Merge James's controllib bits into a separate library module.

Add a top-level mathlib header to avoid having to dig around for specific headers.

9 files changed, 0 insertions, 919 deletions

diff --git a/apps/systemlib/control/block/Block.cpp b/apps/systemlib/control/block/Block.cpp
deleted file mode 100644
index 5994d2315..000000000
--- a/apps/systemlib/control/block/Block.cpp
+++ /dev/null
@@ -1,210 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 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 Block.cpp
- *
- * Controller library code
- */
-
-#include <math.h>
-#include <string.h>
-#include <stdio.h>
-
-#include "Block.hpp"
-#include "BlockParam.hpp"
-#include "UOrbSubscription.hpp"
-#include "UOrbPublication.hpp"
-
-namespace control
-{
-
-Block::Block(SuperBlock *parent, const char *name) :
-	_name(name),
-	_parent(parent),
-	_dt(0),
-	_subscriptions(),
-	_params()
-{
-	if (getParent() != NULL) {
-		getParent()->getChildren().add(this);
-	}
-}
-
-void Block::getName(char *buf, size_t n)
-{
-	if (getParent() == NULL) {
-		strncpy(buf, _name, n);
-
-	} else {
-		char parentName[blockNameLengthMax];
-		getParent()->getName(parentName, n);
-
-		if (!strcmp(_name, "")) {
-			strncpy(buf, parentName, blockNameLengthMax);
-
-		} else {
-			snprintf(buf, blockNameLengthMax, "%s_%s", parentName, _name);
-		}
-	}
-}
-
-void Block::updateParams()
-{
-	BlockParamBase *param = getParams().getHead();
-	int count = 0;
-
-	while (param != NULL) {
-		if (count++ > maxParamsPerBlock) {
-			char name[blockNameLengthMax];
-			getName(name, blockNameLengthMax);
-			printf("exceeded max params for block: %s\n", name);
-			break;
-		}
-
-		//printf("updating param: %s\n", param->getName());
-		param->update();
-		param = param->getSibling();
-	}
-}
-
-void Block::updateSubscriptions()
-{
-	UOrbSubscriptionBase *sub = getSubscriptions().getHead();
-	int count = 0;
-
-	while (sub != NULL) {
-		if (count++ > maxSubscriptionsPerBlock) {
-			char name[blockNameLengthMax];
-			getName(name, blockNameLengthMax);
-			printf("exceeded max subscriptions for block: %s\n", name);
-			break;
-		}
-
-		sub->update();
-		sub = sub->getSibling();
-	}
-}
-
-void Block::updatePublications()
-{
-	UOrbPublicationBase *pub = getPublications().getHead();
-	int count = 0;
-
-	while (pub != NULL) {
-		if (count++ > maxPublicationsPerBlock) {
-			char name[blockNameLengthMax];
-			getName(name, blockNameLengthMax);
-			printf("exceeded max publications for block: %s\n", name);
-			break;
-		}
-
-		pub->update();
-		pub = pub->getSibling();
-	}
-}
-
-void SuperBlock::setDt(float dt)
-{
-	Block::setDt(dt);
-	Block *child = getChildren().getHead();
-	int count = 0;
-
-	while (child != NULL) {
-		if (count++ > maxChildrenPerBlock) {
-			char name[40];
-			getName(name, 40);
-			printf("exceeded max children for block: %s\n", name);
-			break;
-		}
-
-		child->setDt(dt);
-		child = child->getSibling();
-	}
-}
-
-void SuperBlock::updateChildParams()
-{
-	Block *child = getChildren().getHead();
-	int count = 0;
-
-	while (child != NULL) {
-		if (count++ > maxChildrenPerBlock) {
-			char name[40];
-			getName(name, 40);
-			printf("exceeded max children for block: %s\n", name);
-			break;
-		}
-
-		child->updateParams();
-		child = child->getSibling();
-	}
-}
-
-void SuperBlock::updateChildSubscriptions()
-{
-	Block *child = getChildren().getHead();
-	int count = 0;
-
-	while (child != NULL) {
-		if (count++ > maxChildrenPerBlock) {
-			char name[40];
-			getName(name, 40);
-			printf("exceeded max children for block: %s\n", name);
-			break;
-		}
-
-		child->updateSubscriptions();
-		child = child->getSibling();
-	}
-}
-
-void SuperBlock::updateChildPublications()
-{
-	Block *child = getChildren().getHead();
-	int count = 0;
-
-	while (child != NULL) {
-		if (count++ > maxChildrenPerBlock) {
-			char name[40];
-			getName(name, 40);
-			printf("exceeded max children for block: %s\n", name);
-			break;
-		}
-
-		child->updatePublications();
-		child = child->getSibling();
-	}
-}
-
-} // namespace control
diff --git a/apps/systemlib/control/block/Block.hpp b/apps/systemlib/control/block/Block.hpp
deleted file mode 100644
index 258701f27..000000000
--- a/apps/systemlib/control/block/Block.hpp
+++ /dev/null
