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Posted to commits@nuttx.apache.org by "Otpvondoiats (via GitHub)" <gi...@apache.org> on 2025/11/19 07:46:17 UTC
[PR] uorb: add generator tool. [nuttx-apps]
Otpvondoiats opened a new pull request, #3214:
URL: https://github.com/apache/nuttx-apps/pull/3214
## Summary
uorb_generator this tool can be used in conjunction with uorb_listener.
Before using the tool, it is necessary to set the CONFIG_LINE_MAX parameter to a sufficiently long length to ensure that the terminal can accept complete input data. A recommendation is to set it to 256 or 512.
Incoming data can be printed via uorb_listener or concatenated manually using format information, but it must be ensured that the string and struct information are consistent. Topics saved using uorb_listener -f can be pulled and imported into the simulator for debugging (mount -t hostfs -o fs=/home/xxx/ /data).
Parameter Description:
-f specifies the path to the input playback file. -n specifies the number of times to playback the data. This option is only effective when -s is enabled. -r specifies the playback frequency (in HZ, e.g., 5hz, 20hz). This option is only effective when -s is enabled. -t specifies the topic for playback, with the option to specify a specific instance value afterward. -s enables playback of simulated (fake) data, generating struct data from input entered via the terminal. It will modify the timestamp of the current data to real-time. Simulated data should be placed at the end of the entire command.
By following these instructions, users can effectively utilize the Generator debugging tool in conjunction with uorb_listener for system debugging and verification.
The tool publishes topic data via uorb.
Notice:LINE_MAX must be set to 128 or more.
generator <command> [arguments...]
Commands:
<topics_name> The playback topic name.
[-h ] Listener commands help.
[-f <val> ] File path to be played back(absolute path).
[-n <val> ] Number of playbacks(fake model), default: 1
[-r <val> ] The rate for playing fake data is only valid when parameter 's' is used.
default:10hz.
[-s <val> ] Playback fake data.
[-t <val> ] Playback topic.
e.g.:
sim - sensor_accel0:
uorb_generator -n 100 -r 5 -s -t sensor_accel0 timestamp:23191100,x:0.1,y:9.7,z:0.81,temperature:22.15
sim - sensor_baro0:
uorb_generator -n 100 -r 5 -s -t sensor_baro0 timestamp:23191100,pressure:999.12,temperature:26.34
fies - sensor_accel1
uorb_generator -f /data/uorb/20240823061723/sensor_accel0.csv -t sensor_accel1
## Testing
e.g.:
1. uorb_generator -f /data/sensor/19700101000003/sensor_accel_uncal0.csv -t sensor_accel_uncal2
2. uorb_generator -s -r 5 -n 200 -t sensor_accel_uncal2 timestamp:1,x:-2.0,y:3,z:4,temperature:5
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Re: [PR] uorb: add generator tool. [nuttx-apps]
Posted by "Donny9 (via GitHub)" <gi...@apache.org>.
Donny9 commented on code in PR #3214:
URL: https://github.com/apache/nuttx-apps/pull/3214#discussion_r2540944105
##########
system/uorb/generator.c:
##########
@@ -0,0 +1,391 @@
+/****************************************************************************
+ * apps/system/uorb/generator.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/signal.h>
+#include <nuttx/streams.h>
+
+#include <ctype.h>
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define GENERATOR_CACHE_BUFF 4096
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+struct sensor_gen_info_s
+{
+ struct orb_object obj;
+ FAR FILE *file;
+};
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static bool g_should_exit = false;
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static void usage(void)
+{
+ uorbinfo_raw("\n\
+The tool publishes topic data via uorb.\n\
+Notice:NSH_LINELEN must be set to 128 or more.\n\
+\n\
+generator <command> [arguments...]\n\
+ Commands:\n\
+\t<topics_name> The playback topic name.\n\
+\t[-h ] Listener commands help.\n\
+\t[-f <val> ] File path to be played back(absolute path).\n\
+\t[-n <val> ] Number of playbacks(fake model), default: 1\n\
+\t[-r <val> ] The rate for playing fake data is only valid\
+ when parameter 's' is used. default:10hz.\n\
+\t[-s <val> ] Playback fake data.\n\
+\t[-t <val> ] Playback topic.\n\
+\t e.g.:\n\
+\t\tsim - sensor_accel0:\n\
+\t\t uorb_generator -n 100 -r 5 -s -t sensor_accel0 timestamp:23191100,\
+x:0.1,y:9.7,z:0.81,temperature:22.15\n\n\
+\t\tsim - sensor_baro0:\n\
+\t\t uorb_generator -n 100 -r 5 -s -t sensor_baro0 timestamp:23191100,\
+pressure:999.12,temperature:26.34\n\n\
+\t\tfies - sensor_accel1\n\
+\t\t uorb_generator -f /data/uorb/20240823061723/sensor_accel0.csv\
+ -t sensor_accel1\
+\t\t\n\
+ ");
+}
+
+static void exit_handler(int signo)
+{
+ g_should_exit = true;
+}
+
+static int get_play_orb_id(FAR const char *filter,
+ FAR struct sensor_gen_info_s *info)
+{
+ struct orb_object object;
+
+ if (filter)
+ {
+ object.meta = orb_get_meta(filter);
+ if (object.meta == NULL)
+ {
+ uorbinfo_raw("Input error built-in name:[%s]", filter);
+ return ERROR;
+ }
+
+ object.instance = 0;
+ if (isdigit(filter[strlen(filter) - 1]))
+ {
+ object.instance = filter[strlen(filter) - 1] - '0';
+ }
+
+ info->obj = object;
+ return OK;
+ }
+
+ uorbinfo_raw("The entered built-in topic name is empty.");
+ return ERROR;
+}
+
+/****************************************************************************
+ * Name: replay_worker
+ *
+ * Description:
+ * Playback data files.
