uORB: SubscriptionCallback cleanup naming

src/lib/mixer_module/mixer_module.cpp

@@ -139,7 +139,7 @@ bool MixingOutput::updateSubscriptions(bool allow_wq_switch)
 			if (_groups_required & (1 << i)) {
 				PX4_DEBUG("subscribe to actuator_controls_%d", i);
 
-				if (!_control_subs[i].register_callback()) {
+				if (!_control_subs[i].registerCallback()) {
 					PX4_ERR("actuator_controls_%d register callback failed!", i);
 				}
 			}
@@ -205,7 +205,7 @@ void MixingOutput::setAllDisarmedValues(uint16_t value)
 void MixingOutput::unregister()
 {
 	for (auto &control_sub : _control_subs) {
-		control_sub.unregister_callback();
+		control_sub.unregisterCallback();
 	}
 }
 

src/modules/fw_att_control/FixedwingAttitudeControl.cpp

@@ -138,7 +138,7 @@ FixedwingAttitudeControl::~FixedwingAttitudeControl()
 bool
 FixedwingAttitudeControl::init()
 {
-	if (!_att_sub.register_callback()) {
+	if (!_att_sub.registerCallback()) {
 		PX4_ERR("vehicle attitude callback registration failed!");
 		return false;
 	}
@@ -444,7 +444,7 @@ float FixedwingAttitudeControl::get_airspeed_and_update_scaling()
 void FixedwingAttitudeControl::Run()
 {
 	if (should_exit()) {
-		_att_sub.unregister_callback();
+		_att_sub.unregisterCallback();
 		exit_and_cleanup();
 		return;
 	}

src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp

@@ -120,7 +120,7 @@ FixedwingPositionControl::~FixedwingPositionControl()
 bool
 FixedwingPositionControl::init()
 {
-	if (!_global_pos_sub.register_callback()) {
+	if (!_global_pos_sub.registerCallback()) {
 		PX4_ERR("vehicle global position callback registration failed!");
 		return false;
 	}
@@ -1651,7 +1651,7 @@ void
 FixedwingPositionControl::Run()
 {
 	if (should_exit()) {
-		_global_pos_sub.unregister_callback();
+		_global_pos_sub.unregisterCallback();
 		exit_and_cleanup();
 		return;
 	}

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -90,7 +90,7 @@ MulticopterAttitudeControl::~MulticopterAttitudeControl()
 bool
 MulticopterAttitudeControl::init()
 {
-	if (!_vehicle_angular_velocity_sub.register_callback()) {
+	if (!_vehicle_angular_velocity_sub.registerCallback()) {
 		PX4_ERR("vehicle_angular_velocity callback registration failed!");
 		return false;
 	}
@@ -520,7 +520,7 @@ void
 MulticopterAttitudeControl::Run()
 {
 	if (should_exit()) {
-		_vehicle_angular_velocity_sub.unregister_callback();
+		_vehicle_angular_velocity_sub.unregisterCallback();
 		exit_and_cleanup();
 		return;
 	}

src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp

@@ -69,7 +69,7 @@ VehicleAcceleration::Start()
 	SensorBiasUpdate(true);
 
 	// needed to change the active sensor if the primary stops updating
-	_sensor_selection_sub.register_callback();
+	_sensor_selection_sub.registerCallback();
 
 	return SensorCorrectionsUpdate(true);
 }
@@ -81,10 +81,10 @@ VehicleAcceleration::Stop()
 
 	// clear all registered callbacks
 	for (auto &sub : _sensor_sub) {
-		sub.unregister_callback();
+		sub.unregisterCallback();
 	}
 
-	_sensor_selection_sub.unregister_callback();
+	_sensor_selection_sub.unregisterCallback();
 }
 
 void
@@ -132,12 +132,12 @@ VehicleAcceleration::SensorCorrectionsUpdate(bool force)
 			if (corrections.selected_accel_instance < MAX_SENSOR_COUNT) {
 				// clear all registered callbacks
 				for (auto &sub : _sensor_sub) {
-					sub.unregister_callback();
+					sub.unregisterCallback();
 				}
 
 				const int sensor_new = corrections.selected_accel_instance;
 
-				if (_sensor_sub[sensor_new].register_callback()) {
+				if (_sensor_sub[sensor_new].registerCallback()) {
 					PX4_DEBUG("selected sensor changed %d -> %d", _selected_sensor, sensor_new);
 					_selected_sensor = sensor_new;
 

src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp

@@ -69,7 +69,7 @@ VehicleAngularVelocity::Start()
 	SensorBiasUpdate(true);
 
