uORB::Subscription shift SubscriptionBase naming to encourage usage

 - uORB::SubscriptionBase -> uORB::Subscription
 - uORB::Subscription -> uORB::SubscriptionData

src/drivers/md25/md25.hpp

@@ -270,7 +270,7 @@ class MD25 : public device::I2C
 	struct pollfd _controlPoll;
 
 	/** actuator controls subscription */
-	uORB::Subscription<actuator_controls_s> _actuators;
+	uORB::SubscriptionData<actuator_controls_s> _actuators;
 
 	// local copy of data from i2c device
 	uint8_t _version;

src/examples/segway/blocks.hpp

@@ -94,13 +94,13 @@ class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock
 	// subscriptions
 	uORB::SubscriptionPolled<vehicle_attitude_s> _att;
 
-	uORB::Subscription<manual_control_setpoint_s> _manual;
-	uORB::Subscription<parameter_update_s> _param_update;
-	uORB::Subscription<position_setpoint_triplet_s> _missionCmd;
-	uORB::Subscription<vehicle_attitude_setpoint_s> _attCmd;
-	uORB::Subscription<vehicle_global_position_s> _pos;
-	uORB::Subscription<vehicle_rates_setpoint_s> _ratesCmd;
-	uORB::Subscription<vehicle_status_s> _status;
+	uORB::SubscriptionData<manual_control_setpoint_s> _manual;
+	uORB::SubscriptionData<parameter_update_s> _param_update;
+	uORB::SubscriptionData<position_setpoint_triplet_s> _missionCmd;
+	uORB::SubscriptionData<vehicle_attitude_setpoint_s> _attCmd;
+	uORB::SubscriptionData<vehicle_global_position_s> _pos;
+	uORB::SubscriptionData<vehicle_rates_setpoint_s> _ratesCmd;
+	uORB::SubscriptionData<vehicle_status_s> _status;
 
 	// publications
 	uORB::Publication<actuator_controls_s> _actuators;

src/lib/CollisionPrevention/CollisionPrevention.hpp

@@ -77,7 +77,7 @@ class CollisionPrevention : public ModuleParams
 	orb_advert_t _constraints_pub{nullptr};		/**< constraints publication */
 	orb_advert_t _mavlink_log_pub{nullptr};	 	/**< Mavlink log uORB handle */
 
-	uORB::Subscription<obstacle_distance_s> *_sub_obstacle_distance{nullptr}; /**< obstacle distances received form a range sensor */
+	uORB::SubscriptionData<obstacle_distance_s> *_sub_obstacle_distance{nullptr}; /**< obstacle distances received form a range sensor */
 
 	static constexpr uint64_t RANGE_STREAM_TIMEOUT_US = 500000;
 	static constexpr uint64_t MESSAGE_THROTTLE_US = 5000000;

src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp

@@ -97,7 +97,7 @@ class FlightTaskAuto : public FlightTask
 	matrix::Vector3f _next_wp{}; /**< The next waypoint after target (local frame). If no next setpoint is available, next is set to target. */
 	float _mc_cruise_speed{0.0f}; /**< Requested cruise speed. If not valid, default cruise speed is used. */
 	WaypointType _type{WaypointType::idle}; /**< Type of current target triplet. */
-	uORB::Subscription<home_position_s> *_sub_home_position{nullptr};
+	uORB::SubscriptionData<home_position_s> *_sub_home_position{nullptr};
 