@@ -1,131 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 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 Block.h
- *
- * Controller library code
- */
-
-#pragma once
-
-#include <stdint.h>
-#include <inttypes.h>
-
-#include "List.hpp"
-
-namespace control
-{
-
-static const uint16_t maxChildrenPerBlock = 100;
-static const uint16_t maxParamsPerBlock = 100;
-static const uint16_t maxSubscriptionsPerBlock = 100;
-static const uint16_t maxPublicationsPerBlock = 100;
-static const uint8_t blockNameLengthMax = 80;
-
-// forward declaration
-class BlockParamBase;
-class UOrbSubscriptionBase;
-class UOrbPublicationBase;
-class SuperBlock;
-
-/**
- */
-class __EXPORT Block :
-	public ListNode<Block *>
-{
-public:
-	friend class BlockParamBase;
-// methods
-	Block(SuperBlock *parent, const char *name);
-	void getName(char *name, size_t n);
-	virtual ~Block() {};
-	virtual void updateParams();
-	virtual void updateSubscriptions();
-	virtual void updatePublications();
-	virtual void setDt(float dt) { _dt = dt; }
-// accessors
-	float getDt() { return _dt; }
-protected:
-// accessors
-	SuperBlock *getParent() { return _parent; }
-	List<UOrbSubscriptionBase *> & getSubscriptions() { return _subscriptions; }
-	List<UOrbPublicationBase *> & getPublications() { return _publications; }
-	List<BlockParamBase *> & getParams() { return _params; }
-// attributes
-	const char *_name;
-	SuperBlock *_parent;
-	float _dt;
-	List<UOrbSubscriptionBase *> _subscriptions;
-	List<UOrbPublicationBase *> _publications;
-	List<BlockParamBase *> _params;
-};
-
-class __EXPORT SuperBlock :
-	public Block
-{
-public:
-	friend class Block;
-// methods
-	SuperBlock(SuperBlock *parent, const char *name) :
-		Block(parent, name),
-		_children() {
-	}
-	virtual ~SuperBlock() {};
-	virtual void setDt(float dt);
-	virtual void updateParams() {
-		Block::updateParams();
-
-		if (getChildren().getHead() != NULL) updateChildParams();
-	}
-	virtual void updateSubscriptions() {
-		Block::updateSubscriptions();
-
-		if (getChildren().getHead() != NULL) updateChildSubscriptions();
-	}
-	virtual void updatePublications() {
-		Block::updatePublications();
-
-		if (getChildren().getHead() != NULL) updateChildPublications();
-	}
-protected:
-// methods
-	List<Block *> & getChildren() { return _children; }
-	void updateChildParams();
-	void updateChildSubscriptions();
-	void updateChildPublications();
-// attributes
-	List<Block *> _children;
-};
-
-} // namespace control
diff --git a/apps/systemlib/control/block/BlockParam.cpp b/apps/systemlib/control/block/BlockParam.cpp
deleted file mode 100644
index b3f49f7db..000000000
--- a/apps/systemlib/control/block/BlockParam.cpp
+++ /dev/null
@@ -1,77 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 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 Blockparam.cpp
- *
- * Controller library code
- */
-
-#include <math.h>
-#include <stdio.h>
-#include <string.h>
-
-#include "BlockParam.hpp"
-
-namespace control
-{
-
-BlockParamBase::BlockParamBase(Block *parent, const char *name) :
-	_handle(PARAM_INVALID)
-{
-	char fullname[blockNameLengthMax];
-
-	if (parent == NULL) {
-		strncpy(fullname, name, blockNameLengthMax);
-
-	} else {
-		char parentName[blockNameLengthMax];
-		parent->getName(parentName, blockNameLengthMax);
-
-		if (!strcmp(name, "")) {
-			strncpy(fullname, parentName, blockNameLengthMax);
-
-		} else {
-			snprintf(fullname, blockNameLengthMax, "%s_%s", parentName, name);
-		}
-
-		parent->getParams().add(this);
-	}
-
-	_handle = param_find(fullname);
-
-	if (_handle == PARAM_INVALID)
-		printf("error finding param: %s\n", fullname);
-};
-
-} // namespace control
diff --git a/apps/systemlib/control/block/BlockParam.hpp b/apps/systemlib/control/block/BlockParam.hpp
deleted file mode 100644
index 7f86d1717..000000000
--- a/apps/systemlib/control/block/BlockParam.hpp
+++ /dev/null
@@ -1,85 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 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 BlockParam.h
- *
- * Controller library code
- */
-
-#pragma once
-
-#include <systemlib/param/param.h>
-
-#include "Block.hpp"
-#include "List.hpp"
-
-namespace control
-{
-
-/**
- * A base class for block params that enables traversing linked list.
