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Posted to commits@nuttx.apache.org by ac...@apache.org on 2022/07/23 19:58:03 UTC
[incubator-nuttx-apps] branch master updated (beb9188ce -> 74af9a806)
This is an automated email from the ASF dual-hosted git repository.
acassis pushed a change to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
from beb9188ce nshlib:support nsh can redirect
new 3528b5515 apps/system/uorb: c interfaces.
new d8d1e1e76 apps/system/uorb: c unit testcases
new 46c98420b system/uorb: add builtin sensor topics
new 4ec3f70f1 apps/system/uorb: support orb_get_meta by name string
new 9f6d32218 system/uorb: listener, has 'top' command.
new 6fceb913a system/uorb: optimize stack used
new d44dd1c42 uorb_unit_test: optimize stack used
new 53ee04ba3 uorb/listener: add new api: orb_open and orb_close
new 5bb4e14aa system/uorb: always let orb_advertise, orb_advertise_queue for instance 0
new e97b1a79d uorb_listener: support subscribe physical sensor before node register
new 384c05beb app/system/uorb: alloc on heap instead of stack.
new 3a8f4b53f apps/uorb: fix compile break
new 8558e6377 uorb_listener: support set batch latency
new 37f1e453b uorb: use another writing method to avoid compiler bug
new f02c5a5d7 system/uorb: support new api
new 874ed7654 app/system/uorb: fix listener run_once not work.
new 2b8bfc5be app/system/uorb: modify unit test to support data persist
new 3f865c4f9 uorb/listener: ignore first get_state failed.
new 131e4dc69 system/uorb: simply orb_check by SNIOC_UPDATED
new 74af9a806 app/system/uorb: fix error, memset() wrong size.
The 20 revisions listed above as "new" are entirely new to this
repository and will be described in separate emails. The revisions
listed as "add" were already present in the repository and have only
been added to this reference.
Summary of changes:
system/uorb/Kconfig | 65 +++
system/uorb/Make.defs | 27 ++
system/uorb/Makefile | 41 ++
system/uorb/listener.c | 815 +++++++++++++++++++++++++++++++
system/uorb/sensor/accel.c | 51 ++
system/uorb/sensor/accel.h | 39 ++
system/uorb/sensor/baro.c | 49 ++
system/uorb/sensor/baro.h | 38 ++
system/uorb/sensor/cap.c | 51 ++
system/uorb/sensor/cap.h | 38 ++
system/uorb/sensor/co2.c | 48 ++
system/uorb/sensor/co2.h | 38 ++
system/uorb/sensor/dust.c | 48 ++
system/uorb/sensor/dust.h | 38 ++
system/uorb/sensor/ecg.c | 48 ++
system/uorb/sensor/ecg.h | 38 ++
system/uorb/sensor/gesture.c | 52 ++
system/uorb/sensor/gesture.h | 39 ++
system/uorb/sensor/gps.c | 82 ++++
system/uorb/sensor/gps.h | 39 ++
system/uorb/sensor/gyro.c | 51 ++
system/uorb/sensor/gyro.h | 39 ++
system/uorb/sensor/hall.c | 48 ++
system/uorb/sensor/hall.h | 38 ++
system/uorb/sensor/hbeat.c | 48 ++
system/uorb/sensor/hbeat.h | 38 ++
system/uorb/sensor/hcho.c | 48 ++
system/uorb/sensor/hcho.h | 38 ++
system/uorb/sensor/hrate.c | 48 ++
system/uorb/sensor/hrate.h | 38 ++
system/uorb/sensor/humi.c | 48 ++
system/uorb/sensor/humi.h | 38 ++
system/uorb/sensor/impd.c | 49 ++
system/uorb/sensor/impd.h | 38 ++
system/uorb/sensor/ir.c | 48 ++
system/uorb/sensor/ir.h | 38 ++
system/uorb/sensor/light.c | 50 ++
system/uorb/sensor/light.h | 39 ++
system/uorb/sensor/mag.c | 51 ++
system/uorb/sensor/mag.h | 39 ++
system/uorb/sensor/noise.c | 48 ++
system/uorb/sensor/noise.h | 38 ++
system/uorb/sensor/ots.c | 49 ++
system/uorb/sensor/ots.h | 38 ++
system/uorb/sensor/ph.c | 48 ++
system/uorb/sensor/ph.h | 38 ++
system/uorb/sensor/pm10.c | 48 ++
