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Posted to commits@nuttx.apache.org by gi...@apache.org on 2026/01/05 00:39:44 UTC
(nuttx-website) branch asf-site updated: Publishing web: 69840fc9188cc51981d84311f139c9989c5b3f18 docs: d019a638aba57796485a4095b08bf320a199cd63
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The following commit(s) were added to refs/heads/asf-site by this push:
new 1be3eb0dd4 Publishing web: 69840fc9188cc51981d84311f139c9989c5b3f18 docs: d019a638aba57796485a4095b08bf320a199cd63
1be3eb0dd4 is described below
commit 1be3eb0dd4fafcae9bc77e0cfe650bd70bb87a68
Author: Alin Jerpelea <al...@sony.com>
AuthorDate: Mon Jan 5 00:38:34 2026 +0000
Publishing web: 69840fc9188cc51981d84311f139c9989c5b3f18 docs: d019a638aba57796485a4095b08bf320a199cd63
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<div class="section" id="nuttx-documentation">
<h1>NuttX Documentation<a class="headerlink" href="#nuttx-documentation" title="Permalink to this headline">¶</a></h1>
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<div class="toctree-wrapper compound">
<p class="caption"><span class="caption-text">Table of Contents</span></p>
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-<p>Last Updated: 04 January 26 at 00:18</p>
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<p class="caption"><span class="caption-text">Table of Contents</span></p>
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-<p>Last Updated: 04 January 26 at 00:19</p>
+<p>Last Updated: 05 January 26 at 00:18</p>
<div class="toctree-wrapper compound">
<p class="caption"><span class="caption-text">Table of Contents</span></p>
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index bc3a2990c3..e045f3bc30 100644
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-<p>Last Updated: 04 January 26 at 00:19</p>
+<p>Last Updated: 05 January 26 at 00:19</p>
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<p class="caption"><span class="caption-text">Table of Contents</span></p>
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-<p>Last Updated: 04 January 26 at 00:19</p>
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+<p>Last Updated: 05 January 26 at 00:19</p>
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-<p>Last Updated: 04 January 26 at 00:30</p>
+<p>Last Updated: 05 January 26 at 00:30</p>
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<p class="caption" role="heading"><span class="caption-text">Table of Contents</span></p>
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index b0d018676e..aa793cb2e5 100644
--- a/content/docs/12.12.0/index.html
+++ b/content/docs/12.12.0/index.html
@@ -189,7 +189,7 @@ standards. Additional standard APIs from Unix and other common RTOS’s (such as
VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments (such
as fork()).</p>
-<p>Last Updated: 04 January 26 at 00:34</p>
+<p>Last Updated: 05 January 26 at 00:33</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of Contents</span></p>
<ul class="current">
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index d2e14508f1..4bd24da50c 100644
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index e20da0ed06..2e6c6a3e46 100644
--- a/content/docs/12.2.0/index.html
+++ b/content/docs/12.2.0/index.html
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-<p>Last Updated: 04 January 26 at 00:20</p>
+<p>Last Updated: 05 January 26 at 00:19</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of Contents</span></p>
<ul class="current">
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index b155c1c79e..be62caee30 100644
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index e20da0ed06..651ef9bfba 100644
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<h1>NuttX Documentation<a class="headerlink" href="#nuttx-documentation" title="Permalink to this heading"></a></h1>
<p>NuttX is a real-time operating system (RTOS) with an emphasis on standards compliance and small footprint. Scalable from 8-bit to 64-bit microcontroller environments, the primary governing standards in NuttX are POSIX and ANSI standards. Additional standard APIs from Unix and other common RTOS’s (such as VxWorks) are adopted for functionality not available under these standards, or for functionality that is not appropriate for deeply-embedded environments (such as fork()).</p>
-<p>Last Updated: 04 January 26 at 00:20</p>
+<p>Last Updated: 05 January 26 at 00:20</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of Contents</span></p>
<ul class="current">
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index b09b986f28..268cc26e51 100644
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<section id="nuttx-documentation">
<h1>NuttX Documentation<a class="headerlink" href="#nuttx-documentation" title="Permalink to this heading"></a></h1>
<p>NuttX is a real-time operating system (RTOS) with an emphasis on standards compliance and small footprint. Scalable from 8-bit to 64-bit microcontroller environments, the primary governing standards in NuttX are POSIX and ANSI standards. Additional standard APIs from Unix and other common RTOS’s (such as VxWorks) are adopted for functionality not available under these standards, or for functionality that is not appropriate for deeply-embedded environments (such as fork()).</p>
-<p>Last Updated: 04 January 26 at 00:20</p>
+<p>Last Updated: 05 January 26 at 00:20</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of Contents</span></p>
<ul class="current">
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index 073c95d960..ee62e26246 100644
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\ No newline at end of file
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diff --git a/content/docs/12.4.0/index.html b/content/docs/12.4.0/index.html
index cf5ca83dc1..dd2b55e2e6 100644
--- a/content/docs/12.4.0/index.html
+++ b/content/docs/12.4.0/index.html
@@ -183,7 +183,7 @@ standards. Additional standard APIs from Unix and other common RTOS’s (such as
VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments (such
as fork()).</p>
-<p>Last Updated: 04 January 26 at 00:21</p>
+<p>Last Updated: 05 January 26 at 00:20</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of Contents</span></p>
<ul class="current">
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index e318fb1bda..90049d72de 100644
--- a/content/docs/12.4.0/searchindex.js
+++ b/content/docs/12.4.0/searchindex.js
@@ -1 +1 @@
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\ No newline at end of file
+Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index", "applications/audioutils/index", "applications/audioutils/mml_parser/index", "applications/audioutils/nxaudio/index", "applications/benchmarks/coremark/index", "applications/benchmarks/index", "applications/boot/index", "applications/boot/mcuboot/index", "applications/boot/miniboot/index", "applications/canutils/candump/index", "applications/canutils/canlib/index", "applications/canutils/cansend/index", "applications/c [...]
