uORB::Publication improvements and cleanup (#14784)

- create common uORB::PublicationBase
 - uORB::PublicationQueued types are now type aliases
 - ORB_PRIO use enum type everywhere to avoid accidental misuse
 - PX4Accelerometer/PX4Gyroscope/etc driver libs explicitly advertise on construction, unadvertise on destruction. This is a workaround for any potential issues that might appear when accel/gyro cdev and uORB indexing doesn't align.

src/lib/avoidance/ObstacleAvoidance.hpp

@@ -47,7 +47,6 @@
 #include <drivers/drv_hrt.h>
 
 #include <uORB/Publication.hpp>
-#include <uORB/PublicationQueued.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/position_controller_status.h>
 #include <uORB/topics/vehicle_command.h>

src/lib/collision_prevention/CollisionPrevention.hpp

@@ -50,7 +50,6 @@
 #include <px4_platform_common/module_params.h>
 #include <systemlib/mavlink_log.h>
 #include <uORB/Publication.hpp>
-#include <uORB/PublicationQueued.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/collision_constraints.h>
 #include <uORB/topics/distance_sensor.h>

src/lib/drivers/accelerometer/PX4Accelerometer.cpp

@@ -63,7 +63,7 @@ static constexpr unsigned clipping(const int16_t samples[16], int16_t clip_limit
 	return clip_count;
 }
 
-PX4Accelerometer::PX4Accelerometer(uint32_t device_id, uint8_t priority, enum Rotation rotation) :
+PX4Accelerometer::PX4Accelerometer(uint32_t device_id, ORB_PRIO priority, enum Rotation rotation) :
 	CDev(nullptr),
 	_sensor_pub{ORB_ID(sensor_accel), priority},
 	_sensor_fifo_pub{ORB_ID(sensor_accel_fifo), priority},
@@ -72,7 +72,11 @@ PX4Accelerometer::PX4Accelerometer(uint32_t device_id, uint8_t priority, enum Ro
 	_device_id{device_id},
 	_rotation{rotation}
 {
+	// register class and advertise immediately to keep instance numbering in sync
 	_class_device_instance = register_class_devname(ACCEL_BASE_DEVICE_PATH);
+	_sensor_pub.advertise();
+	_sensor_integrated_pub.advertise();
+	_sensor_status_pub.advertise();
 }
 
 PX4Accelerometer::~PX4Accelerometer()
@@ -80,6 +84,11 @@ PX4Accelerometer::~PX4Accelerometer()
 	if (_class_device_instance != -1) {
 		unregister_class_devname(ACCEL_BASE_DEVICE_PATH, _class_device_instance);
 	}
+
+	_sensor_pub.unadvertise();
+	_sensor_fifo_pub.unadvertise();
+	_sensor_integrated_pub.unadvertise();
+	_sensor_status_pub.unadvertise();
 }
 
 int PX4Accelerometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)

src/lib/drivers/accelerometer/PX4Accelerometer.hpp

@@ -40,7 +40,7 @@
 #include <lib/drivers/device/integrator.h>
 #include <lib/ecl/geo/geo.h>
 #include <uORB/PublicationMulti.hpp>
-#include <uORB/PublicationQueuedMulti.hpp>
+#include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/sensor_accel.h>
 #include <uORB/topics/sensor_accel_fifo.h>
 #include <uORB/topics/sensor_accel_integrated.h>
@@ -49,7 +49,7 @@
 class PX4Accelerometer : public cdev::CDev
 {
 public:
-	PX4Accelerometer(uint32_t device_id, uint8_t priority = ORB_PRIO_DEFAULT, enum Rotation rotation = ROTATION_NONE);
+	PX4Accelerometer(uint32_t device_id, ORB_PRIO priority = ORB_PRIO_DEFAULT, enum Rotation rotation = ROTATION_NONE);
 	~PX4Accelerometer() override;
 
 	int	ioctl(cdev::file_t *filp, int cmd, unsigned long arg) override;

src/lib/drivers/barometer/PX4Barometer.cpp

@@ -36,11 +36,12 @@
 
 #include <lib/drivers/device/Device.hpp>
 
-PX4Barometer::PX4Barometer(uint32_t device_id, uint8_t priority) :
+PX4Barometer::PX4Barometer(uint32_t device_id, ORB_PRIO priority) :
 	CDev(nullptr),
 	_sensor_baro_pub{ORB_ID(sensor_baro), priority}
 {
 	_class_device_instance = register_class_devname(BARO_BASE_DEVICE_PATH);
+	_sensor_baro_pub.advertise();
 