system/uorb/sensor/pm10.h | 38 ++
system/uorb/sensor/pm1p0.c | 48 ++
system/uorb/sensor/pm1p0.h | 38 ++
system/uorb/sensor/pm25.c | 48 ++
system/uorb/sensor/pm25.h | 38 ++
system/uorb/sensor/ppgd.c | 51 ++
system/uorb/sensor/ppgd.h | 38 ++
system/uorb/sensor/ppgq.c | 53 ++
system/uorb/sensor/ppgq.h | 38 ++
system/uorb/sensor/prox.c | 48 ++
system/uorb/sensor/prox.h | 38 ++
system/uorb/sensor/rgb.c | 48 ++
system/uorb/sensor/rgb.h | 38 ++
system/uorb/sensor/temp.c | 48 ++
system/uorb/sensor/temp.h | 38 ++
system/uorb/sensor/topics.c | 164 +++++++
system/uorb/sensor/tvoc.c | 48 ++
system/uorb/sensor/tvoc.h | 38 ++
system/uorb/sensor/uv.c | 48 ++
system/uorb/sensor/uv.h | 38 ++
system/uorb/test/unit_test.c | 1095 ++++++++++++++++++++++++++++++++++++++++++
system/uorb/test/utility.c | 122 +++++
system/uorb/test/utility.h | 74 +++
system/uorb/uORB/uORB.c | 322 +++++++++++++
system/uorb/uORB/uORB.h | 729 ++++++++++++++++++++++++++++
72 files changed, 6189 insertions(+)
create mode 100644 system/uorb/Kconfig
create mode 100644 system/uorb/Make.defs
create mode 100644 system/uorb/Makefile
create mode 100644 system/uorb/listener.c
create mode 100644 system/uorb/sensor/accel.c
create mode 100644 system/uorb/sensor/accel.h
create mode 100644 system/uorb/sensor/baro.c
create mode 100644 system/uorb/sensor/baro.h
create mode 100644 system/uorb/sensor/cap.c
create mode 100644 system/uorb/sensor/cap.h
create mode 100644 system/uorb/sensor/co2.c
create mode 100644 system/uorb/sensor/co2.h
create mode 100644 system/uorb/sensor/dust.c
create mode 100644 system/uorb/sensor/dust.h
create mode 100644 system/uorb/sensor/ecg.c
create mode 100644 system/uorb/sensor/ecg.h
create mode 100644 system/uorb/sensor/gesture.c
create mode 100644 system/uorb/sensor/gesture.h
create mode 100644 system/uorb/sensor/gps.c
create mode 100644 system/uorb/sensor/gps.h
create mode 100644 system/uorb/sensor/gyro.c
create mode 100644 system/uorb/sensor/gyro.h
create mode 100644 system/uorb/sensor/hall.c
create mode 100644 system/uorb/sensor/hall.h
create mode 100644 system/uorb/sensor/hbeat.c
create mode 100644 system/uorb/sensor/hbeat.h
create mode 100644 system/uorb/sensor/hcho.c
create mode 100644 system/uorb/sensor/hcho.h
create mode 100644 system/uorb/sensor/hrate.c
create mode 100644 system/uorb/sensor/hrate.h
create mode 100644 system/uorb/sensor/humi.c
create mode 100644 system/uorb/sensor/humi.h
create mode 100644 system/uorb/sensor/impd.c
create mode 100644 system/uorb/sensor/impd.h
create mode 100644 system/uorb/sensor/ir.c
create mode 100644 system/uorb/sensor/ir.h
create mode 100644 system/uorb/sensor/light.c
create mode 100644 system/uorb/sensor/light.h
create mode 100644 system/uorb/sensor/mag.c
create mode 100644 system/uorb/sensor/mag.h
create mode 100644 system/uorb/sensor/noise.c
create mode 100644 system/uorb/sensor/noise.h
create mode 100644 system/uorb/sensor/ots.c
create mode 100644 system/uorb/sensor/ots.h
create mode 100644 system/uorb/sensor/ph.c
create mode 100644 system/uorb/sensor/ph.h
create mode 100644 system/uorb/sensor/pm10.c
create mode 100644 system/uorb/sensor/pm10.h
create mode 100644 system/uorb/sensor/pm1p0.c
create mode 100644 system/uorb/sensor/pm1p0.h
create mode 100644 system/uorb/sensor/pm25.c
create mode 100644 system/uorb/sensor/pm25.h
create mode 100644 system/uorb/sensor/ppgd.c
create mode 100644 system/uorb/sensor/ppgd.h
create mode 100644 system/uorb/sensor/ppgq.c
create mode 100644 system/uorb/sensor/ppgq.h