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diff --git a/content/docs/12.5.0/index.html b/content/docs/12.5.0/index.html
index 7bc13cb421..c881ec86f4 100644
--- a/content/docs/12.5.0/index.html
+++ b/content/docs/12.5.0/index.html
@@ -183,7 +183,7 @@ standards. Additional standard APIs from Unix and other common RTOS’s (such as
VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments (such
as fork()).</p>
-<p>Last Updated: 04 January 26 at 00:22</p>
+<p>Last Updated: 05 January 26 at 00:22</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of Contents</span></p>
<ul class="current">
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@@ -1 +1 @@
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\ No newline at end of file
+Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index", "applications/audioutils/index", "applications/audioutils/mml_parser/index", "applications/audioutils/nxaudio/index", "applications/benchmarks/coremark/index", "applications/benchmarks/index", "applications/boot/index", "applications/boot/mcuboot/index", "applications/boot/miniboot/index", "applications/canutils/candump/index", "applications/canutils/canlib/index", "applications/canutils/cansend/index", "applications/c [...]
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diff --git a/content/docs/12.5.1/index.html b/content/docs/12.5.1/index.html
index 0580071331..934fc867fd 100644
--- a/content/docs/12.5.1/index.html
+++ b/content/docs/12.5.1/index.html
@@ -183,7 +183,7 @@ standards. Additional standard APIs from Unix and other common RTOS’s (such as
VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments (such
as fork()).</p>
-<p>Last Updated: 04 January 26 at 00:23</p>
+<p>Last Updated: 05 January 26 at 00:23</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of Contents</span></p>
<ul class="current">
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index e6f050eba7..f0c92f395c 100644
--- a/content/docs/12.5.1/searchindex.js
+++ b/content/docs/12.5.1/searchindex.js
@@ -1 +1 @@
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\ No newline at end of file
+Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index", "applications/audioutils/index", "applications/audioutils/mml_parser/index", "applications/audioutils/nxaudio/index", "applications/benchmarks/coremark/index", "applications/benchmarks/index", "applications/boot/index", "applications/boot/mcuboot/index", "applications/boot/miniboot/index", "applications/canutils/candump/index", "applications/canutils/canlib/index", "applications/canutils/cansend/index", "applications/c [...]
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diff --git a/content/docs/12.6.0/index.html b/content/docs/12.6.0/index.html
index 07d256b2e6..4ff6449764 100644
--- a/content/docs/12.6.0/index.html
+++ b/content/docs/12.6.0/index.html
@@ -184,7 +184,7 @@ standards. Additional standard APIs from Unix and other common RTOS’s (such as
VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments (such
as fork()).</p>
-<p>Last Updated: 04 January 26 at 00:24</p>
+<p>Last Updated: 05 January 26 at 00:24</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of Contents</span></p>
<ul class="current">
diff --git a/content/docs/12.6.0/searchindex.js b/content/docs/12.6.0/searchindex.js
index 2c88299803..a9207cea78 100644
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+++ b/content/docs/12.6.0/searchindex.js
@@ -1 +1 @@
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\ No newline at end of file
+Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index", "applications/audioutils/index", "applications/audioutils/mml_parser/index", "applications/audioutils/nxaudio/index", "applications/benchmarks/cachespeed/index", "applications/benchmarks/coremark-pro/index", "applications/benchmarks/coremark/index", "applications/benchmarks/dhrystone/index", "applications/benchmarks/fio/index", "applications/benchmarks/index", "applications/benchmarks/iozone/index", "applications/bench [...]
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index 6ae2fa9dfb..b50a31b274 100644
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+++ b/content/docs/12.7.0/index.html
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VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments (such
as fork()).</p>
-<p>Last Updated: 04 January 26 at 00:26</p>
+<p>Last Updated: 05 January 26 at 00:25</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of Contents</span></p>
<ul class="current">
diff --git a/content/docs/12.7.0/searchindex.js b/content/docs/12.7.0/searchindex.js
index 43d10b402c..a65013d707 100644
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+++ b/content/docs/12.7.0/searchindex.js
@@ -1 +1 @@
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\ No newline at end of file
+Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index", "applications/audioutils/index", "applications/audioutils/mml_parser/index", "applications/audioutils/nxaudio/index", "applications/benchmarks/cachespeed/index", "applications/benchmarks/coremark-pro/index", "applications/benchmarks/coremark/index", "applications/benchmarks/dhrystone/index", "applications/benchmarks/fio/index", "applications/benchmarks/index", "applications/benchmarks/iozone/index", "applications/bench [...]
