qshell update orb usage

src/drivers/qshell/posix/qshell.cpp

@@ -51,10 +51,6 @@
 
 px4::AppState QShell::appState;
 
-orb_advert_t QShell::_pub_qshell_req = nullptr;
-int QShell::_sub_qshell_retval = -1;
-uint32_t QShell::_current_sequence = 0;
-
 int QShell::main(std::vector<std::string> argList)
 {
 	int ret = _send_cmd(argList);
@@ -81,7 +77,7 @@ int QShell::_send_cmd(std::vector<std::string> &argList)
 	// it had timed out.
 	++_current_sequence;
 
-	struct qshell_req_s qshell_req;
+	qshell_req_s qshell_req{};
 	std::string cmd;
 
 	for (size_t i = 0; i < argList.size(); i++) {
@@ -103,34 +99,20 @@ int QShell::_send_cmd(std::vector<std::string> &argList)
 	strcpy((char *)qshell_req.cmd, cmd.c_str());
 	qshell_req.request_sequence = _current_sequence;
 
-	int instance;
-	orb_publish_auto(ORB_ID(qshell_req), &_pub_qshell_req, &qshell_req, &instance, ORB_PRIO_DEFAULT);
+	qshell_req.timestamp = hrt_absolute_time();
+	_qshell_req_pub.publish(qshell_req);
 
 	return 0;
 }
 
 int QShell::_wait_for_retval()
 {
-	if (_sub_qshell_retval < 0) {
-		_sub_qshell_retval = orb_subscribe(ORB_ID(qshell_retval));
-
-		if (_sub_qshell_retval < 0) {
-			PX4_ERR("could not subscribe to retval");
-			return -1;
-		}
-	}
-
 	const hrt_abstime time_started_us = hrt_absolute_time();
 
 	while (hrt_elapsed_time(&time_started_us) < 3000000) {
-		bool updated;
-		orb_check(_sub_qshell_retval, &updated);
-
-		if (updated) {
-
-			struct qshell_retval_s retval;
-			orb_copy(ORB_ID(qshell_retval), _sub_qshell_retval, &retval);
+		qshell_retval_s retval;
 
+		if (_qshell_retval_sub.update(&retval)) {
 			if (retval.return_sequence != _current_sequence) {
 				PX4_WARN("Ignoring return value with wrong sequence");
 
@@ -143,7 +125,7 @@ int QShell::_wait_for_retval()
 			}
 		}
 
-		usleep(1000);
+		px4_usleep(1000);
 	}
 
 	PX4_ERR("command timed out");

src/drivers/qshell/posix/qshell.h

@@ -41,15 +41,19 @@
 #pragma once
 
 #include <px4_platform_common/app.h>
-#include "uORB/topics/qshell_req.h"
+#include <uORB/Publication.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/qshell_req.h>
+#include <uORB/topics/qshell_retval.h>
+
 #include <vector>
 #include <string>
 
 class QShell
 {
 public:
-	QShell() {}
-	~QShell() {}
+	QShell() = default;
+	~QShell() = default;
 
 	int main(std::vector<std::string> argList);
 
@@ -59,7 +63,9 @@ private:
 	int _send_cmd(std::vector<std::string> &argList);
 	int _wait_for_retval();
 
-	static orb_advert_t _pub_qshell_req;
-	static int _sub_qshell_retval;
-	static uint32_t _current_sequence;
+	uORB::Publication<qshell_req_s>	_qshell_req_pub{ORB_ID(qshell_req)};
+
+	uORB::Subscription		_qshell_retval_sub{ORB_ID(qshell_retval)};
+
+	uint32_t			_current_sequence{0};
 };

src/drivers/qshell/posix/qshell_start_posix.cpp

@@ -57,6 +57,7 @@ static void usage()
 {
 	PX4_DEBUG("usage: qshell cmd [args]");
 }
+
 int qshell_main(int argc, char *argv[])
 {
 	if (argc < 2) {

src/drivers/qshell/qurt/qshell.cpp

@@ -83,8 +83,6 @@ int QShell::main()
 	fds[0].fd = sub_qshell_req;
 	fds[0].events = POLLIN;
 
-	orb_advert_t qshell_pub = nullptr;
-
 	while (!appState.exitRequested()) {
 
 		int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 1000);
@@ -114,7 +112,7 @@ int QShell::main()
 
 			appargs.push_back(arg);  // push last argument
 
-			struct qshell_retval_s retval;
+			qshell_retval_s retval{};
 			retval.return_value = run_cmd(appargs);
 			retval.return_sequence = m_qshell_req.request_sequence;
 
@@ -125,8 +123,8 @@ int QShell::main()
 				PX4_INFO("Ok executing command: %s", m_qshell_req.cmd);
 			}
 
-			int instance;
-			orb_publish_auto(ORB_ID(qshell_retval), &qshell_pub, &retval, &instance, ORB_PRIO_DEFAULT);
+			retval.timestamp = hrt_absolute_time();
+			_qshell_retval_pub.publish(retval);
 
 		} else if (pret == 0) {
 			// Timing out is fine.

src/drivers/qshell/qurt/qshell.h

@@ -43,7 +43,10 @@
 #include <px4_platform_common/app.h>
 #include <string>
 #include <vector>
-#include "uORB/topics/qshell_req.h"
+#include <uORB/Publication.hpp>
+#include <uORB/topics/qshell_retval.h>
+#include <uORB/topics/qshell_req.h>
+
 #include "apps.h"
 
 class QShell
@@ -59,7 +62,9 @@ public:
 
 private:
 
-	struct qshell_req_s m_qshell_req;
-	apps_map_type m_apps;
+	uORB::Publication<qshell_retval_s>	_qshell_retval_pub{ORB_ID(qshell_retval)};
 
+	qshell_req_s m_qshell_req{};
+
+	apps_map_type m_apps;
 };

src/drivers/qshell/qurt/qshell_start_qurt.cpp

@@ -68,6 +68,7 @@ static void usage()
 {
 	PX4_INFO("usage: qshell {start|stop|status}");
 }
+
 int qshell_main(int argc, char *argv[])
 {
 	if (argc < 2) {