create mode 100644 system/uorb/sensor/prox.c
create mode 100644 system/uorb/sensor/prox.h
create mode 100644 system/uorb/sensor/rgb.c
create mode 100644 system/uorb/sensor/rgb.h
create mode 100644 system/uorb/sensor/temp.c
create mode 100644 system/uorb/sensor/temp.h
create mode 100644 system/uorb/sensor/topics.c
create mode 100644 system/uorb/sensor/tvoc.c
create mode 100644 system/uorb/sensor/tvoc.h
create mode 100644 system/uorb/sensor/uv.c
create mode 100644 system/uorb/sensor/uv.h
create mode 100644 system/uorb/test/unit_test.c
create mode 100644 system/uorb/test/utility.c
create mode 100644 system/uorb/test/utility.h
create mode 100644 system/uorb/uORB/uORB.c
create mode 100644 system/uorb/uORB/uORB.h
[incubator-nuttx-apps] 15/20: system/uorb: support new api
Posted by ac...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
acassis pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
commit f02c5a5d7e7714a18ceaada26058fd1c0c127ad8
Author: Jiuzhu Dong <do...@xiaomi.com>
AuthorDate: Sat May 21 18:07:00 2022 +0800
system/uorb: support new api
orb_advertise_multi_queue_persist
Signed-off-by: Jiuzhu Dong <do...@xiaomi.com>
---
system/uorb/uORB/uORB.c | 61 ++++++++++++++++++++++++++++++++-----------------
system/uorb/uORB/uORB.h | 29 ++++++++++++++++++++++-
2 files changed, 68 insertions(+), 22 deletions(-)
diff --git a/system/uorb/uORB/uORB.c b/system/uorb/uORB/uORB.c
index 2d02378a4..953e3b26e 100644
--- a/system/uorb/uORB/uORB.c
+++ b/system/uorb/uORB/uORB.c
@@ -73,6 +73,7 @@ static int orb_advsub_open(FAR const struct orb_metadata *meta, int flags,
reginfo.path = path;
reginfo.esize = meta->o_size;
reginfo.nbuffer = queue_size;
+ reginfo.persist = !!(flags & SENSOR_PERSIST);
fd = open(ORB_USENSOR_PATH, O_WRONLY);
if (fd < 0)
@@ -111,26 +112,10 @@ static int orb_advsub_open(FAR const struct orb_metadata *meta, int flags,
return fd;
}
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-int orb_open(FAR const char *name, int instance, int flags)
-{
- char path[ORB_PATH_MAX];
-
- snprintf(path, ORB_PATH_MAX, ORB_SENSOR_PATH"%s%d", name, instance);
- return open(path, O_CLOEXEC | flags);
-}
-
-int orb_close(int fd)
-{
- return close(fd);
-}
-
-int orb_advertise_multi_queue(FAR const struct orb_metadata *meta,
- FAR const void *data, FAR int *instance,
- unsigned int queue_size)
+static int
+orb_advertise_multi_queue_flags(FAR const struct orb_metadata *meta,
+ FAR const void *data, FAR int *instance,
+ unsigned int queue_size, int flags)
{
int inst;
int fd;
@@ -139,7 +124,7 @@ int orb_advertise_multi_queue(FAR const struct orb_metadata *meta,
inst = instance ? *instance : orb_group_count(meta);
- fd = orb_advsub_open(meta, O_WRONLY, inst, queue_size);
+ fd = orb_advsub_open(meta, flags, inst, queue_size);
if (fd < 0)
{
uorberr("%s advertise failed (%i)", meta->o_name, fd);
@@ -165,6 +150,40 @@ int orb_advertise_multi_queue(FAR const struct orb_metadata *meta,
return fd;
}
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+int orb_open(FAR const char *name, int instance, int flags)
+{
+ char path[ORB_PATH_MAX];
+
+ snprintf(path, ORB_PATH_MAX, ORB_SENSOR_PATH"%s%d", name, instance);
+ return open(path, O_CLOEXEC | flags);
+}
+
+int orb_close(int fd)
+{
+ return close(fd);
+}
+
+int orb_advertise_multi_queue(FAR const struct orb_metadata *meta,
+ FAR const void *data, FAR int *instance,
+ unsigned int queue_size)
+{
+ return orb_advertise_multi_queue_flags(meta, data, instance,
+ queue_size, O_WRONLY);
+}
+