+ *
+ * Input Parameters:
+ * sensor_gen Generator objects.
+ *
+ * Returned Value:
+ * 0 on success, otherwise -1
+ ****************************************************************************/
+
+static int replay_worker(FAR struct sensor_gen_info_s *sensor_gen)
+{
+ struct lib_meminstream_s meminstream;
+ bool is_frist = true;
+ uint64_t last_time;
+ uint64_t tmp_time;
+ FAR uint8_t *data;
+ FAR char *line;
+ int sleep_time;
+ int lastc;
+ int ret;
+ int fd;
+
+ line = kmm_zalloc(GENERATOR_CACHE_BUFF);
+ if (line == NULL)
+ {
+ return -ENOMEM;
+ }
+
+ if (fgets(line, GENERATOR_CACHE_BUFF, sensor_gen->file) != NULL)
+ {
+ if (strstr(line, sensor_gen->obj.meta->o_name) == NULL)
+ {
+ uorbinfo_raw("Topic and file do not match!");
+ return -EINVAL;
+ }
+ }
+ else
+ {
+ uorbinfo_raw("Playback file format error!");
+ return -EINVAL;
+ }
+
+ data = kmm_zalloc(sensor_gen->obj.meta->o_size);
Review Comment:
```suggestion
data = malloc(sensor_gen->obj.meta->o_size);
```
##########
system/uorb/generator.c:
##########
@@ -0,0 +1,391 @@
+/****************************************************************************
+ * apps/system/uorb/generator.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/signal.h>
+#include <nuttx/streams.h>
+
+#include <ctype.h>
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define GENERATOR_CACHE_BUFF 4096
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+struct sensor_gen_info_s
+{
+ struct orb_object obj;
+ FAR FILE *file;
+};
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static bool g_should_exit = false;
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static void usage(void)
+{
+ uorbinfo_raw("\n\
+The tool publishes topic data via uorb.\n\
+Notice:NSH_LINELEN must be set to 128 or more.\n\
+\n\
+generator <command> [arguments...]\n\
+ Commands:\n\
+\t<topics_name> The playback topic name.\n\
+\t[-h ] Listener commands help.\n\
+\t[-f <val> ] File path to be played back(absolute path).\n\
+\t[-n <val> ] Number of playbacks(fake model), default: 1\n\
+\t[-r <val> ] The rate for playing fake data is only valid\
+ when parameter 's' is used. default:10hz.\n\
+\t[-s <val> ] Playback fake data.\n\
+\t[-t <val> ] Playback topic.\n\
+\t e.g.:\n\
+\t\tsim - sensor_accel0:\n\
+\t\t uorb_generator -n 100 -r 5 -s -t sensor_accel0 timestamp:23191100,\
+x:0.1,y:9.7,z:0.81,temperature:22.15\n\n\
+\t\tsim - sensor_baro0:\n\
+\t\t uorb_generator -n 100 -r 5 -s -t sensor_baro0 timestamp:23191100,\
+pressure:999.12,temperature:26.34\n\n\
+\t\tfies - sensor_accel1\n\
+\t\t uorb_generator -f /data/uorb/20240823061723/sensor_accel0.csv\
+ -t sensor_accel1\
+\t\t\n\
+ ");
+}
+
+static void exit_handler(int signo)
+{
+ g_should_exit = true;
+}
+
+static int get_play_orb_id(FAR const char *filter,
+ FAR struct sensor_gen_info_s *info)
+{
+ struct orb_object object;
+
+ if (filter)
+ {
+ object.meta = orb_get_meta(filter);
+ if (object.meta == NULL)
+ {
+ uorbinfo_raw("Input error built-in name:[%s]", filter);
+ return ERROR;
+ }
+
+ object.instance = 0;
+ if (isdigit(filter[strlen(filter) - 1]))
+ {
+ object.instance = filter[strlen(filter) - 1] - '0';
+ }
+
+ info->obj = object;
+ return OK;
+ }
+
+ uorbinfo_raw("The entered built-in topic name is empty.");
+ return ERROR;
+}
+
+/****************************************************************************
+ * Name: replay_worker
+ *
+ * Description:
+ * Playback data files.
+ *
+ * Input Parameters:
+ * sensor_gen Generator objects.