 	// needed to change the active sensor if the primary stops updating
-	_sensor_selection_sub.register_callback();
+	_sensor_selection_sub.registerCallback();
 
 	return SensorCorrectionsUpdate(true);
 }
@@ -81,10 +81,10 @@ VehicleAngularVelocity::Stop()
 
 	// clear all registered callbacks
 	for (auto &sub : _sensor_sub) {
-		sub.unregister_callback();
+		sub.unregisterCallback();
 	}
 
-	_sensor_selection_sub.unregister_callback();
+	_sensor_selection_sub.unregisterCallback();
 }
 
 void
@@ -143,11 +143,11 @@ VehicleAngularVelocity::SensorCorrectionsUpdate(bool force)
 			if (corrections.selected_gyro_instance < MAX_SENSOR_COUNT) {
 				// clear all registered callbacks
 				for (auto &sub : _sensor_control_sub) {
-					sub.unregister_callback();
+					sub.unregisterCallback();
 				}
 
 				for (auto &sub : _sensor_sub) {
-					sub.unregister_callback();
+					sub.unregisterCallback();
 				}
 
 				const int sensor_new = corrections.selected_gyro_instance;
@@ -159,7 +159,7 @@ VehicleAngularVelocity::SensorCorrectionsUpdate(bool force)
 					_sensor_control_sub[i].copy(&report);
 
 					if ((report.device_id != 0) && (report.device_id == _selected_sensor_device_id)) {
-						if (_sensor_control_sub[i].register_callback()) {
+						if (_sensor_control_sub[i].registerCallback()) {
 							PX4_DEBUG("selected sensor (control) changed %d -> %d", _selected_sensor, i);
 							_selected_sensor_control = i;
 
@@ -176,7 +176,7 @@ VehicleAngularVelocity::SensorCorrectionsUpdate(bool force)
 				// otherwise fallback to using sensor_gyro (legacy that will be removed)
 				_sensor_control_available = false;
 
-				if (_sensor_sub[sensor_new].register_callback()) {
+				if (_sensor_sub[sensor_new].registerCallback()) {
 					PX4_DEBUG("selected sensor changed %d -> %d", _selected_sensor, sensor_new);
 					_selected_sensor = sensor_new;
 

src/modules/uORB/SubscriptionCallback.hpp

@@ -53,6 +53,7 @@ public:
 	 * Constructor
 	 *
 	 * @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
+	 * @param interval_ms The requested maximum update interval in milliseconds.
 	 * @param instance The instance for multi sub.
 	 */
 	SubscriptionCallback(const orb_metadata *meta, uint8_t interval_ms = 0, uint8_t instance = 0) :
@@ -62,10 +63,10 @@ public:
 
 	virtual ~SubscriptionCallback()
 	{
-		unregister_callback();
+		unregisterCallback();
 	};
 
-	bool register_callback()
+	bool registerCallback()
 	{
 		bool ret = false;
 
@@ -91,7 +92,7 @@ public:
 		return ret;
 	}
 
-	void unregister_callback()
+	void unregisterCallback()
 	{
 		if (_subscription.get_node()) {
 			_subscription.get_node()->unregister_callback(this);

src/modules/uORB/SubscriptionInterval.hpp

@@ -137,7 +137,7 @@ protected:
 
 	Subscription	_subscription;
 	uint64_t	_last_update{0};	// last update in microseconds
-	uint32_t	_interval_us{0};		// maximum update interval in microseconds
+	uint32_t	_interval_us{0};	// maximum update interval in microseconds
 
 };
 

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -114,12 +114,12 @@ VtolAttitudeControl::~VtolAttitudeControl()
 bool
 VtolAttitudeControl::init()
 {
-	if (!_actuator_inputs_mc.register_callback()) {
+	if (!_actuator_inputs_mc.registerCallback()) {
 		PX4_ERR("MC actuator controls callback registration failed!");
 		return false;
 	}
 
-	if (!_actuator_inputs_fw.register_callback()) {
+	if (!_actuator_inputs_fw.registerCallback()) {
 		PX4_ERR("FW actuator controls callback registration failed!");
 		return false;
 	}
@@ -290,8 +290,8 @@ void
 VtolAttitudeControl::Run()
 {
 	if (should_exit()) {
-		_actuator_inputs_fw.unregister_callback();
-		_actuator_inputs_mc.unregister_callback();
+		_actuator_inputs_fw.unregisterCallback();
+		_actuator_inputs_mc.unregisterCallback();
 		exit_and_cleanup();
 		return;
 	}