 	_sensor_baro_pub.get().device_id = device_id;
 }
@@ -50,6 +51,8 @@ PX4Barometer::~PX4Barometer()
 	if (_class_device_instance != -1) {
 		unregister_class_devname(BARO_BASE_DEVICE_PATH, _class_device_instance);
 	}
+
+	_sensor_baro_pub.unadvertise();
 }
 
 void

src/lib/drivers/barometer/PX4Barometer.hpp

@@ -45,7 +45,7 @@ class PX4Barometer : public cdev::CDev
 {
 
 public:
-	PX4Barometer(uint32_t device_id, uint8_t priority = ORB_PRIO_DEFAULT);
+	PX4Barometer(uint32_t device_id, ORB_PRIO priority = ORB_PRIO_DEFAULT);
 	~PX4Barometer() override;
 
 	const sensor_baro_s &get() { return _sensor_baro_pub.get(); }

src/lib/drivers/gyroscope/PX4Gyroscope.cpp

@@ -63,7 +63,7 @@ static constexpr unsigned clipping(const int16_t samples[16], int16_t clip_limit
 	return clip_count;
 }
 
-PX4Gyroscope::PX4Gyroscope(uint32_t device_id, uint8_t priority, enum Rotation rotation) :
+PX4Gyroscope::PX4Gyroscope(uint32_t device_id, ORB_PRIO priority, enum Rotation rotation) :
 	CDev(nullptr),
 	ModuleParams(nullptr),
 	_sensor_pub{ORB_ID(sensor_gyro), priority},
@@ -73,7 +73,11 @@ PX4Gyroscope::PX4Gyroscope(uint32_t device_id, uint8_t priority, enum Rotation r
 	_device_id{device_id},
 	_rotation{rotation}
 {
+	// register class and advertise immediately to keep instance numbering in sync
 	_class_device_instance = register_class_devname(GYRO_BASE_DEVICE_PATH);
+	_sensor_pub.advertise();
+	_sensor_integrated_pub.advertise();
+	_sensor_status_pub.advertise();
 
 	updateParams();
 }
@@ -83,6 +87,11 @@ PX4Gyroscope::~PX4Gyroscope()
 	if (_class_device_instance != -1) {
 		unregister_class_devname(GYRO_BASE_DEVICE_PATH, _class_device_instance);
 	}
+
+	_sensor_pub.unadvertise();
+	_sensor_fifo_pub.unadvertise();
+	_sensor_integrated_pub.unadvertise();
+	_sensor_status_pub.unadvertise();
 }
 
 int PX4Gyroscope::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)

src/lib/drivers/gyroscope/PX4Gyroscope.hpp

@@ -40,7 +40,7 @@
 #include <lib/drivers/device/integrator.h>
 #include <px4_platform_common/module_params.h>
 #include <uORB/PublicationMulti.hpp>
-#include <uORB/PublicationQueuedMulti.hpp>
+#include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/sensor_gyro.h>
 #include <uORB/topics/sensor_gyro_fifo.h>
 #include <uORB/topics/sensor_gyro_integrated.h>
@@ -49,7 +49,7 @@
 class PX4Gyroscope : public cdev::CDev, public ModuleParams
 {
 public:
-	PX4Gyroscope(uint32_t device_id, uint8_t priority = ORB_PRIO_DEFAULT, enum Rotation rotation = ROTATION_NONE);
+	PX4Gyroscope(uint32_t device_id, ORB_PRIO priority = ORB_PRIO_DEFAULT, enum Rotation rotation = ROTATION_NONE);
 	~PX4Gyroscope() override;
 
 	int	ioctl(cdev::file_t *filp, int cmd, unsigned long arg) override;