+ *
+ * Returned Value:
+ * 0 on success, otherwise -1
+ ****************************************************************************/
+
+static int replay_worker(FAR struct sensor_gen_info_s *sensor_gen)
+{
+ struct lib_meminstream_s meminstream;
+ bool is_frist = true;
+ uint64_t last_time;
+ uint64_t tmp_time;
+ FAR uint8_t *data;
+ FAR char *line;
+ int sleep_time;
+ int lastc;
+ int ret;
+ int fd;
+
+ line = kmm_zalloc(GENERATOR_CACHE_BUFF);
+ if (line == NULL)
+ {
+ return -ENOMEM;
+ }
+
+ if (fgets(line, GENERATOR_CACHE_BUFF, sensor_gen->file) != NULL)
+ {
+ if (strstr(line, sensor_gen->obj.meta->o_name) == NULL)
+ {
+ uorbinfo_raw("Topic and file do not match!");
+ return -EINVAL;
+ }
+ }
+ else
+ {
+ uorbinfo_raw("Playback file format error!");
+ return -EINVAL;
+ }
+
+ data = kmm_zalloc(sensor_gen->obj.meta->o_size);
+ if (data == NULL)
+ {
+ return -ENOMEM;
+ }
+
+ fd = orb_advertise_multi_queue_persist(sensor_gen->obj.meta,
+ data, &sensor_gen->obj.instance, 1);
+ if (fd < 0)
+ {
+ uorbinfo_raw("Playback orb advertise failed[%d]!", fd);
+ kmm_free(data);
+ return fd;
+ }
+
+ while (fgets(line, GENERATOR_CACHE_BUFF, sensor_gen->file) != NULL)
+ {
+ lib_meminstream(&meminstream, line, GENERATOR_CACHE_BUFF);
+ ret = lib_bscanf(&meminstream.common, &lastc,
+ sensor_gen->obj.meta->o_format, data);
+ if (ret >= 0)
+ {
+ tmp_time = *(uint64_t *)data;
+ if (is_frist)
+ {
+ last_time = *(uint64_t *)data;
+ is_frist = false;
+ }
+ else
+ {
+ sleep_time = tmp_time - last_time;
+ if (sleep_time > 0)
+ {
+ nxsig_usleep(sleep_time);
+ }
+
+ last_time = tmp_time;
+ }
+
+ if (OK != orb_publish(sensor_gen->obj.meta, fd, data))
+ {
+ uorbinfo_raw("Topic publish error!");
+ break;
+ }
+ }
+ else
+ {
+ uorbinfo_raw("[ignore] The text data for this line is wrong![%s]!",
+ line);
+ }
+ }
+
+ orb_unadvertise(fd);
+ kmm_free(data);
Review Comment:
```suggestion
free(data);
```
##########
system/uorb/generator.c:
##########
@@ -0,0 +1,391 @@
+/****************************************************************************
+ * apps/system/uorb/generator.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/signal.h>
+#include <nuttx/streams.h>
+
+#include <ctype.h>
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define GENERATOR_CACHE_BUFF 4096
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+struct sensor_gen_info_s
+{
+ struct orb_object obj;
+ FAR FILE *file;
+};
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static bool g_should_exit = false;
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static void usage(void)
+{
+ uorbinfo_raw("\n\
+The tool publishes topic data via uorb.\n\
+Notice:NSH_LINELEN must be set to 128 or more.\n\
+\n\
+generator <command> [arguments...]\n\
+ Commands:\n\
+\t<topics_name> The playback topic name.\n\
+\t[-h ] Listener commands help.\n\
+\t[-f <val> ] File path to be played back(absolute path).\n\
+\t[-n <val> ] Number of playbacks(fake model), default: 1\n\
+\t[-r <val> ] The rate for playing fake data is only valid\
+ when parameter 's' is used. default:10hz.\n\
+\t[-s <val> ] Playback fake data.\n\
+\t[-t <val> ] Playback topic.\n\
+\t e.g.:\n\
+\t\tsim - sensor_accel0:\n\
+\t\t uorb_generator -n 100 -r 5 -s -t sensor_accel0 timestamp:23191100,\
+x:0.1,y:9.7,z:0.81,temperature:22.15\n\n\
+\t\tsim - sensor_baro0:\n\
+\t\t uorb_generator -n 100 -r 5 -s -t sensor_baro0 timestamp:23191100,\
+pressure:999.12,temperature:26.34\n\n\
+\t\tfies - sensor_accel1\n\
+\t\t uorb_generator -f /data/uorb/20240823061723/sensor_accel0.csv\
+ -t sensor_accel1\
+\t\t\n\
+ ");
+}
+
+static void exit_handler(int signo)
+{
+ g_should_exit = true;
+}
+
+static int get_play_orb_id(FAR const char *filter,
+ FAR struct sensor_gen_info_s *info)
+{
+ struct orb_object object;
+
+ if (filter)
+ {
+ object.meta = orb_get_meta(filter);
+ if (object.meta == NULL)
+ {
+ uorbinfo_raw("Input error built-in name:[%s]", filter);
+ return ERROR;
+ }
+
+ object.instance = 0;
+ if (isdigit(filter[strlen(filter) - 1]))
+ {
+ object.instance = filter[strlen(filter) - 1] - '0';
+ }
+
+ info->obj = object;
+ return OK;
+ }
+
+ uorbinfo_raw("The entered built-in topic name is empty.");
+ return ERROR;
+}
+
+/****************************************************************************
+ * Name: replay_worker
+ *
+ * Description:
+ * Playback data files.
+ *
+ * Input Parameters:
+ * sensor_gen Generator objects.
+ *
+ * Returned Value:
+ * 0 on success, otherwise -1
+ ****************************************************************************/
+
+static int replay_worker(FAR struct sensor_gen_info_s *sensor_gen)
+{
+ struct lib_meminstream_s meminstream;
+ bool is_frist = true;
+ uint64_t last_time;
+ uint64_t tmp_time;
+ FAR uint8_t *data;
+ FAR char *line;
+ int sleep_time;
+ int lastc;
+ int ret;
+ int fd;
+
+ line = kmm_zalloc(GENERATOR_CACHE_BUFF);
+ if (line == NULL)
+ {
+ return -ENOMEM;
+ }
+
+ if (fgets(line, GENERATOR_CACHE_BUFF, sensor_gen->file) != NULL)
+ {
+ if (strstr(line, sensor_gen->obj.meta->o_name) == NULL)
+ {
+ uorbinfo_raw("Topic and file do not match!");
+ return -EINVAL;
+ }
+ }
+ else
+ {
+ uorbinfo_raw("Playback file format error!");
+ return -EINVAL;
+ }
+
+ data = kmm_zalloc(sensor_gen->obj.meta->o_size);
+ if (data == NULL)
+ {
+ return -ENOMEM;
+ }
+
+ fd = orb_advertise_multi_queue_persist(sensor_gen->obj.meta,
+ data, &sensor_gen->obj.instance, 1);
+ if (fd < 0)
+ {
+ uorbinfo_raw("Playback orb advertise failed[%d]!", fd);
+ kmm_free(data);
+ return fd;
+ }
+
+ while (fgets(line, GENERATOR_CACHE_BUFF, sensor_gen->file) != NULL)
+ {
+ lib_meminstream(&meminstream, line, GENERATOR_CACHE_BUFF);
+ ret = lib_bscanf(&meminstream.common, &lastc,
+ sensor_gen->obj.meta->o_format, data);
+ if (ret >= 0)
+ {
+ tmp_time = *(uint64_t *)data;
+ if (is_frist)
+ {
+ last_time = *(uint64_t *)data;
+ is_frist = false;
+ }
+ else
+ {
+ sleep_time = tmp_time - last_time;
+ if (sleep_time > 0)
+ {
+ nxsig_usleep(sleep_time);
+ }
+
+ last_time = tmp_time;
+ }
+
+ if (OK != orb_publish(sensor_gen->obj.meta, fd, data))
+ {
+ uorbinfo_raw("Topic publish error!");
+ break;
+ }
+ }
+ else
+ {
+ uorbinfo_raw("[ignore] The text data for this line is wrong![%s]!",
+ line);
+ }
+ }
+
+ orb_unadvertise(fd);
+ kmm_free(data);
+ return 0;
+}
+
+/****************************************************************************
+ * Name: fake_worker
+ *
+ * Description:
+ * Publish fake data.