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diff --git a/content/docs/12.8.0/index.html b/content/docs/12.8.0/index.html
index 73caa31032..99bb4eba44 100644
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+++ b/content/docs/12.8.0/index.html
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VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments (such
as fork()).</p>
-<p>Last Updated: 04 January 26 at 00:27</p>
+<p>Last Updated: 05 January 26 at 00:27</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of Contents</span></p>
<ul class="current">
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index f47f48d112..fcbab54346 100644
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+++ b/content/docs/12.8.0/searchindex.js
@@ -1 +1 @@
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\ No newline at end of file
+Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index", "applications/audioutils/index", "applications/audioutils/mml_parser/index", "applications/audioutils/nxaudio/index", "applications/benchmarks/cachespeed/index", "applications/benchmarks/coremark-pro/index", "applications/benchmarks/coremark/index", "applications/benchmarks/dhrystone/index", "applications/benchmarks/fio/index", "applications/benchmarks/index", "applications/benchmarks/iozone/index", "applications/bench [...]
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diff --git a/content/docs/12.9.0/index.html b/content/docs/12.9.0/index.html
index bbf96be31f..23f6b661f6 100644
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@@ -183,7 +183,7 @@ standards. Additional standard APIs from Unix and other common RTOS’s (such as
VxWorks) are adopted for functionality not available under these standards, or
for functionality that is not appropriate for deeply-embedded environments (such
as fork()).</p>
-<p>Last Updated: 04 January 26 at 00:29</p>
+<p>Last Updated: 05 January 26 at 00:28</p>
<div class="toctree-wrapper compound">
<p class="caption" role="heading"><span class="caption-text">Table of Contents</span></p>
<ul class="current">
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index 95ee23fc54..91ffe4a32c 100644
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+++ b/content/docs/12.9.0/searchindex.js
@@ -1 +1 @@
-Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index", "applications/audioutils/index", "applications/audioutils/mml_parser/index", "applications/audioutils/nxaudio/index", "applications/benchmarks/cachespeed/index", "applications/benchmarks/coremark-pro/index", "applications/benchmarks/coremark/index", "applications/benchmarks/cyclictest/index", "applications/benchmarks/dhrystone/index", "applications/benchmarks/fio/index", "applications/benchmarks/index", "applications/b [...]
\ No newline at end of file
+Search.setIndex({"docnames": ["applications/audioutils/fmsynt/index", "applications/audioutils/index", "applications/audioutils/mml_parser/index", "applications/audioutils/nxaudio/index", "applications/benchmarks/cachespeed/index", "applications/benchmarks/coremark-pro/index", "applications/benchmarks/coremark/index", "applications/benchmarks/cyclictest/index", "applications/benchmarks/dhrystone/index", "applications/benchmarks/fio/index", "applications/benchmarks/index", "applications/b [...]
\ No newline at end of file
diff --git a/content/docs/latest/_sources/components/drivers/special/sensors.rst.txt b/content/docs/latest/_sources/components/drivers/special/sensors.rst.txt
index 064dcf077b..5f8ec4fd3c 100644
--- a/content/docs/latest/_sources/components/drivers/special/sensors.rst.txt
+++ b/content/docs/latest/_sources/components/drivers/special/sensors.rst.txt
@@ -10,11 +10,15 @@ Currently in NuttX we have 3 different approaches to sensor interfaces:
sensors/sensors_uorb.rst
sensors/sensors_legacy.rst
sensors/sensors_cluster.rst
+ sensors/sensor_monitor.rst
The preferred way for implementing new sensors is
the :ref:`New sensor framework <new_sensor_framework>`, which provides the most
general interface.
+The :doc:`Sensor Monitor <sensors/sensor_monitor>` provides a dynamic debugging
+tool for monitoring sensor activity at runtime.
+
.. attach files to avoid warnings, but don't show them here !
.. toctree::
diff --git a/content/docs/latest/_sources/components/drivers/special/sensors/sensor_monitor.rst.txt b/content/docs/latest/_sources/components/drivers/special/sensors/sensor_monitor.rst.txt
new file mode 100644
index 0000000000..df18a8d2fd
--- /dev/null
+++ b/content/docs/latest/_sources/components/drivers/special/sensors/sensor_monitor.rst.txt
@@ -0,0 +1,661 @@
+==========================
+Sensor Monitor (procfs)
+==========================
+
+Overview
+========
+
+The Sensor Monitor is a dynamic debugging tool implemented as a procfs interface
+that allows users to monitor and control sensor logging at runtime. It provides
+a flexible way to enable/disable sensor debug output without rebuilding the system,
+making it particularly useful for debugging sensor-related issues in production
+environments.
