tone_alarm move to uORB::Subscription

src/drivers/tone_alarm/ToneAlarm.cpp

@@ -75,19 +75,10 @@ int ToneAlarm::init()
 void ToneAlarm::next_note()
 {
 	if (!_should_run) {
-		if (_tune_control_sub >= 0) {
-			orb_unsubscribe(_tune_control_sub);
-		}
-
 		_running = false;
 		return;
 	}
 
-	// Subscribe to tune_control.
-	if (_tune_control_sub < 0) {
-		_tune_control_sub = orb_subscribe(ORB_ID(tune_control));
-	}
-
 	// Check for updates
 	orb_update();
 
@@ -136,11 +127,8 @@ void ToneAlarm::Run()
 void ToneAlarm::orb_update()
 {
 	// Check for updates
-	bool updated = false;
-	orb_check(_tune_control_sub, &updated);
-
-	if (updated) {
-		orb_copy(ORB_ID(tune_control), _tune_control_sub, &_tune);
+	if (_tune_control_sub.updated()) {
+		_tune_control_sub.copy(&_tune);
 
 		if (_tune.timestamp > 0) {
 			_play_tone = _tunes.set_control(_tune) == 0;

src/drivers/tone_alarm/ToneAlarm.h

@@ -47,8 +47,10 @@
 #include <lib/tunes/tunes.h>
 #include <px4_defines.h>
 #include <px4_work_queue/ScheduledWorkItem.hpp>
-#include <string.h>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/tune_control.h>
 
+#include <string.h>
 
 #if !defined(UNUSED)
 #  define UNUSED(a) ((void)(a))
@@ -109,7 +111,7 @@ private:
 
 	unsigned int _silence_length{0};	///< If nonzero, silence before next note.
 
-	int _tune_control_sub{-1};
+	uORB::Subscription _tune_control_sub{ORB_ID(tune_control)};
 
 	tune_control_s _tune{};