+ *
+ * Input Parameters:
+ * sensor_gen Generator objects.
+ * nb_cycle Number of publications.
+ * topic_rate Publish frequency.
+ * buffer String data to publish.
+ *
+ * Returned Value:
+ * 0 on success, otherwise -1
+ ****************************************************************************/
+
+static int fake_worker(FAR struct sensor_gen_info_s *sensor_gen,
+ int nb_cycle, float topic_rate, FAR char *buffer)
+{
+ struct lib_meminstream_s meminstream;
+ FAR uint8_t *data;
+ uint64_t interval;
+ int lastc;
+ int fd;
+ int i;
+
+ if (buffer == NULL)
+ {
+ return -EINVAL;
+ }
+
+ data = kmm_zalloc(sensor_gen->obj.meta->o_size);
+ if (data == NULL)
+ {
+ return -ENOMEM;
+ }
+
+ lib_meminstream(&meminstream, buffer, strlen(buffer));
+ if (lib_bscanf(&meminstream.common, &lastc,
+ sensor_gen->obj.meta->o_format, data) < 0)
+ {
+ uorbinfo_raw("Input string data parsing error![%s]", buffer);
+ goto error;
+ }
+
+ fd = orb_advertise_multi_queue_persist(sensor_gen->obj.meta,
+ data, &sensor_gen->obj.instance, 1);
+ if (fd < 0)
+ {
+ uorbinfo_raw("Fake orb advertise failed[%d]!", fd);
+ goto error;
+ }
+
+ interval = topic_rate ? (1000000 / topic_rate) : 500000;
+
+ for (i = 0; i < nb_cycle; ++i)
+ {
+ *(uint64_t *)data = orb_absolute_time();
+ if (OK != orb_publish(sensor_gen->obj.meta, fd, data))
+ {
+ uorbinfo_raw("Topic publish error!");
+ goto error;
+ }
+
+ nxsig_usleep(interval);
+ }
+
+ kmm_free(data);
Review Comment:
merge, return ret?
##########
system/uorb/generator.c:
##########
@@ -0,0 +1,391 @@
+/****************************************************************************
+ * apps/system/uorb/generator.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/signal.h>
+#include <nuttx/streams.h>
+
+#include <ctype.h>
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define GENERATOR_CACHE_BUFF 4096
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+struct sensor_gen_info_s
+{
+ struct orb_object obj;
+ FAR FILE *file;
+};
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static bool g_should_exit = false;
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static void usage(void)
+{
+ uorbinfo_raw("\n\
+The tool publishes topic data via uorb.\n\
+Notice:NSH_LINELEN must be set to 128 or more.\n\
+\n\
+generator <command> [arguments...]\n\
+ Commands:\n\
+\t<topics_name> The playback topic name.\n\
+\t[-h ] Listener commands help.\n\
+\t[-f <val> ] File path to be played back(absolute path).\n\
+\t[-n <val> ] Number of playbacks(fake model), default: 1\n\
+\t[-r <val> ] The rate for playing fake data is only valid\
+ when parameter 's' is used. default:10hz.\n\
+\t[-s <val> ] Playback fake data.\n\
+\t[-t <val> ] Playback topic.\n\
+\t e.g.:\n\
+\t\tsim - sensor_accel0:\n\
+\t\t uorb_generator -n 100 -r 5 -s -t sensor_accel0 timestamp:23191100,\
+x:0.1,y:9.7,z:0.81,temperature:22.15\n\n\
+\t\tsim - sensor_baro0:\n\
+\t\t uorb_generator -n 100 -r 5 -s -t sensor_baro0 timestamp:23191100,\
+pressure:999.12,temperature:26.34\n\n\
+\t\tfies - sensor_accel1\n\
+\t\t uorb_generator -f /data/uorb/20240823061723/sensor_accel0.csv\
+ -t sensor_accel1\
+\t\t\n\
+ ");
+}
+
+static void exit_handler(int signo)
+{
+ g_should_exit = true;
+}
+
+static int get_play_orb_id(FAR const char *filter,
+ FAR struct sensor_gen_info_s *info)
+{
+ struct orb_object object;
+
+ if (filter)
+ {
+ object.meta = orb_get_meta(filter);
+ if (object.meta == NULL)
+ {
+ uorbinfo_raw("Input error built-in name:[%s]", filter);
+ return ERROR;
+ }
+
+ object.instance = 0;
+ if (isdigit(filter[strlen(filter) - 1]))
+ {
+ object.instance = filter[strlen(filter) - 1] - '0';
+ }
+
+ info->obj = object;
+ return OK;
+ }
+
+ uorbinfo_raw("The entered built-in topic name is empty.");
+ return ERROR;
+}
+
+/****************************************************************************
+ * Name: replay_worker
+ *
+ * Description:
+ * Playback data files.