- */
-class __EXPORT BlockParamBase : public ListNode<BlockParamBase *>
-{
-public:
-	BlockParamBase(Block *parent, const char *name);
-	virtual ~BlockParamBase() {};
-	virtual void update() = 0;
-	const char *getName() { return param_name(_handle); }
-protected:
-	param_t _handle;
-};
-
-/**
- * Parameters that are tied to blocks for updating and nameing.
- */
-template<class T>
-class __EXPORT BlockParam : public BlockParamBase
-{
-public:
-	BlockParam(Block *block, const char *name) :
-		BlockParamBase(block, name),
-		_val() {
-		update();
-	}
-	T get() { return _val; }
-	void set(T val) { _val = val; }
-	void update() {
-		if (_handle != PARAM_INVALID) param_get(_handle, &_val);
-	}
-protected:
-	T _val;
-};
-
-} // namespace control
diff --git a/apps/systemlib/control/block/List.hpp b/apps/systemlib/control/block/List.hpp
deleted file mode 100644
index 96b0b94d1..000000000
--- a/apps/systemlib/control/block/List.hpp
+++ /dev/null
@@ -1,71 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 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 Node.h
- *
- * A node of a linked list.
- */
-
-#pragma once
-
-template<class T>
-class __EXPORT ListNode
-{
-public:
-	ListNode() : _sibling(NULL) {
-	}
-	void setSibling(T sibling) { _sibling = sibling; }
-	T getSibling() { return _sibling; }
-	T get() {
-		return _sibling;
-	}
-protected:
-	T _sibling;
-};
-
-template<class T>
-class __EXPORT List
-{
-public:
-	List() : _head() {
-	}
-	void add(T newNode) {
-		newNode->setSibling(getHead());
-		setHead(newNode);
-	}
-	T getHead() { return _head; }
-private:
-	void setHead(T &head) { _head = head; }
-	T _head;
-};
diff --git a/apps/systemlib/control/block/UOrbPublication.cpp b/apps/systemlib/control/block/UOrbPublication.cpp
deleted file mode 100644
index f69b39d90..000000000
--- a/apps/systemlib/control/block/UOrbPublication.cpp
+++ /dev/null
@@ -1,39 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 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 UOrbPublication.cpp
- *
- */
-
-#include "UOrbPublication.hpp"
diff --git a/apps/systemlib/control/block/UOrbPublication.hpp b/apps/systemlib/control/block/UOrbPublication.hpp
deleted file mode 100644
index a36f4429f..000000000
--- a/apps/systemlib/control/block/UOrbPublication.hpp
+++ /dev/null
@@ -1,118 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 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 UOrbPublication.h
- *
- */
-
-#pragma once
-
-#include <uORB/uORB.h>
-#include "Block.hpp"
-#include "List.hpp"
-
-
-namespace control
-{
-
-class Block;
-
-/**
- * Base publication warapper class, used in list traversal
- * of various publications.
- */
-class __EXPORT UOrbPublicationBase : public ListNode<control::UOrbPublicationBase *>
-{
-public:
-
-	UOrbPublicationBase(
-		List<UOrbPublicationBase *> * list,
-		const struct orb_metadata *meta) :
-		_meta(meta),
-		_handle() {
-		if (list != NULL) list->add(this);
-	}
-	void update() {
-		orb_publish(getMeta(), getHandle(), getDataVoidPtr());
-	}
-	virtual void *getDataVoidPtr() = 0;
-	virtual ~UOrbPublicationBase() {
-		orb_unsubscribe(getHandle());
-	}
-	const struct orb_metadata *getMeta() { return _meta; }
-	int getHandle() { return _handle; }
-protected:
-	void setHandle(orb_advert_t handle) { _handle = handle; }
-	const struct orb_metadata *_meta;
-	orb_advert_t _handle;
-};
-
-/**
- * UOrb Publication wrapper class
- */
-template<class T>
-class UOrbPublication :
-	public T, // this must be first!
-	public UOrbPublicationBase
-{
-public:
-	/**
-	 * Constructor
-	 *
-	 * @param list      A list interface for adding to list during construction
-	 * @param meta		The uORB metadata (usually from the ORB_ID() macro)
-	 *			for the topic.