 	State _current_state{State::none};
 	float _target_acceptance_radius = 0.0f; /**< Acceptances radius of the target */
@@ -117,8 +117,8 @@ class FlightTaskAuto : public FlightTask
 private:
 	matrix::Vector2f _lock_position_xy{NAN, NAN}; /**< if no valid triplet is received, lock positition to current position */
 	bool _yaw_lock = false; /**< if within acceptance radius, lock yaw to current yaw */
-	uORB::Subscription<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
-	uORB::Subscription<vehicle_status_s> *_sub_vehicle_status{nullptr};
+	uORB::SubscriptionData<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
+	uORB::SubscriptionData<vehicle_status_s> *_sub_vehicle_status{nullptr};
 
 	matrix::Vector3f
 	_triplet_target; /**< current triplet from navigator which may differ from the intenal one (_target) depending on the vehicle state. */

src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp

@@ -173,8 +173,8 @@ class FlightTask : public ModuleParams
 
 protected:
 
-	uORB::Subscription<vehicle_local_position_s> *_sub_vehicle_local_position{nullptr};
-	uORB::Subscription<vehicle_attitude_s> *_sub_attitude{nullptr};
+	uORB::SubscriptionData<vehicle_local_position_s> *_sub_vehicle_local_position{nullptr};
+	uORB::SubscriptionData<vehicle_attitude_s> *_sub_attitude{nullptr};
 	uint8_t _heading_reset_counter{0}; /**< estimator heading reset */
 
 	/**

src/lib/FlightTasks/tasks/FlightTask/SubscriptionArray.hpp

@@ -57,7 +57,7 @@ class SubscriptionArray
 	 * @return true on success, false otherwise (subscription set to nullptr)
 	 */
 	template<class T>
-	bool get(const struct orb_metadata *meta, uORB::Subscription<T> *&subscription, unsigned instance = 0);
+	bool get(const struct orb_metadata *meta, uORB::SubscriptionData<T> *&subscription, unsigned instance = 0);
 
 	/**
 	 * update all subscriptions (if new data is available)
@@ -81,13 +81,14 @@ class SubscriptionArray
 
 
 template<class T>
-bool SubscriptionArray::get(const struct orb_metadata *meta, uORB::Subscription<T> *&subscription, unsigned instance)
+bool SubscriptionArray::get(const struct orb_metadata *meta, uORB::SubscriptionData<T> *&subscription,
+			    unsigned instance)
 {
 	// does it already exist?
 	for (int i = 0; i < _subscriptions_count; ++i) {
 		if (_subscriptions[i]->get_topic() == meta && _subscriptions[i]->get_instance() == instance) {
 			// we know the type must be correct, so we can use reinterpret_cast (dynamic_cast is not available)
-			subscription = reinterpret_cast<uORB::Subscription<T>*>(_subscriptions[i]);
+			subscription = reinterpret_cast<uORB::SubscriptionData<T>*>(_subscriptions[i]);
 			return true;
 		}
 	}
@@ -100,7 +101,7 @@ bool SubscriptionArray::get(const struct orb_metadata *meta, uORB::Subscription<
 		}
 	}
 
-	subscription = new uORB::Subscription<T>(meta, 0, instance);
+	subscription = new uORB::SubscriptionData<T>(meta, 0, instance);
 
 	if (!subscription) {
 		return false;

src/lib/FlightTasks/tasks/Manual/FlightTaskManual.hpp

@@ -68,7 +68,7 @@ class FlightTaskManual : public FlightTask
 	bool _evaluateSticks(); /**< checks and sets stick inputs */
 	void _applyGearSwitch(uint8_t gswitch); /**< Sets gears according to switch */
 
-	uORB::Subscription<manual_control_setpoint_s> *_sub_manual_control_setpoint{nullptr};
+	uORB::SubscriptionData<manual_control_setpoint_s> *_sub_manual_control_setpoint{nullptr};
 
 	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
 					(ParamFloat<px4::params::MPC_HOLD_DZ>) _param_mpc_hold_dz, /**< 0-deadzone around the center for the sticks */

src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.hpp

@@ -109,7 +109,7 @@ class FlightTaskManualAltitude : public FlightTaskManual
 	 */
 	void _respectGroundSlowdown();
 