+ *
+ * Input Parameters:
+ * sensor_gen Generator objects.
+ *
+ * Returned Value:
+ * 0 on success, otherwise -1
+ ****************************************************************************/
+
+static int replay_worker(FAR struct sensor_gen_info_s *sensor_gen)
+{
+ struct lib_meminstream_s meminstream;
+ bool is_frist = true;
+ uint64_t last_time;
+ uint64_t tmp_time;
+ FAR uint8_t *data;
+ FAR char *line;
+ int sleep_time;
+ int lastc;
+ int ret;
+ int fd;
+
+ line = kmm_zalloc(GENERATOR_CACHE_BUFF);
+ if (line == NULL)
+ {
+ return -ENOMEM;
+ }
+
+ if (fgets(line, GENERATOR_CACHE_BUFF, sensor_gen->file) != NULL)
+ {
+ if (strstr(line, sensor_gen->obj.meta->o_name) == NULL)
+ {
+ uorbinfo_raw("Topic and file do not match!");
+ return -EINVAL;
+ }
+ }
+ else
+ {
+ uorbinfo_raw("Playback file format error!");
+ return -EINVAL;
+ }
+
+ data = kmm_zalloc(sensor_gen->obj.meta->o_size);
+ if (data == NULL)
+ {
+ return -ENOMEM;
+ }
+
+ fd = orb_advertise_multi_queue_persist(sensor_gen->obj.meta,
+ data, &sensor_gen->obj.instance, 1);
+ if (fd < 0)
+ {
+ uorbinfo_raw("Playback orb advertise failed[%d]!", fd);
+ kmm_free(data);
Review Comment:
ditto
##########
system/uorb/generator.c:
##########
@@ -0,0 +1,391 @@
+/****************************************************************************
+ * apps/system/uorb/generator.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/signal.h>
+#include <nuttx/streams.h>
+
+#include <ctype.h>
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define GENERATOR_CACHE_BUFF 4096
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+struct sensor_gen_info_s
+{
+ struct orb_object obj;
+ FAR FILE *file;
+};
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static bool g_should_exit = false;
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static void usage(void)
+{
+ uorbinfo_raw("\n\
+The tool publishes topic data via uorb.\n\
+Notice:NSH_LINELEN must be set to 128 or more.\n\
+\n\
+generator <command> [arguments...]\n\
+ Commands:\n\
+\t<topics_name> The playback topic name.\n\
+\t[-h ] Listener commands help.\n\
+\t[-f <val> ] File path to be played back(absolute path).\n\
+\t[-n <val> ] Number of playbacks(fake model), default: 1\n\
+\t[-r <val> ] The rate for playing fake data is only valid\
+ when parameter 's' is used. default:10hz.\n\
+\t[-s <val> ] Playback fake data.\n\
+\t[-t <val> ] Playback topic.\n\
+\t e.g.:\n\
+\t\tsim - sensor_accel0:\n\
+\t\t uorb_generator -n 100 -r 5 -s -t sensor_accel0 timestamp:23191100,\
+x:0.1,y:9.7,z:0.81,temperature:22.15\n\n\
+\t\tsim - sensor_baro0:\n\
+\t\t uorb_generator -n 100 -r 5 -s -t sensor_baro0 timestamp:23191100,\
+pressure:999.12,temperature:26.34\n\n\
+\t\tfies - sensor_accel1\n\
+\t\t uorb_generator -f /data/uorb/20240823061723/sensor_accel0.csv\
+ -t sensor_accel1\
+\t\t\n\
+ ");
+}
+
+static void exit_handler(int signo)
+{
+ g_should_exit = true;
+}
+
+static int get_play_orb_id(FAR const char *filter,
+ FAR struct sensor_gen_info_s *info)
+{
+ struct orb_object object;
+
+ if (filter)
+ {
+ object.meta = orb_get_meta(filter);
+ if (object.meta == NULL)
+ {
+ uorbinfo_raw("Input error built-in name:[%s]", filter);
+ return ERROR;
+ }
+
+ object.instance = 0;
+ if (isdigit(filter[strlen(filter) - 1]))
+ {
+ object.instance = filter[strlen(filter) - 1] - '0';
+ }
+
+ info->obj = object;
+ return OK;
+ }
+
+ uorbinfo_raw("The entered built-in topic name is empty.");
+ return ERROR;
+}
+
+/****************************************************************************
+ * Name: replay_worker
+ *
+ * Description:
+ * Playback data files.
+ *
+ * Input Parameters:
+ * sensor_gen Generator objects.