-	 */
-	UOrbPublication(
-		List<UOrbPublicationBase *> * list,
-		const struct orb_metadata *meta) :
-		T(), // initialize data structure to zero
-		UOrbPublicationBase(list, meta) {
-		// It is important that we call T()
-		// before we publish the data, so we
-		// call this here instead of the base class
-		setHandle(orb_advertise(getMeta(), getDataVoidPtr()));
-	}
-	virtual ~UOrbPublication() {}
-	/*
-	 * XXX
-	 * This function gets the T struct, assuming
-	 * the struct is the first base class, this
-	 * should use dynamic cast, but doesn't
-	 * seem to be available
-	 */
-	void *getDataVoidPtr() { return (void *)(T *)(this); }
-};
-
-} // namespace control
diff --git a/apps/systemlib/control/block/UOrbSubscription.cpp b/apps/systemlib/control/block/UOrbSubscription.cpp
deleted file mode 100644
index 022cadd24..000000000
--- a/apps/systemlib/control/block/UOrbSubscription.cpp
+++ /dev/null
@@ -1,51 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 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 UOrbSubscription.cpp
- *
- */
-
-#include "UOrbSubscription.hpp"
-
-namespace control
-{
-
-bool __EXPORT UOrbSubscriptionBase::updated()
-{
-	bool isUpdated = false;
-	orb_check(_handle, &isUpdated);
-	return isUpdated;
-}
-
-} // namespace control
diff --git a/apps/systemlib/control/block/UOrbSubscription.hpp b/apps/systemlib/control/block/UOrbSubscription.hpp
deleted file mode 100644
index 22cc2e114..000000000
--- a/apps/systemlib/control/block/UOrbSubscription.hpp
+++ /dev/null
@@ -1,137 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 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 UOrbSubscription.h
- *
- */
-
-#pragma once
-
-#include <uORB/uORB.h>
-#include "Block.hpp"
-#include "List.hpp"
-
-
-namespace control
-{
-
-class Block;
-
-/**
- * Base subscription warapper class, used in list traversal
- * of various subscriptions.
- */
-class __EXPORT UOrbSubscriptionBase :
-	public ListNode<control::UOrbSubscriptionBase *>
-{
-public:
-// methods
-
-	/**
-	 * Constructor
-	 *
-	 * @param meta		The uORB metadata (usually from the ORB_ID() macro)
-	 *			for the topic.
-	 */
-	UOrbSubscriptionBase(
-		List<UOrbSubscriptionBase *> * list,
-		const struct orb_metadata *meta) :
-		_meta(meta),
-		_handle() {
-		if (list != NULL) list->add(this);
-	}
-	bool updated();
-	void update() {
-		if (updated()) {
-			orb_copy(_meta, _handle, getDataVoidPtr());
-		}
-	}
-	virtual void *getDataVoidPtr() = 0;
-	virtual ~UOrbSubscriptionBase() {
-		orb_unsubscribe(_handle);
-	}
-// accessors
-	const struct orb_metadata *getMeta() { return _meta; }
-	int getHandle() { return _handle; }
-protected:
-// accessors
-	void setHandle(int handle) { _handle = handle; }
-// attributes
-	const struct orb_metadata *_meta;
-	int _handle;
-};
-
-/**
- * UOrb Subscription wrapper class
- */
-template<class T>
-class __EXPORT UOrbSubscription :
-	public T, // this must be first!
-	public UOrbSubscriptionBase
-{
-public:
-	/**
-	 * Constructor
-	 *
-	 * @param list      A list interface for adding to list during construction
-	 * @param meta		The uORB metadata (usually from the ORB_ID() macro)
-	 *			for the topic.
-	 * @param interval  The minimum interval in milliseconds between updates
-	 */
-	UOrbSubscription(
-		List<UOrbSubscriptionBase *> * list,
-		const struct orb_metadata *meta, unsigned interval) :
-		T(), // initialize data structure to zero
-		UOrbSubscriptionBase(list, meta) {
-		setHandle(orb_subscribe(getMeta()));
-		orb_set_interval(getHandle(), interval);
-	}
-
-	/**
-	 * Deconstructor
-	 */
-	virtual ~UOrbSubscription() {}
-
-	/*
-	 * XXX
-	 * This function gets the T struct, assuming
-	 * the struct is the first base class, this
-	 * should use dynamic cast, but doesn't
-	 * seem to be available
-	 */
-	void *getDataVoidPtr() { return (void *)(T *)(this); }
-	T getData() { return T(*this); }
-};
-
-} // namespace control