-	uORB::Subscription<home_position_s> *_sub_home_position{nullptr};
+	uORB::SubscriptionData<home_position_s> *_sub_home_position{nullptr};
 
 	uint8_t _reset_counter = 0; /**< counter for estimator resets in z-direction */
 	float _max_speed_up = 10.0f;

src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.hpp

@@ -53,7 +53,7 @@ class FlightTaskOffboard : public FlightTask
 	bool updateInitialize() override;
 
 protected:
-	uORB::Subscription<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
+	uORB::SubscriptionData<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
 private:
 	matrix::Vector3f _position_lock{};
 

src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp

@@ -102,8 +102,8 @@ class ObstacleAvoidance : public ModuleParams
 
 private:
 
-	uORB::Subscription<vehicle_trajectory_waypoint_s> *_sub_vehicle_trajectory_waypoint{nullptr}; /**< vehicle trajectory waypoint subscription */
-	uORB::Subscription<vehicle_status_s> *_sub_vehicle_status{nullptr}; /**< vehicle status subscription */
+	uORB::SubscriptionData<vehicle_trajectory_waypoint_s> *_sub_vehicle_trajectory_waypoint{nullptr}; /**< vehicle trajectory waypoint subscription */
+	uORB::SubscriptionData<vehicle_status_s> *_sub_vehicle_status{nullptr}; /**< vehicle status subscription */
 
 	DEFINE_PARAMETERS(
 		(ParamInt<px4::params::COM_OBS_AVOID>) COM_OBS_AVOID,             /**< obstacle avoidance enabled */

src/modules/commander/Commander.hpp

@@ -59,8 +59,6 @@
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/telemetry_status.h>
 using math::constrain;
-using uORB::Publication;
-using uORB::Subscription;
 
 using namespace time_literals;
 
@@ -206,12 +204,13 @@ class Commander : public ModuleBase<Commander>, public ModuleParams
 	bool _print_avoidance_msg_once{false};
 
 	// Subscriptions
-	Subscription<estimator_status_s>		_estimator_status_sub{ORB_ID(estimator_status)};
-	Subscription<mission_result_s>			_mission_result_sub{ORB_ID(mission_result)};
-	Subscription<vehicle_global_position_s>		_global_position_sub{ORB_ID(vehicle_global_position)};
-	Subscription<vehicle_local_position_s>		_local_position_sub{ORB_ID(vehicle_local_position)};
+	uORB::SubscriptionData<estimator_status_s>		_estimator_status_sub{ORB_ID(estimator_status)};
+	uORB::SubscriptionData<mission_result_s>		_mission_result_sub{ORB_ID(mission_result)};
+	uORB::SubscriptionData<vehicle_global_position_s>	_global_position_sub{ORB_ID(vehicle_global_position)};
+	uORB::SubscriptionData<vehicle_local_position_s>	_local_position_sub{ORB_ID(vehicle_local_position)};
 
-	Publication<home_position_s>			_home_pub{ORB_ID(home_position)};
+	// Publications
+	uORB::Publication<home_position_s>			_home_pub{ORB_ID(home_position)};
 
 	orb_advert_t					_status_pub{nullptr};
 };

src/modules/commander/PreflightCheck.cpp

@@ -109,7 +109,7 @@ static bool magnometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &sta
 
 	if (exists) {
 
-		uORB::Subscription<sensor_mag_s> magnetometer{ORB_ID(sensor_mag), 0, instance};
+		uORB::SubscriptionData<sensor_mag_s> magnetometer{ORB_ID(sensor_mag), 0, instance};
 
 		mag_valid = (hrt_elapsed_time(&magnetometer.get().timestamp) < 1_s);
 
@@ -245,7 +245,7 @@ static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &
 
 	if (exists) {
 
-		uORB::Subscription<sensor_accel_s> accel{ORB_ID(sensor_accel), 0, instance};
+		uORB::SubscriptionData<sensor_accel_s> accel{ORB_ID(sensor_accel), 0, instance};
 
 		accel_valid = (hrt_elapsed_time(&accel.get().timestamp) < 1_s);
 