+int orb_advertise_multi_queue_persist(FAR const struct orb_metadata *meta,
+ FAR const void *data,
+ FAR int *instance,
+ unsigned int queue_size)
+{
+ return orb_advertise_multi_queue_flags(meta, data, instance, queue_size,
+ O_WRONLY | SENSOR_PERSIST);
+}
+
ssize_t orb_publish_multi(int fd, const void *data, size_t len)
{
return write(fd, data, len);
diff --git a/system/uorb/uORB/uORB.h b/system/uorb/uORB/uORB.h
index 4cfe6b29d..f5713521d 100644
--- a/system/uorb/uORB/uORB.h
+++ b/system/uorb/uORB/uORB.h
@@ -256,6 +256,33 @@ static inline int orb_advertise_multi(FAR const struct orb_metadata *meta,
return orb_advertise_multi_queue(meta, data, instance, 1);
}
+/****************************************************************************
+ * Name: orb_advertise_multi_queue_persist
+ *
+ * Description:
+ * orb_advertise_multi_queue_persist is similar to orb_advertise_mult and
+ * it can ensures that every subscriber has access to current and
+ * future data.
+ *
+ * Input Parameters:
+ * meta The uORB metadata (usually from the ORB_ID() macro)
+ * data A pointer to the initial data to be published.
+ * instance Pointer to an integer which yield the instance ID,
+ * (has default 0 if pointer is NULL).
+ *
+ * Returned Value:
+ * -1 on error, otherwise returns an file descriptor
+ * that can be used to publish to the topic.
+ * If the topic in question is not known (due to an
+ * ORB_DEFINE with no corresponding ORB_DECLARE)
+ * this function will return -1 and set errno to ENOENT.
+ ****************************************************************************/
+
+int orb_advertise_multi_queue_persist(FAR const struct orb_metadata *meta,
+ FAR const void *data,
+ FAR int *instance,
+ unsigned int queue_size);
+
/****************************************************************************
* Name: orb_unadvertise
*
@@ -316,7 +343,7 @@ static inline int orb_publish_auto(FAR const struct orb_metadata *meta,
{
int tmp;
- tmp = orb_advertise_multi(meta, data, instance);
+ tmp = orb_advertise_multi_queue_persist(meta, data, instance, 1);
if (tmp < 0)
{
return tmp;
[incubator-nuttx-apps] 06/20: system/uorb: optimize stack used
Posted by ac...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
acassis pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
commit 6fceb913a25fa24dafa88d38aef30c65a80ad51e
Author: Jiuzhu Dong <do...@xiaomi.com>
AuthorDate: Fri Apr 15 17:16:49 2022 +0800
system/uorb: optimize stack used
Signed-off-by: Jiuzhu Dong <do...@xiaomi.com>
---
system/uorb/listener.c | 6 ++----
system/uorb/sensor/topics.c | 6 +++---
system/uorb/uORB/uORB.c | 10 ++++++----
system/uorb/uORB/uORB.h | 1 +
4 files changed, 12 insertions(+), 11 deletions(-)
diff --git a/system/uorb/listener.c b/system/uorb/listener.c
index 7b3a083ec..5b18a54cf 100644
--- a/system/uorb/listener.c
+++ b/system/uorb/listener.c
@@ -344,7 +344,7 @@ static int listener_generate_object_list(FAR struct list_node *objlist,
while ((entry = readdir(dir)))
{
struct orb_object object;
- char file_name[PATH_MAX];
+ char file_name[ORB_PATH_MAX];
int len;
/* Get meta data and instance number through file name */
@@ -354,7 +354,7 @@ static int listener_generate_object_list(FAR struct list_node *objlist,
continue;
}
- strlcpy(file_name, entry->d_name, PATH_MAX);
+ strlcpy(file_name, entry->d_name, ORB_PATH_MAX);
len = strlen(file_name) - 1;
object.instance = file_name[len] - '0';
@@ -424,8 +424,6 @@ static int listener_print(FAR const struct orb_metadata *meta, int fd)
