controllib version of uORB wrappers updateduorb_tiny_wrapper

6 files changed, 37 insertions, 39 deletions

diff --git a/makefiles/config_px4fmu-v2_test.mk b/makefiles/config_px4fmu-v2_test.mk
index 932f92261..7d6df2a6a 100644
--- a/makefiles/config_px4fmu-v2_test.mk
+++ b/makefiles/config_px4fmu-v2_test.mk
@@ -44,6 +44,7 @@ MODULES		+= examples/matlab_csv_serial
 MODULES		+= modules/systemlib
 MODULES		+= modules/systemlib/mixer
 MODULES		+= modules/uORB
+MODULES		+= modules/controllib
 LIBRARIES	+= lib/mathlib/CMSIS
 MODULES		+= lib/mathlib
 MODULES		+= lib/mathlib/math/filter
diff --git a/src/drivers/roboclaw/RoboClaw.cpp b/src/drivers/roboclaw/RoboClaw.cpp
index 5234d2d09..8ce201df6 100644
--- a/src/drivers/roboclaw/RoboClaw.cpp
+++ b/src/drivers/roboclaw/RoboClaw.cpp
@@ -65,7 +65,7 @@ RoboClaw::RoboClaw(const char *deviceName, uint16_t address,
 	_pulsesPerRev(pulsesPerRev),
 	_uart(0),
 	_controlPoll(),
-	_actuators(NULL, ORB_ID(actuator_controls_0), 20),
+	_actuators(nullptr, ORB_ID(actuator_controls_0), 20),
 	_motor1Position(0),
 	_motor1Speed(0),
 	_motor1Overflow(0),
diff --git a/src/modules/controllib/uorb/Publication.cpp b/src/modules/controllib/uorb/Publication.cpp
index cd0b30dd6..edc2badb2 100644
--- a/src/modules/controllib/uorb/Publication.cpp
+++ b/src/modules/controllib/uorb/Publication.cpp
@@ -37,19 +37,19 @@
  */
 
 #include "Publication.hpp"
-#include "topics/vehicle_attitude.h"
-#include "topics/vehicle_local_position.h"
-#include "topics/vehicle_global_position.h"
-#include "topics/debug_key_value.h"
-#include "topics/actuator_controls.h"
-#include "topics/vehicle_global_velocity_setpoint.h"
-#include "topics/vehicle_attitude_setpoint.h"
-#include "topics/vehicle_rates_setpoint.h"
-#include "topics/actuator_outputs.h"
-#include "topics/encoders.h"
-#include "topics/tecs_status.h"
+#include "uORB/topics/vehicle_attitude.h"
+#include "uORB/topics/vehicle_local_position.h"
+#include "uORB/topics/vehicle_global_position.h"
+#include "uORB/topics/debug_key_value.h"
+#include "uORB/topics/actuator_controls.h"
+#include "uORB/topics/vehicle_global_velocity_setpoint.h"
+#include "uORB/topics/vehicle_attitude_setpoint.h"
+#include "uORB/topics/vehicle_rates_setpoint.h"
+#include "uORB/topics/actuator_outputs.h"
+#include "uORB/topics/encoders.h"
+#include "uORB/topics/tecs_status.h"
 
-namespace uORB {
+namespace control {
 
 template<class T>
 Publication<T>::Publication(
diff --git a/src/modules/controllib/uorb/Subscription.cpp b/src/modules/controllib/uorb/Subscription.cpp
index 44b6debc7..eb32c6d97 100644
--- a/src/modules/controllib/uorb/Subscription.cpp
+++ b/src/modules/controllib/uorb/Subscription.cpp
@@ -37,32 +37,25 @@
  */
 
 #include "Subscription.hpp"
-#include "topics/parameter_update.h"
-#include "topics/actuator_controls.h"
-#include "topics/vehicle_gps_position.h"
-#include "topics/satellite_info.h"
-#include "topics/sensor_combined.h"
-#include "topics/vehicle_attitude.h"
-#include "topics/vehicle_global_position.h"
-#include "topics/encoders.h"
-#include "topics/position_setpoint_triplet.h"
-#include "topics/vehicle_status.h"
-#include "topics/manual_control_setpoint.h"
-#include "topics/vehicle_local_position_setpoint.h"
-#include "topics/vehicle_local_position.h"
-#include "topics/vehicle_attitude_setpoint.h"
-#include "topics/vehicle_rates_setpoint.h"
+#include "uORB/topics/parameter_update.h"
+#include "uORB/topics/actuator_controls.h"
+#include "uORB/topics/vehicle_gps_position.h"
+#include "uORB/topics/satellite_info.h"
+#include "uORB/topics/sensor_combined.h"
+#include "uORB/topics/vehicle_attitude.h"
+#include "uORB/topics/vehicle_global_position.h"
+#include "uORB/topics/encoders.h"
+#include "uORB/topics/position_setpoint_triplet.h"
+#include "uORB/topics/vehicle_status.h"
+#include "uORB/topics/manual_control_setpoint.h"
+#include "uORB/topics/vehicle_local_position_setpoint.h"
+#include "uORB/topics/vehicle_local_position.h"
+#include "uORB/topics/vehicle_attitude_setpoint.h"
+#include "uORB/topics/vehicle_rates_setpoint.h"
 
-namespace uORB
+namespace control
 {
 
-bool __EXPORT SubscriptionBase::updated()
-{
-	bool isUpdated = false;
-	orb_check(_handle, &isUpdated);
-	return isUpdated;
-}
-
 template<class T>
 Subscription<T>::Subscription(
 	List<SubscriptionBase *> * list,
diff --git a/src/modules/controllib/uorb/Subscription.hpp b/src/modules/controllib/uorb/Subscription.hpp
index ee17fbf83..42bcf74cf 100644
--- a/src/modules/controllib/uorb/Subscription.hpp
+++ b/src/modules/controllib/uorb/Subscription.hpp
@@ -68,7 +68,11 @@ public:
 		_handle() {
 		if (list != NULL) list->add(this);
 	}
-	bool updated();
+	bool updated() {
+		bool isUpdated = false;
+		orb_check(_handle, &isUpdated);
+		return isUpdated;
+	}
 	void update() {
 		if (updated()) {
 			orb_copy(_meta, _handle, getDataVoidPtr());
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h
index ae6867d38..d050cee97 100644
--- a/src/modules/fw_pos_control_l1/mtecs/mTecs.h
+++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h
@@ -47,8 +47,8 @@
 #include "limitoverride.h"
 
 #include <controllib/block/BlockParam.hpp>
+#include <controllib/uorb/Publication.hpp>
 #include <drivers/drv_hrt.h>
-#include <uORB/Publication.hpp>
 #include <uORB/topics/tecs_status.h>
 
 namespace fwPosctrl
@@ -101,7 +101,7 @@ protected:
 	control::BlockParamFloat _airspeedMin;		/**< minimal airspeed */
 
 	/* Publications */
-	uORB::Publication<tecs_status_s> _status;	/**< publish internal values for logging */
+	control::Publication<tecs_status_s> _status;	/**< publish internal values for logging */
 
 	/* control blocks */
 	BlockFFPILimitedCustom _controlTotalEnergy;		/**< FFPI controller for total energy control: output