@@ -309,7 +309,7 @@ static bool gyroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, u
 
 	if (exists) {
 
-		uORB::Subscription<sensor_gyro_s> gyro{ORB_ID(sensor_gyro), 0, instance};
+		uORB::SubscriptionData<sensor_gyro_s> gyro{ORB_ID(sensor_gyro), 0, instance};
 
 		gyro_valid = (hrt_elapsed_time(&gyro.get().timestamp) < 1_s);
 
@@ -352,7 +352,7 @@ static bool baroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, u
 	bool baro_valid = false;
 
 	if (exists) {
-		uORB::Subscription<sensor_baro_s> baro{ORB_ID(sensor_baro), 0, instance};
+		uORB::SubscriptionData<sensor_baro_s> baro{ORB_ID(sensor_baro), 0, instance};
 
 		baro_valid = (hrt_elapsed_time(&baro.get().timestamp) < 1_s);
 

src/modules/commander/failure_detector/FailureDetector.hpp

@@ -60,7 +60,7 @@ typedef enum {
 	FAILURE_ALT = vehicle_status_s::FAILURE_ALT,
 } failure_detector_bitmak;
 
-using uORB::Subscription;
+using uORB::SubscriptionData;
 
 class FailureDetector : public ModuleParams
 {
@@ -79,8 +79,8 @@ class FailureDetector : public ModuleParams
 	)
 
 	// Subscriptions
-	Subscription<vehicle_attitude_s> _sub_vehicle_attitude_setpoint;
-	Subscription<vehicle_attitude_s> _sub_vehicule_attitude;
+	SubscriptionData<vehicle_attitude_s> _sub_vehicle_attitude_setpoint;
+	SubscriptionData<vehicle_attitude_s> _sub_vehicule_attitude;
 
 	uint8_t _status{FAILURE_NONE};
 

src/modules/fw_att_control/FixedwingAttitudeControl.hpp

@@ -65,7 +65,7 @@
 using matrix::Eulerf;
 using matrix::Quatf;
 
-using uORB::Subscription;
+using uORB::SubscriptionData;
 
 class FixedwingAttitudeControl final : public ModuleBase<FixedwingAttitudeControl>
 {
@@ -123,7 +123,7 @@ class FixedwingAttitudeControl final : public ModuleBase<FixedwingAttitudeContro
 	vehicle_rates_setpoint_s		_rates_sp {};		/* attitude rates setpoint */
 	vehicle_status_s			_vehicle_status {};	/**< vehicle status */
 
-	Subscription<airspeed_s>			_airspeed_sub;
+	SubscriptionData<airspeed_s>			_airspeed_sub;
 
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
 	perf_counter_t	_nonfinite_input_perf;		/**< performance counter for non finite input */

src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp

@@ -99,7 +99,7 @@ using matrix::Vector2f;
 using matrix::Vector3f;
 using matrix::wrap_pi;
 
-using uORB::Subscription;
+using uORB::SubscriptionData;
 
 using namespace launchdetection;
 using namespace runwaytakeoff;
@@ -181,8 +181,8 @@ class FixedwingPositionControl final : public ModuleBase<FixedwingPositionContro
 	vehicle_land_detected_s		_vehicle_land_detected {};	///< vehicle land detected */
 	vehicle_status_s		_vehicle_status {};		///< vehicle status */
 
-	Subscription<airspeed_s> _sub_airspeed;
-	Subscription<sensor_bias_s> _sub_sensors;
+	SubscriptionData<airspeed_s> _sub_airspeed;
+	SubscriptionData<sensor_bias_s> _sub_sensors;
 
 	perf_counter_t	_loop_perf;				///< loop performance counter */
 

src/modules/gnd_pos_control/GroundRoverPositionControl.hpp

@@ -67,7 +67,7 @@
 
 using matrix::Dcmf;
 
