Moved last libs, drivers and headers, cleaned up IO build

9 files changed, 926 insertions, 0 deletions

diff --git a/src/modules/controllib/block/Block.cpp b/src/modules/controllib/block/Block.cpp
new file mode 100644
index 000000000..5994d2315
--- /dev/null
+++ b/src/modules/controllib/block/Block.cpp
@@ -0,0 +1,210 @@
+/****************************************************************************
+ *
+ *   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/src/modules/controllib/block/Block.hpp b/src/modules/controllib/block/Block.hpp
new file mode 100644
index 000000000..258701f27
--- /dev/null
+++ b/src/modules/controllib/block/Block.hpp
@@ -0,0 +1,131 @@
+/****************************************************************************
+ *
+ *   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/src/modules/controllib/block/BlockParam.cpp b/src/modules/controllib/block/BlockParam.cpp
new file mode 100644
index 000000000..fd12e365d
--- /dev/null
+++ b/src/modules/controllib/block/BlockParam.cpp
@@ -0,0 +1,79 @@
+/****************************************************************************
+ *
+ *   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, bool parent_prefix) :
+	_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 if (parent_prefix) {
+			snprintf(fullname, blockNameLengthMax, "%s_%s", parentName, name);
+		} else {
+			strncpy(fullname, name, blockNameLengthMax);
+		}
+
+		parent->getParams().add(this);
+	}
+
+	_handle = param_find(fullname);
+
+	if (_handle == PARAM_INVALID)
+		printf("error finding param: %s\n", fullname);
+};
+
+} // namespace control
diff --git a/src/modules/controllib/block/BlockParam.hpp b/src/modules/controllib/block/BlockParam.hpp
new file mode 100644
index 000000000..58a9bfc0d
--- /dev/null
+++ b/src/modules/controllib/block/BlockParam.hpp
@@ -0,0 +1,90 @@
+/****************************************************************************
+ *
+ *   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:
+	/**
+	 * Instantiate a block param base.
+	 *
+	 * @param parent_prefix Set to true to include the parent name in the parameter name
+	 */
+	BlockParamBase(Block *parent, const char *name, bool parent_prefix=true);
+	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, bool parent_prefix=true) :
+		BlockParamBase(block, name, parent_prefix),
+		_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/src/modules/controllib/block/List.hpp b/src/modules/controllib/block/List.hpp
new file mode 100644
index 000000000..96b0b94d1
--- /dev/null
+++ b/src/modules/controllib/block/List.hpp
@@ -0,0 +1,71 @@
+/****************************************************************************
+ *
+ *   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/src/modules/controllib/block/UOrbPublication.cpp b/src/modules/controllib/block/UOrbPublication.cpp
new file mode 100644
index 000000000..f69b39d90
--- /dev/null
+++ b/src/modules/controllib/block/UOrbPublication.cpp
@@ -0,0 +1,39 @@
+/****************************************************************************
+ *
+ *   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/src/modules/controllib/block/UOrbPublication.hpp b/src/modules/controllib/block/UOrbPublication.hpp
new file mode 100644
index 000000000..a36f4429f
--- /dev/null
+++ b/src/modules/controllib/block/UOrbPublication.hpp
@@ -0,0 +1,118 @@
+/****************************************************************************
+ *
+ *   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/src/modules/controllib/block/UOrbSubscription.cpp b/src/modules/controllib/block/UOrbSubscription.cpp
new file mode 100644
index 000000000..022cadd24
--- /dev/null
+++ b/src/modules/controllib/block/UOrbSubscription.cpp
@@ -0,0 +1,51 @@
+/****************************************************************************
+ *
+ *   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/src/modules/controllib/block/UOrbSubscription.hpp b/src/modules/controllib/block/UOrbSubscription.hpp
new file mode 100644
index 000000000..22cc2e114
--- /dev/null
+++ b/src/modules/controllib/block/UOrbSubscription.hpp
@@ -0,0 +1,137 @@
+/****************************************************************************
+ *
+ *   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