{
meta->o_cb(meta, buffer);
}
-#else
- uorbinfo_raw("Enable debug uorb to print message");
#endif
return ret;
diff --git a/system/uorb/sensor/topics.c b/system/uorb/sensor/topics.c
index b291170de..2c1851f55 100644
--- a/system/uorb/sensor/topics.c
+++ b/system/uorb/sensor/topics.c
@@ -113,7 +113,7 @@ static FAR const struct orb_metadata *g_sensor_list[] =
FAR const struct orb_metadata *orb_get_meta(FAR const char *name)
{
struct sensor_state_s state;
- char path[PATH_MAX];
+ char path[ORB_PATH_MAX];
int idx = -1;
int ret;
int fd;
@@ -141,11 +141,11 @@ FAR const struct orb_metadata *orb_get_meta(FAR const char *name)
/* Then open node to get meta */
- snprintf(path, PATH_MAX, ORB_SENSOR_PATH"%s", name);
+ snprintf(path, ORB_PATH_MAX, ORB_SENSOR_PATH"%s", name);
fd = open(path, O_RDONLY);
if (fd < 0)
{
- snprintf(path, PATH_MAX, ORB_SENSOR_PATH"%s%d", name, 0);
+ snprintf(path, ORB_PATH_MAX, ORB_SENSOR_PATH"%s%d", name, 0);
fd = open(path, O_RDONLY);
if (fd < 0)
{
diff --git a/system/uorb/uORB/uORB.c b/system/uorb/uORB/uORB.c
index 9b771e657..5fdf16e9f 100644
--- a/system/uorb/uORB/uORB.c
+++ b/system/uorb/uORB/uORB.c
@@ -56,12 +56,13 @@
static int orb_open(FAR const struct orb_metadata *meta, bool advertiser,
int instance, unsigned int queue_size)
{
- char path[PATH_MAX];
+ char path[ORB_PATH_MAX];
bool first_open = false;
int fd;
int ret;
- snprintf(path, PATH_MAX, ORB_SENSOR_PATH"%s%d", meta->o_name, instance);
+ snprintf(path, ORB_PATH_MAX, ORB_SENSOR_PATH"%s%d", meta->o_name,
+ instance);
/* Check existance before open */
@@ -281,11 +282,12 @@ orb_abstime orb_absolute_time(void)
int orb_exists(FAR const struct orb_metadata *meta, int instance)
{
struct sensor_state_s state;
- char path[PATH_MAX];
+ char path[ORB_PATH_MAX];
int ret;
int fd;
- snprintf(path, PATH_MAX, ORB_SENSOR_PATH"%s%d", meta->o_name, instance);
+ snprintf(path, ORB_PATH_MAX, ORB_SENSOR_PATH"%s%d", meta->o_name,
+ instance);
fd = open(path, 0);
if (fd < 0)
{
diff --git a/system/uorb/uORB/uORB.h b/system/uorb/uORB/uORB.h
index 1ba96e66d..5161c31f6 100644
--- a/system/uorb/uORB/uORB.h
+++ b/system/uorb/uORB/uORB.h
@@ -78,6 +78,7 @@ typedef uint64_t orb_abstime;
#define ORB_SENSOR_PATH "/dev/sensor/"
#define ORB_USENSOR_PATH "/dev/usensor"
+#define ORB_PATH_MAX (NAME_MAX + 16)
#ifdef CONFIG_UORB_ALERT
# define uorbpanic(fmt, ...) _alert(fmt "\n", ##__VA_ARGS__)
[incubator-nuttx-apps] 04/20: apps/system/uorb: support orb_get_meta by name string
Posted by ac...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
acassis pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
commit 4ec3f70f1d1685e405dd12d28054f5f94c44796b
Author: Jiuzhu Dong <do...@xiaomi.com>
AuthorDate: Fri May 6 13:18:56 2022 +0800
apps/system/uorb: support orb_get_meta by name string
Signed-off-by: Jiuzhu Dong <do...@xiaomi.com>
---
system/uorb/Makefile | 1 +
system/uorb/sensor/topics.c | 164 ++++++++++++++++++++++++++++++++++++++++++++
system/uorb/uORB/uORB.h | 15 ++++
3 files changed, 180 insertions(+)
diff --git a/system/uorb/Makefile b/system/uorb/Makefile
index 7194e0db4..feb09b7da 100644
--- a/system/uorb/Makefile
+++ b/system/uorb/Makefile
@@ -21,6 +21,7 @@
include $(APPDIR)/Make.defs
CSRCS += uORB/uORB.c
+CSRCS += $(wildcard sensor/*.c)
ifneq ($(CONFIG_UORB_TESTS),)
CSRCS += test/utility.c
diff --git a/system/uorb/sensor/topics.c b/system/uorb/sensor/topics.c
new file mode 100644
index 000000000..b291170de
--- /dev/null
+++ b/system/uorb/sensor/topics.c