+
+The monitor uses a hash table to store monitored sensor topics and their associated
+log levels, allowing efficient lookup and modification of monitoring settings.
+
+Why Sensor Monitor?
+-------------------
+
+In the past, adding debug information to the sensor framework would cause logs
+from multiple sensors to be mixed together in the output, making it difficult
+to locate and diagnose specific issues. When ``CONFIG_DEBUG_SENSORS_INFO`` was
+enabled, all sensors would output debug messages simultaneously, creating a noisy
+log stream that obscured the information relevant to the problem at hand.
+
+**The Sensor Monitor solves this problem by:**
+
+1. **Selective Monitoring**: Allows you to dynamically specify which sensor types
+ to monitor, filtering out irrelevant sensor data from the log output.
+
+2. **Runtime Configuration**: Enables adding or removing monitored sensors without
+ recompiling the system, eliminating the need for rebuild cycles during debugging.
+
+3. **Reduced Interference**: By monitoring only the sensors of interest, the log
+ output becomes cleaner and more focused, significantly reducing noise and
+ interference from other sensors.
+
+4. **Improved Debugging Efficiency**: Focused logging makes it much easier to
+ identify patterns, anomalies, and root causes of sensor-related issues.
+
+5. **Granular Control**: Each monitored sensor can have its own independent log
+ level (0-7), allowing fine-tuned control over the verbosity of debug output
+ for different sensors. This means you can enable detailed DEBUG-level logging
+ for one sensor while keeping another at ERROR-level only, depending on your
+ debugging needs.
+
+For example, in a system with accelerometer, gyroscope, magnetometer, barometer,
+and light sensors all running simultaneously, you can choose to monitor only the
+accelerometer with detailed DEBUG-level logging while keeping other sensors silent,
+making it easy to trace accelerometer-specific issues without being distracted by
+unrelated sensor data.
+
+Limitations of Existing Tools
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+While NuttX provides useful tools like ``apps/system/sensortest`` and
+``apps/system/uorb`` for sensor testing and monitoring, these tools have
+limitations when it comes to debugging the sensor framework:
+
+- **sensortest**: This application is designed to test sensor functionality by
+ reading sensor data from user space. However, it can only observe the final
+ output data delivered to applications. It cannot provide visibility into the
+ sensor framework's internal operations, such as data processing, topic
+ management, or subscription handling.
+
+- **uorb**: This tool allows subscribing to and monitoring uORB topics, but
+ similarly works at the application level. It shows what data is being published
+ to topics, but cannot reveal the framework's internal behavior, event
+ propagation, or data flow within the sensor subsystem layer.
+
+Both tools are excellent for validating sensor output and application-level
+integration, but they lack the ability to debug issues within the sensor
+framework itself, such as:
+
+- Topic registration and initialization
+- Data publication and subscription flow
+- Framework event handling
+- Sensor data buffering and queuing
+- Framework state management
+- Inter-component communication within the sensor subsystem
+
+**Note:** The Sensor Monitor is specifically designed for debugging the sensor
+**framework layer**. It does not provide low-level hardware debugging capabilities
+such as register access, interrupt handling, or hardware-specific driver issues.
+For hardware-level debugging, use hardware debuggers (JTAG/SWD) or driver-specific
+debug interfaces.
+
+Features
+========
+
+- **Dynamic Configuration**: Add or remove monitored sensors at runtime
+- **Log Level Control**: Set different log levels for different sensors
+- **Batch Operations**: Add or remove multiple sensors in a single command
+- **Procfs Interface**: Easy to use through standard file operations
+- **Hash Table Backend**: Efficient storage and lookup using ``hsearch_r()``
+- **Persistent Configuration**: Default sensor list can be configured at build time
+
+Configuration
+=============
+
+To enable the Sensor Monitor, the following configuration options are required:
+
+.. code-block:: kconfig
+
+ CONFIG_SENSORS_MONITOR=y # Enable sensor monitor
+ CONFIG_SENSORS_MONITOR_BUCKET=<size> # Hash table bucket size
+ CONFIG_SENSORS_MONITOR_LIST="<sensors>" # Default monitored sensors
+
+Configuration Options
+---------------------
+
+**CONFIG_SENSORS_MONITOR**
+ Enable the sensor monitor procfs interface.
+
+**CONFIG_SENSORS_MONITOR_BUCKET**
+ Specifies the number of buckets in the hash table used to store monitored
+ sensors. A larger value provides better performance for many sensors but
+ uses more memory. Recommended values:
+
+ - Small systems: 16-32
+ - Medium systems: 64-128
+ - Large systems: 256+
+
+**CONFIG_SENSORS_MONITOR_LIST**
+ A string containing space-separated sensor names to monitor by default.
+ This list is applied during initialization.
+
+ Example::
+
+ CONFIG_SENSORS_MONITOR_LIST="sensor_accel sensor_gyro"
+
+Usage
+=====
+
+The Sensor Monitor is accessed through the ``/proc/sensor_monitor`` file.
