) = delete;
-	Publication &operator=(const Publication &) = delete;
-	Publication(Publication &&) = delete;
-	Publication &operator=(Publication &&) = delete;
-
-	/*
-	 * This function gets the T struct
-	 * */
 	T	&get() { return _data; }
+	void	set(const T &data) { _data = data; }
 
-	/**
-	 * Create an update function that uses the embedded struct.
-	 */
-	bool update() override
-	{
-		return PublicationBase::update((void *)(&_data));
-	}
-
+	// Publishes the embedded struct.
+	bool	update() { return Publication<T>::publish(_data); }
 	bool	update(const T &data)
 	{
 		_data = data;
-		return update();
+		return Publication<T>::publish(_data);
 	}
 
 private:
-	T _data;
+	T _data{};
 };
 
 } // namespace uORB