@@ -0,0 +1,164 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/topics.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 <fcntl.h>
+#include <stdio.h>
+#include <sys/ioctl.h>
+
+#include <sensor/accel.h>
+#include <sensor/baro.h>
+#include <sensor/cap.h>
+#include <sensor/co2.h>
+#include <sensor/dust.h>
+#include <sensor/ecg.h>
+#include <sensor/gps.h>
+#include <sensor/gyro.h>
+#include <sensor/gesture.h>
+#include <sensor/hall.h>
+#include <sensor/hbeat.h>
+#include <sensor/hcho.h>
+#include <sensor/hrate.h>
+#include <sensor/humi.h>
+#include <sensor/impd.h>
+#include <sensor/ir.h>
+#include <sensor/light.h>
+#include <sensor/mag.h>
+#include <sensor/noise.h>
+#include <sensor/ots.h>
+#include <sensor/ph.h>
+#include <sensor/pm25.h>
+#include <sensor/pm1p0.h>
+#include <sensor/pm10.h>
+#include <sensor/ppgd.h>
+#include <sensor/ppgq.h>
+#include <sensor/prox.h>
+#include <sensor/rgb.h>
+#include <sensor/temp.h>
+#include <sensor/tvoc.h>
+#include <sensor/uv.h>
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static FAR const struct orb_metadata *g_sensor_list[] =
+{
+ ORB_ID(sensor_accel),
+ ORB_ID(sensor_accel_uncal),
+ ORB_ID(sensor_baro),
+ ORB_ID(sensor_cap),
+ ORB_ID(sensor_co2),
+ ORB_ID(sensor_dust),
+ ORB_ID(sensor_ecg),
+ ORB_ID(sensor_gps),
+ ORB_ID(sensor_gps_satellite),
+ ORB_ID(sensor_gyro),
+ ORB_ID(sensor_gyro_uncal),
+ ORB_ID(sensor_hall),
+ ORB_ID(sensor_hbeat),
+ ORB_ID(sensor_hcho),
+ ORB_ID(sensor_humi),
+ ORB_ID(sensor_hrate),
+ ORB_ID(sensor_impd),
+ ORB_ID(sensor_ir),
+ ORB_ID(sensor_light),
+ ORB_ID(sensor_light_uncal),
+ ORB_ID(sensor_mag),
+ ORB_ID(sensor_mag_uncal),
+ ORB_ID(sensor_noise),
+ ORB_ID(sensor_ots),
+ ORB_ID(sensor_ph),
+ ORB_ID(sensor_pm10),
+ ORB_ID(sensor_pm1p0),
+ ORB_ID(sensor_pm25),
+ ORB_ID(sensor_ppgd),
+ ORB_ID(sensor_ppgq),
+ ORB_ID(sensor_prox),
+ ORB_ID(sensor_rgb),
+ ORB_ID(sensor_temp),
+ ORB_ID(sensor_tvoc),
+ ORB_ID(sensor_uv),
+ ORB_ID(sensor_wake_gesture),
+ ORB_ID(sensor_wake_gesture_uncal),
+ NULL,
+};
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+FAR const struct orb_metadata *orb_get_meta(FAR const char *name)
+{
+ struct sensor_state_s state;
+ char path[PATH_MAX];
+ int idx = -1;
+ int ret;
+ int fd;
+ int i;
+
+ /* Fisrt search built-in topics */
+
+ for (i = 0; g_sensor_list[i]; i++)
+ {
+ if (!strncmp(g_sensor_list[i]->o_name, name,
+ strlen(g_sensor_list[i]->o_name)))
+ {
+ if (idx == -1 || strlen(g_sensor_list[idx]->o_name) <
+ strlen(g_sensor_list[i]->o_name))
+ {
+ idx = i;
+ }
+ }
+ }
+
+ if (idx != -1)
+ {
+ return g_sensor_list[idx];
+ }
+
+ /* Then open node to get meta */
+
+ snprintf(path, PATH_MAX, ORB_SENSOR_PATH"%s", name);
+ fd = open(path, O_RDONLY);
+ if (fd < 0)
+ {
+ snprintf(path, PATH_MAX, ORB_SENSOR_PATH"%s%d", name, 0);
+ fd = open(path, O_RDONLY);
+ if (fd < 0)
+ {
+ return NULL;
+ }
+ }
+
+ ret = ioctl(fd, SNIOC_GET_STATE, (unsigned long)(uintptr_t)&state);
+ close(fd);
+ if (ret < 0)
+ {
+ return NULL;
+ }
+
+ return state.priv;
+}
diff --git a/system/uorb/uORB/uORB.h b/system/uorb/uORB/uORB.h
index f31ba7063..77e424319 100644
--- a/system/uorb/uORB/uORB.h
+++ b/system/uorb/uORB/uORB.h
@@ -638,6 +638,21 @@ int orb_exists(FAR const struct orb_metadata *meta, int instance);
int orb_group_count(FAR const struct orb_metadata *meta);
+/****************************************************************************
+ * Name: orb_get_meta
+ *
+ * Description:
+ * Get the metadata of topic object by name string.