-using uORB::Subscription;
+using uORB::SubscriptionData;
 
 class GroundRoverPositionControl
 {
@@ -110,8 +110,8 @@ class GroundRoverPositionControl
 	vehicle_control_mode_s			_control_mode{};			/**< control mode */
 	vehicle_global_position_s		_global_pos{};			/**< global vehicle position */
 
-	Subscription<vehicle_attitude_s>	_sub_attitude;
-	Subscription<sensor_bias_s>	_sub_sensors;
+	SubscriptionData<vehicle_attitude_s>	_sub_attitude;
+	SubscriptionData<sensor_bias_s>	_sub_sensors;
 
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
 

src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp

@@ -210,7 +210,7 @@ void BlockLocalPositionEstimator::update()
 	if (!armedState && (_sub_lidar == nullptr || _sub_sonar == nullptr)) {
 		// detect distance sensors
 		for (size_t i = 0; i < N_DIST_SUBS; i++) {
-			uORB::Subscription<distance_sensor_s> *s = _dist_subs[i];
+			uORB::SubscriptionData<distance_sensor_s> *s = _dist_subs[i];
 
 			if (s == _sub_lidar || s == _sub_sonar) { continue; }
 

src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp

@@ -250,21 +250,21 @@ class BlockLocalPositionEstimator : public control::SuperBlock, public ModulePar
 	uORB::SubscriptionPolled<parameter_update_s> _sub_param_update;
 	uORB::SubscriptionPolled<sensor_combined_s> _sub_sensor;
 
-	uORB::Subscription<actuator_armed_s> _sub_armed;
-	uORB::Subscription<vehicle_land_detected_s> _sub_land;
-	uORB::Subscription<vehicle_attitude_s> _sub_att;
-	uORB::Subscription<vehicle_gps_position_s> _sub_gps;
-	uORB::Subscription<vehicle_odometry_s> _sub_visual_odom;
-	uORB::Subscription<vehicle_odometry_s> _sub_mocap_odom;
-	uORB::Subscription<distance_sensor_s> _sub_dist0;
-	uORB::Subscription<distance_sensor_s> _sub_dist1;
-	uORB::Subscription<distance_sensor_s> _sub_dist2;
-	uORB::Subscription<distance_sensor_s> _sub_dist3;
-	uORB::Subscription<distance_sensor_s> *_dist_subs[N_DIST_SUBS];
-	uORB::Subscription<distance_sensor_s> *_sub_lidar;
-	uORB::Subscription<distance_sensor_s> *_sub_sonar;
-	uORB::Subscription<landing_target_pose_s> _sub_landing_target_pose;
-	uORB::Subscription<vehicle_air_data_s> _sub_airdata;
+	uORB::SubscriptionData<actuator_armed_s> _sub_armed;
+	uORB::SubscriptionData<vehicle_land_detected_s> _sub_land;
+	uORB::SubscriptionData<vehicle_attitude_s> _sub_att;
+	uORB::SubscriptionData<vehicle_gps_position_s> _sub_gps;
+	uORB::SubscriptionData<vehicle_odometry_s> _sub_visual_odom;
+	uORB::SubscriptionData<vehicle_odometry_s> _sub_mocap_odom;
+	uORB::SubscriptionData<distance_sensor_s> _sub_dist0;
+	uORB::SubscriptionData<distance_sensor_s> _sub_dist1;
+	uORB::SubscriptionData<distance_sensor_s> _sub_dist2;
+	uORB::SubscriptionData<distance_sensor_s> _sub_dist3;
+	uORB::SubscriptionData<distance_sensor_s> *_dist_subs[N_DIST_SUBS];
+	uORB::SubscriptionData<distance_sensor_s> *_sub_lidar;
+	uORB::SubscriptionData<distance_sensor_s> *_sub_sonar;
+	uORB::SubscriptionData<landing_target_pose_s> _sub_landing_target_pose;
+	uORB::SubscriptionData<vehicle_air_data_s> _sub_airdata;
 