+
+Reading Status
+--------------
+
+To view currently monitored sensors and their log levels:
+
+.. code-block:: bash
+
+ cat /proc/sensor_monitor
+
+This displays:
+
+1. Usage instructions
+2. Command examples
+3. List of currently monitored sensors with their log levels
+
+Example output::
+
+ Sensor procfs - Dynamic sensor debugging tool
+
+ Usage:
+ cat /proc/sensor_monitor - Show currently monitored topics
+ echo <level> <topic> > /proc/sensor_monitor - Add topic(s)
+ echo rm <topic> > /proc/sensor_monitor - Remove topic(s)
+ ...
+
+ sensor_accel 1
+ sensor_gyro 2
+ sensor_compass 1
+
+Adding Sensors
+--------------
+
+**Add with Default Log Level (1)**
+
+.. code-block:: bash
+
+ echo sensor_accel > /proc/sensor_monitor
+
+**Add with Specific Log Level**
+
+.. code-block:: bash
+
+ echo 2 sensor_accel > /proc/sensor_monitor
+
+Log levels correspond to syslog levels (0-7):
+
+.. list-table::
+ :header-rows: 1
+ :widths: 10 15 75
+
+ * - Level
+ - Name
+ - Meaning
+ * - 0
+ - EMERG
+ - System is unusable right now
+ * - 1
+ - ALERT
+ - Immediate action required
+ * - 2
+ - CRIT
+ - Serious failure, but system may still run
+ * - 3
+ - ERR
+ - Error condition. Operation failed, but scope is limited and system remains stable.
+ * - 4
+ - WARNING
+ - Abnormal situation. Something unexpected happened, but no failure yet.
+ * - 5
+ - NOTICE
+ - Significant normal event. Expected behavior, but important enough to be logged.
+ * - 6
+ - INFO
+ - Informational message. Routine state changes, progress messages, normal operation.
+ * - 7
+ - DEBUG
+ - Debug-level detail. Developer-oriented, noisy, not for production diagnosis.
+
+**Add Multiple Sensors**
+
+.. code-block:: bash
+
+ echo sensor_accel sensor_gyro sensor_compass > /proc/sensor_monitor
+ echo 2 sensor_accel sensor_gyro > /proc/sensor_monitor
+
+Removing Sensors
+----------------
+
+**Remove Single Sensor**
+
+.. code-block:: bash
+
+ echo rm sensor_accel > /proc/sensor_monitor
+
+**Remove Multiple Sensors**
+
+.. code-block:: bash
+
+ echo rm sensor_accel sensor_gyro > /proc/sensor_monitor
+
+**Remove All Sensors**
+
+.. code-block:: bash
+
+ echo clean > /proc/sensor_monitor
+
+Batch Operations
+----------------
+
+You can combine add and remove operations in a single command:
+
+.. code-block:: bash
+
+ echo "add 1 sensor_accel rm sensor_gyro" > /proc/sensor_monitor
+
+This command:
+
+1. Adds ``sensor_accel`` with log level 1
+2. Removes ``sensor_gyro``
+
+Implementation Details
+======================
+
+Architecture
+------------
+
+The Sensor Monitor consists of the following components:
+
+**Procfs Interface**
+ Implements standard file operations (open, close, read, write) for
+ ``/proc/sensor_monitor``.
+
+**Hash Table Storage**
+ Uses POSIX ``hsearch_r()`` family functions to store sensor-topic mappings:
+
+ - **Key**: Sensor name (string)
+ - **Value**: Log level (integer stored as pointer)
+
+**Command Parser**
+ Parses space-separated commands from write operations and executes
+ corresponding actions.
+
+Data Structures
+---------------
+
+**struct sensor_monitor_buffer_s**
+
+Used for formatting output during read operations:
+
+.. code-block:: c
+
+ struct sensor_monitor_buffer_s
+ {
+ FAR char *buffer; /* Output buffer pointer */
+ size_t totalsize; /* Total bytes written */
+ size_t buflen; /* Remaining buffer size */
+ off_t offset; /* Current file offset */
+ };
+
+**Hash Table Entry**
+
+Each monitored sensor is stored as an ``ENTRY``:
+
+.. code-block:: c
+
+ ENTRY item;
+ item.key = "sensor_accel"; /* Sensor name */
+ item.data = (void *)(intptr_t)1; /* Log level */
+
+Key Functions
+-------------
+
+**sensor_monitor_initialize()**
+
+Initializes the sensor monitor subsystem:
+
+1. Allocates and initializes the hash table
+2. Sets the custom ``free_entry`` callback
+3. Processes the default sensor list from ``CONFIG_SENSORS_MONITOR_LIST``
+4. Registers the procfs entry
+
+.. code-block:: c
+
+ int sensor_monitor_initialize(void);
+
+**sensor_monitor_level()**
+
+Retrieves the log level for a specific sensor:
+
+.. code-block:: c
+
+ int sensor_monitor_level(FAR const char *name);
+
+**Parameters:**
+
+- ``name``: Sensor name to query
+
+**Returns:**
+
+- Log level (0-7) if sensor is monitored
+- ``LOG_EMERG`` (0) if sensor is not monitored
+
+**Usage Example:**
+
+.. code-block:: c
+
+ int level = sensor_monitor_level("sensor_accel");
+ if (level >= LOG_INFO)
+ {
+ syslog(LOG_INFO, "Accel data: x=%d y=%d z=%d\n", x, y, z);
+ }
+
+**sensor_monitor_add()**
+
+Adds a sensor to the monitoring table:
+
+.. code-block:: c
+
+ static int sensor_monitor_add(FAR const char *name, int level);
+
+**Parameters:**
+
+- ``name``: Sensor name
+- ``level``: Log level (0-7)
+
+**Returns:**
+
+- ``OK`` on success
+- ``-ENOMEM`` if allocation fails
+
+**Behavior:**
+
+- If sensor already exists, updates its log level
+- If sensor is new, allocates memory and adds to hash table
+
+**sensor_monitor_remove()**
+
+Removes a sensor from the monitoring table:
+
+.. code-block:: c
+
+ static int sensor_monitor_remove(FAR const char *token);
+
+**Parameters:**
+
+- ``token``: Sensor name to remove
+
+**Returns:**
+
+- ``OK`` on success
+- ``-ENOENT`` if sensor not found
+
+**sensor_monitor_clean()**
+
+Removes all monitored sensors:
+
+.. code-block:: c
+
+ static void sensor_monitor_clean(void);
+
+Destroys and recreates the hash table, effectively clearing all entries.