+ *
+ * Returned Value:
+ * 0 on success, otherwise -1
+ ****************************************************************************/
+
+static int replay_worker(FAR struct sensor_gen_info_s *sensor_gen)
+{
+ struct lib_meminstream_s meminstream;
+ bool is_frist = true;
+ uint64_t last_time;
+ uint64_t tmp_time;
+ FAR uint8_t *data;
+ FAR char *line;
+ int sleep_time;
+ int lastc;
+ int ret;
+ int fd;
+
+ line = kmm_zalloc(GENERATOR_CACHE_BUFF);
+ if (line == NULL)
+ {
+ return -ENOMEM;
+ }
+
+ if (fgets(line, GENERATOR_CACHE_BUFF, sensor_gen->file) != NULL)
+ {
+ if (strstr(line, sensor_gen->obj.meta->o_name) == NULL)
+ {
+ uorbinfo_raw("Topic and file do not match!");
+ return -EINVAL;
+ }
+ }
+ else
+ {
+ uorbinfo_raw("Playback file format error!");
+ return -EINVAL;
+ }
+
+ data = kmm_zalloc(sensor_gen->obj.meta->o_size);
+ if (data == NULL)
+ {
+ return -ENOMEM;
+ }
+
+ fd = orb_advertise_multi_queue_persist(sensor_gen->obj.meta,
+ data, &sensor_gen->obj.instance, 1);
+ if (fd < 0)
+ {
+ uorbinfo_raw("Playback orb advertise failed[%d]!", fd);
+ kmm_free(data);
+ return fd;
+ }
+
+ while (fgets(line, GENERATOR_CACHE_BUFF, sensor_gen->file) != NULL)
+ {
+ lib_meminstream(&meminstream, line, GENERATOR_CACHE_BUFF);
+ ret = lib_bscanf(&meminstream.common, &lastc,
+ sensor_gen->obj.meta->o_format, data);
+ if (ret >= 0)
+ {
+ tmp_time = *(uint64_t *)data;
+ if (is_frist)
+ {
+ last_time = *(uint64_t *)data;
+ is_frist = false;
+ }
+ else
+ {
+ sleep_time = tmp_time - last_time;
+ if (sleep_time > 0)
+ {
+ nxsig_usleep(sleep_time);
+ }
+
+ last_time = tmp_time;
+ }
+
+ if (OK != orb_publish(sensor_gen->obj.meta, fd, data))
+ {
+ uorbinfo_raw("Topic publish error!");
+ break;
+ }
+ }
+ else
+ {
+ uorbinfo_raw("[ignore] The text data for this line is wrong![%s]!",
+ line);
+ }
+ }
+
+ orb_unadvertise(fd);
+ kmm_free(data);
+ return 0;
+}
+
+/****************************************************************************
+ * Name: fake_worker
+ *
+ * Description:
+ * Publish fake data.
+ *
+ * Input Parameters:
+ * sensor_gen Generator objects.
+ * nb_cycle Number of publications.
+ * topic_rate Publish frequency.
+ * buffer String data to publish.
+ *
+ * Returned Value:
+ * 0 on success, otherwise -1
+ ****************************************************************************/
+
+static int fake_worker(FAR struct sensor_gen_info_s *sensor_gen,
+ int nb_cycle, float topic_rate, FAR char *buffer)
+{
+ struct lib_meminstream_s meminstream;
+ FAR uint8_t *data;
+ uint64_t interval;
+ int lastc;
+ int fd;
+ int i;
+
+ if (buffer == NULL)
+ {
+ return -EINVAL;
+ }
+
+ data = kmm_zalloc(sensor_gen->obj.meta->o_size);
Review Comment:
```suggestion
data = zalloc(sensor_gen->obj.meta->o_size);
```
##########
system/uorb/generator.c:
##########
@@ -0,0 +1,391 @@
+/****************************************************************************
+ * apps/system/uorb/generator.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/signal.h>
+#include <nuttx/streams.h>
+
+#include <ctype.h>
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define GENERATOR_CACHE_BUFF 4096
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+struct sensor_gen_info_s
+{
+ struct orb_object obj;
+ FAR FILE *file;
+};
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static bool g_should_exit = false;
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static void usage(void)
+{
+ uorbinfo_raw("\n\
+The tool publishes topic data via uorb.\n\
+Notice:NSH_LINELEN must be set to 128 or more.\n\
+\n\
+generator <command> [arguments...]\n\
+ Commands:\n\
+\t<topics_name> The playback topic name.\n\
+\t[-h ] Listener commands help.\n\
+\t[-f <val> ] File path to be played back(absolute path).\n\
+\t[-n <val> ] Number of playbacks(fake model), default: 1\n\
+\t[-r <val> ] The rate for playing fake data is only valid\
+ when parameter 's' is used. default:10hz.\n\
+\t[-s <val> ] Playback fake data.\n\
+\t[-t <val> ] Playback topic.\n\
+\t e.g.:\n\
+\t\tsim - sensor_accel0:\n\
+\t\t uorb_generator -n 100 -r 5 -s -t sensor_accel0 timestamp:23191100,\
+x:0.1,y:9.7,z:0.81,temperature:22.15\n\n\
+\t\tsim - sensor_baro0:\n\
+\t\t uorb_generator -n 100 -r 5 -s -t sensor_baro0 timestamp:23191100,\
+pressure:999.12,temperature:26.34\n\n\
+\t\tfies - sensor_accel1\n\
+\t\t uorb_generator -f /data/uorb/20240823061723/sensor_accel0.csv\
+ -t sensor_accel1\
+\t\t\n\
+ ");
+}
+
+static void exit_handler(int signo)
+{
+ g_should_exit = true;
+}
+
+static int get_play_orb_id(FAR const char *filter,
+ FAR struct sensor_gen_info_s *info)
+{
+ struct orb_object object;
+
+ if (filter)
+ {
+ object.meta = orb_get_meta(filter);
+ if (object.meta == NULL)
+ {
+ uorbinfo_raw("Input error built-in name:[%s]", filter);
+ return ERROR;
+ }
+
+ object.instance = 0;
+ if (isdigit(filter[strlen(filter) - 1]))
+ {
+ object.instance = filter[strlen(filter) - 1] - '0';
+ }
+
+ info->obj = object;
+ return OK;
+ }
+
+ uorbinfo_raw("The entered built-in topic name is empty.");
+ return ERROR;
+}
+
+/****************************************************************************
+ * Name: replay_worker
+ *
+ * Description:
+ * Playback data files.
+ *
+ * Input Parameters:
+ * sensor_gen Generator objects.