 	// publications
 	uORB::Publication<vehicle_local_position_s> _pub_lpos;

src/modules/logger/logger.cpp

@@ -868,7 +868,7 @@ void Logger::run()
 	}
 
 	int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
-	uORB::Subscription<parameter_update_s> parameter_update_sub(ORB_ID(parameter_update));
+	uORB::SubscriptionData<parameter_update_s> parameter_update_sub(ORB_ID(parameter_update));
 	int log_message_sub = orb_subscribe(ORB_ID(log_message));
 	orb_set_interval(log_message_sub, 20);
 

src/modules/mavlink/mavlink_main.cpp

@@ -633,7 +633,7 @@ Mavlink::mavlink_open_uart(int baud, const char *uart_name, bool force_flow_cont
 	/* if this is a config link, stay here and wait for it to open */
 	if (_uart_fd < 0 && _mode == MAVLINK_MODE_CONFIG) {
 
-		uORB::Subscription<actuator_armed_s> armed_sub{ORB_ID(actuator_armed)};
+		uORB::SubscriptionData<actuator_armed_s> armed_sub{ORB_ID(actuator_armed)};
 
 		/* get the system arming state and abort on arming */
 		while (_uart_fd < 0) {

src/modules/mavlink/mavlink_mission.h

@@ -125,7 +125,7 @@ class MavlinkMissionManager
 
 	static bool		_transfer_in_progress;			///< Global variable checking for current transmission
 
-	uORB::SubscriptionBase	_mission_result_sub{ORB_ID(mission_result)};
+	uORB::Subscription	_mission_result_sub{ORB_ID(mission_result)};
 
 	orb_advert_t		_offboard_mission_pub{nullptr};
 

src/modules/mavlink/mavlink_orb_subscription.h

@@ -93,7 +93,7 @@ class MavlinkOrbSubscription : public ListNode<MavlinkOrbSubscription *>
 
 private:
 
-	uORB::SubscriptionBase	_sub;
+	uORB::Subscription	_sub;
 };
 
 

src/modules/mavlink/mavlink_receiver.h

@@ -248,9 +248,9 @@ class MavlinkReceiver
 
 	static constexpr int _gps_inject_data_queue_size{6};
 
-	uORB::SubscriptionBase _actuator_armed_sub{ORB_ID(actuator_armed)};
-	uORB::SubscriptionBase _control_mode_sub{ORB_ID(vehicle_control_mode)};
-	uORB::SubscriptionBase _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
+	uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)};
+	uORB::Subscription _control_mode_sub{ORB_ID(vehicle_control_mode)};
+	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
 
 	int _orb_class_instance{-1};
 

src/modules/navigator/geofence.h

@@ -166,7 +166,7 @@ class Geofence : public ModuleParams
 		(ParamFloat<px4::params::GF_MAX_VER_DIST>) _param_gf_max_ver_dist
 	)
 
-	uORB::Subscription<vehicle_air_data_s>	_sub_airdata;
+	uORB::SubscriptionData<vehicle_air_data_s>	_sub_airdata;
 
 	int _outside_counter{0};
 	uint16_t _update_counter{0}; ///< dataman update counter: if it does not match, we polygon data was updated

src/modules/navigator/mission_feasibility_checker.cpp

@@ -450,7 +450,7 @@ MissionFeasibilityChecker::checkFixedWingLanding(const mission_s &mission, bool
 
 				if (MissionBlock::item_contains_position(missionitem_previous)) {
 
-					uORB::Subscription<position_controller_landing_status_s> landing_status{ORB_ID(position_controller_landing_status)};
+					uORB::SubscriptionData<position_controller_landing_status_s> landing_status{ORB_ID(position_controller_landing_status)};
 					landing_status.forcedUpdate();
 
 					const bool landing_status_valid = (landing_status.get().timestamp > 0);