rc_input move to uORB::Subscription

src/drivers/rc_input/RCInput.cpp

@@ -64,9 +64,6 @@ RCInput::~RCInput()
 {
 	orb_unadvertise(_to_input_rc);
 
-	orb_unsubscribe(_adc_sub);
-	orb_unsubscribe(_vehicle_cmd_sub);
-
 #ifdef RC_SERIAL_PORT
 	dsm_deinit();
 #endif
@@ -82,15 +79,13 @@ RCInput::~RCInput()
 int
 RCInput::init()
 {
-	_adc_sub = orb_subscribe(ORB_ID(adc_report));
-
 #ifdef RC_SERIAL_PORT
 
 #  ifdef RF_RADIO_POWER_CONTROL
 	// power radio on
 	RF_RADIO_POWER_CONTROL(true);
 #  endif
-	_vehicle_cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
+
 	// dsm_init sets some file static variables and returns a file descriptor
 	_rcs_fd = dsm_init(RC_SERIAL_PORT);
 	// assume SBUS input and immediately switch it to
@@ -297,13 +292,9 @@ RCInput::cycle()
 
 #if defined(SPEKTRUM_POWER)
 		/* vehicle command */
-		bool vehicle_command_updated = false;
-		orb_check(_vehicle_cmd_sub, &vehicle_command_updated);
-
-		if (vehicle_command_updated) {
-			vehicle_command_s vcmd = {};
-			orb_copy(ORB_ID(vehicle_command), _vehicle_cmd_sub, &vcmd);
+		vehicle_command_s vcmd;
 
+		if (_vehicle_cmd_sub.update(&vcmd)) {
 			// Check for a pairing command
 			if ((unsigned int)vcmd.command == vehicle_command_s::VEHICLE_CMD_START_RX_PAIR) {
 				if (!_rc_scan_locked /* !_armed.armed */) { // TODO: add armed check?
@@ -336,13 +327,9 @@ RCInput::cycle()
 
 		/* update ADC sampling */
 #ifdef ADC_RC_RSSI_CHANNEL
-		bool adc_updated = false;
-		orb_check(_adc_sub, &adc_updated);
+		adc_report_s adc;
 
-		if (adc_updated) {
-
-			struct adc_report_s adc;
-			orb_copy(ORB_ID(adc_report), _adc_sub, &adc);
+		if (_adc_sub.update(&adc)) {
 			const unsigned adc_chans = sizeof(adc.channel_id) / sizeof(adc.channel_id[0]);
 
 			for (unsigned i = 0; i < adc_chans; i++) {

src/drivers/rc_input/RCInput.hpp

@@ -121,8 +121,8 @@ private:
 
 	static struct work_s	_work;
 
-	int		_vehicle_cmd_sub{-1};
-	int		_adc_sub{-1};
+	uORB::Subscription	_vehicle_cmd_sub{ORB_ID(vehicle_command)};
+	uORB::Subscription	_adc_sub{ORB_ID(adc_report)};
 
 	input_rc_s	_rc_in{};
 

src/drivers/rc_input/crsf_telemetry.cpp

@@ -34,23 +34,11 @@
 #include "crsf_telemetry.h"
 #include <lib/rc/crsf.h>
 
-CRSFTelemetry::CRSFTelemetry(int uart_fd)
-	: _vehicle_gps_position_sub(orb_subscribe(ORB_ID(vehicle_gps_position))),
-	  _battery_status_sub(orb_subscribe(ORB_ID(battery_status))),
-	  _vehicle_attitude_sub(orb_subscribe(ORB_ID(vehicle_attitude))),
-	  _vehicle_status_sub(orb_subscribe(ORB_ID(vehicle_status))),
+CRSFTelemetry::CRSFTelemetry(int uart_fd) :
 	_uart_fd(uart_fd)
 {
 }
 
-CRSFTelemetry::~CRSFTelemetry()
-{
-	orb_unsubscribe(_vehicle_gps_position_sub);
-	orb_unsubscribe(_battery_status_sub);
-	orb_unsubscribe(_vehicle_attitude_sub);
-	orb_unsubscribe(_vehicle_status_sub);
-}
-
 bool CRSFTelemetry::update(const hrt_abstime &now)
 {
 	const int update_rate_hz = 10;
@@ -89,7 +77,7 @@ bool CRSFTelemetry::send_battery()
 {
 	battery_status_s battery_status;
 
-	if (orb_copy(ORB_ID(battery_status), _battery_status_sub, &battery_status) != 0) {
+	if (!_battery_status_sub.update(&battery_status)) {
 		return false;
 	}
 
@@ -104,7 +92,7 @@ bool CRSFTelemetry::send_gps()
 {
 	vehicle_gps_position_s vehicle_gps_position;
 
-	if (orb_copy(ORB_ID(vehicle_gps_position), _vehicle_gps_position_sub, &vehicle_gps_position) != 0) {
+	if (!_vehicle_gps_position_sub.update(&vehicle_gps_position)) {
 		return false;
 	}
 
@@ -123,7 +111,7 @@ bool CRSFTelemetry::send_attitude()
 {
 	vehicle_attitude_s vehicle_attitude;
 
-	if (orb_copy(ORB_ID(vehicle_attitude), _vehicle_attitude_sub, &vehicle_attitude) != 0) {
+	if (!_vehicle_attitude_sub.update(&vehicle_attitude)) {
 		return false;
 	}
 
@@ -138,7 +126,7 @@ bool CRSFTelemetry::send_flight_mode()
 {
 	vehicle_status_s vehicle_status;
 
-	if (orb_copy(ORB_ID(vehicle_status), _vehicle_status_sub, &vehicle_status) != 0) {
+	if (!_vehicle_status_sub.update(&vehicle_status)) {
 		return false;
 	}
 

src/drivers/rc_input/crsf_telemetry.h

@@ -39,6 +39,7 @@
 
 #pragma once
 
+#include <uORB/Subscription.hpp>
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_gps_position.h>
@@ -62,7 +63,7 @@ public:
 	 */
 	CRSFTelemetry(int uart_fd);
 
-	~CRSFTelemetry();
+	~CRSFTelemetry() = default;
 
 	/**
 	 * Send telemetry data. Call this regularly (i.e. at 100Hz), it will automatically
@@ -77,10 +78,10 @@ private:
 	bool send_attitude();
 	bool send_flight_mode();
 
-	int _vehicle_gps_position_sub;
-	int _battery_status_sub;
-	int _vehicle_attitude_sub;
-	int _vehicle_status_sub;
+	uORB::Subscription _vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)};
+	uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};
+	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
+	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
 
 	hrt_abstime _last_update{0};