+ *
+ * Returned Value:
+ * 0 on success, otherwise -1
+ ****************************************************************************/
+
+static int replay_worker(FAR struct sensor_gen_info_s *sensor_gen)
+{
+ struct lib_meminstream_s meminstream;
+ bool is_frist = true;
+ uint64_t last_time;
+ uint64_t tmp_time;
+ FAR uint8_t *data;
+ FAR char *line;
+ int sleep_time;
+ int lastc;
+ int ret;
+ int fd;
+
+ line = kmm_zalloc(GENERATOR_CACHE_BUFF);
Review Comment:
ditto
##########
system/uorb/generator.c:
##########
@@ -0,0 +1,391 @@
+/****************************************************************************
+ * apps/system/uorb/generator.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/signal.h>
+#include <nuttx/streams.h>
+
+#include <ctype.h>
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define GENERATOR_CACHE_BUFF 4096
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+struct sensor_gen_info_s
+{
+ struct orb_object obj;
+ FAR FILE *file;
+};
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static bool g_should_exit = false;
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static void usage(void)
+{
+ uorbinfo_raw("\n\
+The tool publishes topic data via uorb.\n\
+Notice:NSH_LINELEN must be set to 128 or more.\n\
+\n\
+generator <command> [arguments...]\n\
+ Commands:\n\
+\t<topics_name> The playback topic name.\n\
+\t[-h ] Listener commands help.\n\
+\t[-f <val> ] File path to be played back(absolute path).\n\
+\t[-n <val> ] Number of playbacks(fake model), default: 1\n\
+\t[-r <val> ] The rate for playing fake data is only valid\
+ when parameter 's' is used. default:10hz.\n\
+\t[-s <val> ] Playback fake data.\n\
+\t[-t <val> ] Playback topic.\n\
+\t e.g.:\n\
+\t\tsim - sensor_accel0:\n\
+\t\t uorb_generator -n 100 -r 5 -s -t sensor_accel0 timestamp:23191100,\
+x:0.1,y:9.7,z:0.81,temperature:22.15\n\n\
+\t\tsim - sensor_baro0:\n\
+\t\t uorb_generator -n 100 -r 5 -s -t sensor_baro0 timestamp:23191100,\
+pressure:999.12,temperature:26.34\n\n\
+\t\tfies - sensor_accel1\n\
+\t\t uorb_generator -f /data/uorb/20240823061723/sensor_accel0.csv\
+ -t sensor_accel1\
+\t\t\n\
+ ");
+}
+
+static void exit_handler(int signo)
+{
+ g_should_exit = true;
+}
+
+static int get_play_orb_id(FAR const char *filter,
+ FAR struct sensor_gen_info_s *info)
+{
+ struct orb_object object;
+
+ if (filter)
+ {
+ object.meta = orb_get_meta(filter);
+ if (object.meta == NULL)
+ {
+ uorbinfo_raw("Input error built-in name:[%s]", filter);
+ return ERROR;
+ }
+
+ object.instance = 0;
+ if (isdigit(filter[strlen(filter) - 1]))
+ {
+ object.instance = filter[strlen(filter) - 1] - '0';
+ }
+
+ info->obj = object;
+ return OK;
+ }
+
+ uorbinfo_raw("The entered built-in topic name is empty.");
+ return ERROR;
+}
+
+/****************************************************************************
+ * Name: replay_worker
+ *
+ * Description:
+ * Playback data files.
+ *
+ * Input Parameters:
+ * sensor_gen Generator objects.
+ *
+ * Returned Value:
+ * 0 on success, otherwise -1
+ ****************************************************************************/
+
+static int replay_worker(FAR struct sensor_gen_info_s *sensor_gen)
+{
+ struct lib_meminstream_s meminstream;
+ bool is_frist = true;
+ uint64_t last_time;
+ uint64_t tmp_time;
+ FAR uint8_t *data;
+ FAR char *line;
+ int sleep_time;
+ int lastc;
+ int ret;
+ int fd;
+
+ line = kmm_zalloc(GENERATOR_CACHE_BUFF);
+ if (line == NULL)
+ {
+ return -ENOMEM;
+ }
+
+ if (fgets(line, GENERATOR_CACHE_BUFF, sensor_gen->file) != NULL)
+ {
+ if (strstr(line, sensor_gen->obj.meta->o_name) == NULL)
+ {
+ uorbinfo_raw("Topic and file do not match!");
+ return -EINVAL;
+ }
+ }
+ else
+ {
+ uorbinfo_raw("Playback file format error!");
+ return -EINVAL;
+ }
+
+ data = kmm_zalloc(sensor_gen->obj.meta->o_size);
+ if (data == NULL)
+ {
+ return -ENOMEM;
+ }
+
+ fd = orb_advertise_multi_queue_persist(sensor_gen->obj.meta,
+ data, &sensor_gen->obj.instance, 1);
+ if (fd < 0)
+ {
+ uorbinfo_raw("Playback orb advertise failed[%d]!", fd);
+ kmm_free(data);
+ return fd;
+ }
+
+ while (fgets(line, GENERATOR_CACHE_BUFF, sensor_gen->file) != NULL)
+ {
+ lib_meminstream(&meminstream, line, GENERATOR_CACHE_BUFF);
+ ret = lib_bscanf(&meminstream.common, &lastc,
+ sensor_gen->obj.meta->o_format, data);
+ if (ret >= 0)
+ {
+ tmp_time = *(uint64_t *)data;
+ if (is_frist)
+ {
+ last_time = *(uint64_t *)data;
+ is_frist = false;
+ }
+ else
+ {
+ sleep_time = tmp_time - last_time;
+ if (sleep_time > 0)
+ {
+ nxsig_usleep(sleep_time);
+ }
+
+ last_time = tmp_time;
+ }
+
+ if (OK != orb_publish(sensor_gen->obj.meta, fd, data))
+ {
+ uorbinfo_raw("Topic publish error!");
+ break;
+ }
+ }
+ else
+ {
+ uorbinfo_raw("[ignore] The text data for this line is wrong![%s]!",
+ line);
+ }
+ }
+
+ orb_unadvertise(fd);
+ kmm_free(data);
+ return 0;
+}
+
+/****************************************************************************
+ * Name: fake_worker
+ *
+ * Description:
+ * Publish fake data.