+
+**sensor_monitor_print()**
+
+Callback function used with ``hforeach_r()`` to print each monitored sensor:
+
+.. code-block:: c
+
+ static void sensor_monitor_print(FAR ENTRY *item, FAR void *args);
+
+Integration with Sensor Drivers
+================================
+
+Sensor drivers can query the monitor to determine if they should output
+debug information:
+
+.. code-block:: c
+
+ #include <nuttx/sensors/sensor.h>
+
+ void my_sensor_process_data(FAR struct sensor_data_s *data)
+ {
+ int level = sensor_monitor_level("sensor_accel");
+
+ if (level >= LOG_INFO)
+ {
+ syslog(LOG_INFO, "Sensor data: x=%d y=%d z=%d\n",
+ data->x, data->y, data->z);
+ }
+
+ if (level >= LOG_DEBUG)
+ {
+ syslog(LOG_DEBUG, "Detailed sensor state: ...\n");
+ }
+ }
+
+This allows drivers to:
+
+1. Check if their sensor is being monitored
+2. Adjust verbosity based on the configured log level
+3. Avoid unnecessary logging overhead when not monitored
+
+Memory Management
+=================
+
+**Hash Table**
+
+The hash table is allocated during initialization and persists throughout
+system operation. Size is determined by ``CONFIG_SENSORS_MONITOR_BUCKET``.
+
+**Sensor Names**
+
+Sensor names are dynamically allocated using ``strdup()`` when added to the
+hash table. The custom ``free_entry`` callback ensures proper cleanup:
+
+.. code-block:: c
+
+ static void sensor_monitor_free_entry(FAR ENTRY *entry)
+ {
+ kmm_free(entry->key);
+ }
+
+**Buffer Management**
+
+Read operations use temporary stack buffers (``NAME_MAX`` size) for
+formatting output before copying to user space.
+
+Error Handling
+==============
+
+**Write Operation Errors**
+
+- Invalid sensor name: Silently ignored (allows flexible command syntax)
+- Allocation failure: Returns ``-ENOMEM``
+- Sensor not found (for remove): Returns ``-ENOENT``
+
+**Read Operation**
+
+- Always succeeds
+- Returns help text and current monitoring status
+
+**Initialization Errors**
+
+- Hash table allocation failure: Returns ``-ENOMEM``
+- Procfs registration failure: Propagates error from ``procfs_register()``
+
+Examples
+========
+
+Example 1: Basic Monitoring
+----------------------------
+
+.. code-block:: bash
+
+ # Enable monitoring for accelerometer with default level
+ echo sensor_accel > /proc/sensor_monitor
+
+ # Check status
+ cat /proc/sensor_monitor
+
+ # Output shows:
+ # sensor_accel 1
+
+Example 2: Multi-Sensor Setup
+------------------------------
+
+.. code-block:: bash
+
+ # Monitor multiple sensors with different levels
+ echo 2 sensor_accel > /proc/sensor_monitor
+ echo 3 sensor_gyro > /proc/sensor_monitor
+ echo 1 sensor_compass > /proc/sensor_monitor
+
+ # Verify
+ cat /proc/sensor_monitor
+
+Example 3: Dynamic Adjustment
+------------------------------
+
+.. code-block:: bash
+
+ # Start with basic monitoring
+ echo sensor_accel sensor_gyro > /proc/sensor_monitor
+
+ # Increase verbosity for accelerometer
+ echo 7 sensor_accel > /proc/sensor_monitor
+
+ # Remove gyro monitoring
+ echo rm sensor_gyro > /proc/sensor_monitor
+
+ # Add new sensor
+ echo 2 sensor_baro > /proc/sensor_monitor
+
+Example 4: Cleanup
+------------------
+
+.. code-block:: bash
+
+ # Remove all monitored sensors
+ echo clean > /proc/sensor_monitor
+
+ # Verify empty
+ cat /proc/sensor_monitor
+
+Example 5: Goldfish Platform Configuration
+-------------------------------------------
+
+For the Goldfish (QEMU emulator) platform with virtual sensors, you need to
+enable the following KCONFIG options:
+
+**Basic Sensor Monitor Configuration:**
+
+.. code-block:: kconfig
+
+ CONFIG_SENSORS=y # Enable sensor framework
+ CONFIG_DEBUG_SENSORS_INFO=y # Enable sensor debug info (required)
+ CONFIG_FS_PROCFS=y # Enable procfs filesystem
+ CONFIG_FS_PROCFS_REGISTER=y # Enable procfs registration (required)
+ CONFIG_SENSORS_MONITOR=y # Enable sensor monitor
+ CONFIG_SENSORS_MONITOR_BUCKET=32 # Hash table size (adjust based on sensor count)
+ CONFIG_SENSORS_MONITOR_LIST="sensor_accel sensor_gyro sensor_mag" # Default monitored sensors
+
+**Goldfish-Specific Sensor Driver:**
+
+.. code-block:: kconfig
+
+ CONFIG_SENSORS_GOLDFISH_SENSOR=y # Enable Goldfish virtual sensors
+ CONFIG_GOLDFISH_PIPE=y # Enable Goldfish pipe (required for communication)