src/lib/drivers/magnetometer/PX4Magnetometer.cpp

@@ -36,13 +36,15 @@
 
 #include <lib/drivers/device/Device.hpp>
 
-PX4Magnetometer::PX4Magnetometer(uint32_t device_id, uint8_t priority, enum Rotation rotation) :
+PX4Magnetometer::PX4Magnetometer(uint32_t device_id, ORB_PRIO priority, enum Rotation rotation) :
 	CDev(nullptr),
 	_sensor_mag_pub{ORB_ID(sensor_mag), priority},
 	_rotation{rotation}
 {
 	_class_device_instance = register_class_devname(MAG_BASE_DEVICE_PATH);
 
+	_sensor_mag_pub.advertise();
+
 	_sensor_mag_pub.get().device_id = device_id;
 	_sensor_mag_pub.get().scaling = 1.0f;
 	_sensor_mag_pub.get().temperature = NAN;
@@ -53,6 +55,8 @@ PX4Magnetometer::~PX4Magnetometer()
 	if (_class_device_instance != -1) {
 		unregister_class_devname(MAG_BASE_DEVICE_PATH, _class_device_instance);
 	}
+
+	_sensor_mag_pub.unadvertise();
 }
 
 int PX4Magnetometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)

src/lib/drivers/magnetometer/PX4Magnetometer.hpp

@@ -45,7 +45,7 @@ class PX4Magnetometer : public cdev::CDev
 {
 
 public:
-	PX4Magnetometer(uint32_t device_id, uint8_t priority = ORB_PRIO_DEFAULT, enum Rotation rotation = ROTATION_NONE);
+	PX4Magnetometer(uint32_t device_id, ORB_PRIO priority = ORB_PRIO_DEFAULT, enum Rotation rotation = ROTATION_NONE);
 	~PX4Magnetometer() override;
 
 	int	ioctl(cdev::file_t *filp, int cmd, unsigned long arg) override;

src/lib/drivers/rangefinder/PX4Rangefinder.cpp

@@ -35,13 +35,20 @@
 
 #include <lib/drivers/device/Device.hpp>
 
-PX4Rangefinder::PX4Rangefinder(const uint32_t device_id, const uint8_t priority, const uint8_t device_orientation) :
+PX4Rangefinder::PX4Rangefinder(const uint32_t device_id, const ORB_PRIO priority, const uint8_t device_orientation) :
 	_distance_sensor_pub{ORB_ID(distance_sensor), priority}
 {
+	_distance_sensor_pub.advertise();
+
 	set_device_id(device_id);
 	set_orientation(device_orientation);
 }
 
+PX4Rangefinder::~PX4Rangefinder()
+{
+	_distance_sensor_pub.unadvertise();
+}
+
 void PX4Rangefinder::set_device_type(uint8_t device_type)
 {
 	// TODO: range finders should have device ids

src/lib/drivers/rangefinder/PX4Rangefinder.hpp

@@ -44,9 +44,9 @@ class PX4Rangefinder
 
 public:
 	PX4Rangefinder(const uint32_t device_id,
-		       const uint8_t priority = ORB_PRIO_DEFAULT,
+		       const ORB_PRIO priority = ORB_PRIO_DEFAULT,
 		       const uint8_t device_orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
-	~PX4Rangefinder() = default;
+	~PX4Rangefinder();
 
 	void print_status();
 

src/lib/flight_tasks/FlightTasks.hpp

@@ -44,7 +44,7 @@
 #include "FlightTask.hpp"
 #include "FlightTasks_generated.hpp"
 #include <lib/weather_vane/WeatherVane.hpp>
-#include <uORB/PublicationQueued.hpp>
+#include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/vehicle_command_ack.h>
 #include <uORB/topics/vehicle_command.h>

src/lib/mixer_module/mixer_module.cpp

@@ -35,7 +35,7 @@
 
 #include <lib/mixer/MultirotorMixer/MultirotorMixer.hpp>
 
-#include <uORB/PublicationQueued.hpp>
+#include <uORB/Publication.hpp>
 #include <px4_platform_common/log.h>
 
 using namespace time_literals;