+ *
+ * Input Parameters:
+ * sensor_gen Generator objects.
+ * nb_cycle Number of publications.
+ * topic_rate Publish frequency.
+ * buffer String data to publish.
+ *
+ * Returned Value:
+ * 0 on success, otherwise -1
+ ****************************************************************************/
+
+static int fake_worker(FAR struct sensor_gen_info_s *sensor_gen,
+ int nb_cycle, float topic_rate, FAR char *buffer)
+{
+ struct lib_meminstream_s meminstream;
+ FAR uint8_t *data;
+ uint64_t interval;
+ int lastc;
+ int fd;
+ int i;
+
+ if (buffer == NULL)
+ {
+ return -EINVAL;
+ }
+
+ data = kmm_zalloc(sensor_gen->obj.meta->o_size);
+ if (data == NULL)
+ {
+ return -ENOMEM;
+ }
+
+ lib_meminstream(&meminstream, buffer, strlen(buffer));
+ if (lib_bscanf(&meminstream.common, &lastc,
+ sensor_gen->obj.meta->o_format, data) < 0)
+ {
+ uorbinfo_raw("Input string data parsing error![%s]", buffer);
+ goto error;
+ }
+
+ fd = orb_advertise_multi_queue_persist(sensor_gen->obj.meta,
+ data, &sensor_gen->obj.instance, 1);
+ if (fd < 0)
+ {
+ uorbinfo_raw("Fake orb advertise failed[%d]!", fd);
+ goto error;
+ }
+
+ interval = topic_rate ? (1000000 / topic_rate) : 500000;
+
+ for (i = 0; i < nb_cycle; ++i)
+ {
+ *(uint64_t *)data = orb_absolute_time();
+ if (OK != orb_publish(sensor_gen->obj.meta, fd, data))
+ {
+ uorbinfo_raw("Topic publish error!");
+ goto error;
+ }
+
+ nxsig_usleep(interval);
+ }
+
+ kmm_free(data);
+ return 0;
+
+error:
+ kmm_free(data);
+ return -1;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+int main(int argc, FAR char *argv[])
+{
+ FAR struct sensor_gen_info_s sensor_tmp;
Review Comment:
```suggestion
struct sensor_gen_info_s sensor_tmp;
```
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Re: [PR] uorb: add generator tool. [nuttx-apps]
Posted by "acassis (via GitHub)" <gi...@apache.org>.
acassis commented on PR #3214:
URL: https://github.com/apache/nuttx-apps/pull/3214#issuecomment-3552259082
@Donny9 I think @Otpvondoiats closed the PR before get it merged and removed the branch, so it is impossible to review
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Re: [PR] uorb: add generator tool. [nuttx-apps]
Posted by "Donny9 (via GitHub)" <gi...@apache.org>.
Donny9 commented on PR #3214:
URL: https://github.com/apache/nuttx-apps/pull/3214#issuecomment-3551337574
link issue： https://github.com/apache/nuttx/issues/17343 @acassis please review～
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Re: [PR] uorb: add generator tool. [nuttx-apps]
Posted by "acassis (via GitHub)" <gi...@apache.org>.
acassis commented on PR #3214:
URL: https://github.com/apache/nuttx-apps/pull/3214#issuecomment-3557567314
> > @Otpvondoiats you don't need to close the PR to fix the issues in the review, just create a new PR with modifications and use "git rebase -i HEAD~2" to squash it and "git push -f" to force a push to replace the older commit in the repo.
> > This process is explained here: https://nuttx.apache.org/docs/latest/contributing/making-changes.html#how-to-include-the-suggestions-on-your-pull-request
>
> The reason I closed this PR is that I plan to merge these two submissions into one. Donny9 suggested I keep these, but my own repository branch for the for loop has been deleted, so there will be two PR.
Thank you for explanation. It is a good practice to add the reason the PR was closed, it avoid confusion like in the case of nxinit closed PR.
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Re: [PR] uorb: add generator tool. [nuttx-apps]
Posted by "acassis (via GitHub)" <gi...@apache.org>.
acassis commented on PR #3214:
URL: https://github.com/apache/nuttx-apps/pull/3214#issuecomment-3554385704
@Otpvondoiats you don't need to close the PR to fix the issues in the review, just create a new PR with modifications and use "git rebase -i HEAD~2" to squash it and "git push -f" to force a push to replace the older commit in the repo.
This process is explained here: https://nuttx.apache.org/docs/latest/contributing/making-changes.html#how-to-include-the-suggestions-on-your-pull-request
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Re: [PR] uorb: add generator tool. [nuttx-apps]
Posted by "Otpvondoiats (via GitHub)" <gi...@apache.org>.
Otpvondoiats commented on PR #3214:
URL: https://github.com/apache/nuttx-apps/pull/3214#issuecomment-3557521905
> @Otpvondoiats you don't need to close the PR to fix the issues in the review, just create a new PR with modifications and use "git rebase -i HEAD~2" to squash it and "git push -f" to force a push to replace the older commit in the repo.
>
> This process is explained here: https://nuttx.apache.org/docs/latest/contributing/making-changes.html#how-to-include-the-suggestions-on-your-pull-request
The reason I closed this PR is that I plan to merge these two submissions into one. Donny9 suggested I keep these, but my own repository branch for the for loop has been deleted, so there will be two PR.
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Re: [PR] uorb: add generator tool. [nuttx-apps]
Posted by "Otpvondoiats (via GitHub)" <gi...@apache.org>.
Otpvondoiats closed pull request #3214: uorb: add generator tool.
URL: https://github.com/apache/nuttx-apps/pull/3214
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