+
+**Optional Goldfish GNSS Support:**
+
+.. code-block:: kconfig
+
+ CONFIG_SENSORS_GNSS=y # Enable GNSS sensor support
+ CONFIG_SENSORS_GOLDFISH_GNSS=y # Enable Goldfish GNSS driver
+
+**Complete Example for Goldfish:**
+
+.. code-block:: bash
+
+ # After configuring the above options and booting the system
+
+ # Check which sensors are being monitored by default
+ cat /proc/sensor_monitor
+
+ # Add more Goldfish sensors with different log levels
+ echo 2 sensor_baro > /proc/sensor_monitor # Barometer (CRIT level)
+ echo 3 sensor_light > /proc/sensor_monitor # Light sensor (ERR level)
+ echo 1 sensor_proximity > /proc/sensor_monitor # Proximity (ALERT level)
+ echo 7 sensor_temp > /proc/sensor_monitor # Temperature (DEBUG level)
+
+ # Monitor orientation and hinge sensors (for foldable device emulation)
+ echo 2 sensor_orient > /proc/sensor_monitor
+ echo 2 sensor_hinge0 > /proc/sensor_monitor
+
+ # Verify all monitored sensors
+ cat /proc/sensor_monitor
+
+**Notes:**
+
+- ``CONFIG_DEBUG_SENSORS_INFO`` and ``CONFIG_FS_PROCFS_REGISTER`` are mandatory
+ dependencies for ``CONFIG_SENSORS_MONITOR``
+- The ``CONFIG_SENSORS_MONITOR_BUCKET`` should be at least half the number of
+ sensors you plan to monitor simultaneously (e.g., 32 for up to 64 sensors)
+- The ``CONFIG_SENSORS_MONITOR_LIST`` can specify a default set of sensors to
+ monitor at boot time, useful for debugging startup issues
+- Goldfish sensors communicate through the Goldfish pipe mechanism, so
+ ``CONFIG_GOLDFISH_PIPE=y`` is required
+
+Best Practices
+==============
+
+1. **Use Appropriate Log Levels**
+
+ - Use lower levels (0-3) for errors and critical events
+ - Use higher levels (4-7) for verbose debugging
+ - Default level 1 is suitable for basic monitoring
+
+2. **Sensor Naming Convention**
+
+ - Use descriptive names matching driver names
+ - Common prefix: ``sensor_``
+ - Examples: ``sensor_accel``, ``sensor_gyro_0``, ``sensor_temp_cpu``
+
+3. **Performance Considerations**
+
+ - Configure adequate bucket size for your sensor count
+ - Rule of thumb: buckets ≥ number of sensors / 2
+ - Avoid excessive logging in interrupt context
+
+4. **Production Use**
+
+ - Set ``CONFIG_SENSORS_MONITOR_LIST`` for critical sensors
+ - Use procfs to enable additional debugging when issues occur
+ - Clean up after debugging to reduce overhead
+
+5. **Driver Integration**
+
+ - Always check monitor level before expensive operations
+ - Use appropriate syslog levels matching monitor levels
+ - Consider performance impact of frequent lookups
+
+Limitations
+===========
+
+1. **Name Length**: Sensor names are limited to ``NAME_MAX`` characters
+2. **Memory**: Each monitored sensor requires memory for:
+
+ - Hash table entry
+ - Duplicated sensor name string
+ - Hash table overhead
+
+3. **Concurrency**: No explicit locking in current implementation
+ (relies on kernel mutual exclusion)
+
+4. **Persistence**: Monitoring configuration is lost on reboot
+ (except default list from ``CONFIG_SENSORS_MONITOR_LIST``)
+
+See Also
+========
+
+- :doc:`sensors_uorb` - Main sensor framework documentation
+- ``nuttx/include/nuttx/sensors/sensor.h`` - Sensor header file
+- ``nuttx/drivers/sensors/sensor_monitor.c`` - Implementation
+- ``drivers/fs/procfs/`` - Procfs filesystem implementation
diff --git a/content/docs/latest/_sources/guides/index.rst.txt b/content/docs/latest/_sources/guides/index.rst.txt
index 95457185b8..f1e11bc9a4 100644
--- a/content/docs/latest/_sources/guides/index.rst.txt
+++ b/content/docs/latest/_sources/guides/index.rst.txt
@@ -16,7 +16,6 @@ Guides
pysimcoder.rst
customboards.rst
customapps.rst
- citests.rst
zerolatencyinterrupts.rst
fortify.rst
nestedinterrupts.rst
diff --git a/content/docs/latest/_sources/index.rst.txt b/content/docs/latest/_sources/index.rst.txt
index 1443b32636..dc7773ccb6 100644
--- a/content/docs/latest/_sources/index.rst.txt
+++ b/content/docs/latest/_sources/index.rst.txt
@@ -37,6 +37,7 @@ Last Updated: |today|
reference/index.rst
faq/index.rst
debugging/index.rst
+ testing/index.rst
guides/index.rst
standards/index.rst
glossary.rst
diff --git a/content/docs/latest/_sources/guides/citests.rst.txt b/content/docs/latest/_sources/testing/citests.rst.txt
similarity index 63%
rename from content/docs/latest/_sources/guides/citests.rst.txt
rename to content/docs/latest/_sources/testing/citests.rst.txt
index 0d3b73fa8b..dbbffb0509 100644
--- a/content/docs/latest/_sources/guides/citests.rst.txt
+++ b/content/docs/latest/_sources/testing/citests.rst.txt
@@ -7,8 +7,8 @@ Running CI Test Locally
NuttX automatically runs continuous integration (CI) tests on
`simulator <https://nuttx.apache.org/docs/latest/guides/simulator.html>`__
-target when new pull request is submitted. To avoid the tests failing you can
-also run them locally on your computer prior to submitting new pull request.
+and QEMU targets when a new pull request is submitted. To avoid the tests failing
+you can also run them locally on your computer prior to submitting a new pull request.
This page describes the step by step manual to do so.
Configuring NuttX
@@ -24,14 +24,6 @@ compiled followingly.
$ ./tools/configure.sh sim:citest
$ make
-Now you can run the simulator to check the configuration was successful.
-
- .. code-block:: console
-
- $ ./nuttx
- login: admin
- password: Administrator
-
You should see NuttX shell with built in test applications. Now you can exit
the simulator.
@@ -41,8 +33,9 @@ the simulator.
$
$ # we're back at the Linux prompt.
-Running CI Tests
-================
+
+Running CI Tests with ``tools/ci/testrun``
+==========================================
Running CI tests locally requires Minicom and Python 3.6 or newer to be
installed on the system. Other requirements can be installed with following
@@ -64,3 +57,22 @@ by following command.
Where nuttx-path is an absolute path to NuttX root directory and log-path is
a user defined directory to which tests log are saved.
+
+CI with NTFC
+============
+
+NTFC (NuttX Test Framework for Community) enables automated testing for NuttX
+across simulator, QEMU, and real hardware via serial interface. The framework
+automatically detects available applications in NuttX images and executes
+applicable tests using pytest-based test cases.
+
+The framework and official test cases are available at:
+
+- https://github.com/szafonimateusz-mi/nuttx-ntfc
+- https://github.com/szafonimateusz-mi/nuttx-testing
+
+Detailed documentation is available in the framework repository.
+
+CI migration to NTFC is in progress. Configurations currently using NTFC:
+
+- ``sim/citest``
diff --git a/content/docs/latest/_sources/testing/index.rst.txt b/content/docs/latest/_sources/testing/index.rst.txt
new file mode 100644
index 0000000000..d5824a9742
--- /dev/null
+++ b/content/docs/latest/_sources/testing/index.rst.txt
@@ -0,0 +1,8 @@
+=======
+Testing
+=======
+
+This page contains information related to NuttX testing.
+
+.. toctree::
+ citests.rst
diff --git a/content/docs/latest/_tags/arch-arm64.html b/content/docs/latest/_tags/arch-arm64.html
index 9d3d1649ff..d5dcdcc287 100644
--- a/content/docs/latest/_tags/arch-arm64.html
+++ b/content/docs/latest/_tags/arch-arm64.html
@@ -139,6 +139,7 @@
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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index 7d66bca3ed..efe4634a9b 100644
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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index 4bf74d7cb4..2050ea43bc 100644
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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index 2e10e36109..5ad5b5c5cc 100644
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../testing/index.html">Testing</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../testing/index.html">Testing</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../testing/index.html">Testing</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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index 40285cd0a9..a447ffce8d 100644
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../testing/index.html">Testing</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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index 30490fe475..f5b05545dd 100644
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../debugging/index.html">Debugging</a></li>
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