+ *
+ * Input Parameters:
+ * name The name of topic, ex: sensor_accel, sensor_accel0.
+ *
+ * Returned Value:
+ * The metadata on success. NULL on failure.
+ ****************************************************************************/
+
+FAR const struct orb_metadata *orb_get_meta(FAR const char *name);
+
#ifdef __cplusplus
}
#endif
[incubator-nuttx-apps] 10/20: uorb_listener: support subscribe physical sensor before node register
Posted by ac...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
acassis pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
commit e97b1a79d6b6c9fecad3b3b5674a482d7a347e29
Author: Jiuzhu Dong <do...@xiaomi.com>
AuthorDate: Thu Apr 14 18:14:27 2022 +0800
uorb_listener: support subscribe physical sensor before node register
Signed-off-by: Jiuzhu Dong <do...@xiaomi.com>
---
system/uorb/listener.c | 81 +++++++++++++++++++++++++++++++++++++++++---------
1 file changed, 67 insertions(+), 14 deletions(-)
diff --git a/system/uorb/listener.c b/system/uorb/listener.c
index 579b2c8b7..8369503b5 100644
--- a/system/uorb/listener.c
+++ b/system/uorb/listener.c
@@ -24,6 +24,7 @@
#include <nuttx/list.h>
+#include <ctype.h>
#include <errno.h>
#include <dirent.h>
#include <poll.h>
@@ -319,24 +320,77 @@ static int listener_generate_object_list(FAR struct list_node *objlist,
FAR const char *filter)
{
FAR struct dirent *entry;
+ struct orb_object object;
+ char name[ORB_PATH_MAX];
FAR DIR *dir;
+ size_t len;
int cnt = 0;
- int ret;
+
+ /* First traverse all objects in filter */
+
+ if (filter)
+ {
+ FAR const char *tmp;
+ FAR const char *member = filter;
+
+ do
+ {
+ while (*member == ',')
+ {
+ member++;
+ }
+
+ tmp = strchr(member, ',');
+ len = tmp ? tmp - member : strlen(member);
+ if (!len)
+ {
+ return cnt;
+ }
+
+ strlcpy(name, member, len + 1);
+ member = tmp;
+ object.meta = orb_get_meta(name);
+ if (object.meta)
+ {
+ object.instance = 0;
+ while (1)
+ {
+ if (isdigit(name[len - 1]))
+ {
+ object.instance = name[len - 1] - '0';
+ }
+
+ if (listener_update(objlist, &object) >= 0)
+ {
+ cnt++;
+ if (isdigit(name[len - 1]))
+ {
+ break;
+ }
+ }
+
+ if (orb_exists(object.meta, object.instance++) < 0)
+ {
+ break;
+ }
+ }
+ }
+ }
+ while (tmp);
+
+ return cnt;
+ }
/* Traverse all objects under ORB_SENSOR_PATH */
dir = opendir(ORB_SENSOR_PATH);
if (!dir)
{
- return ERROR;
+ return 0;
}
while ((entry = readdir(dir)))
{
- struct orb_object object;
- char file_name[ORB_PATH_MAX];
- int len;
-
/* Get meta data and instance number through file name */
if (!strcmp(entry->d_name, ".") || !strcmp(entry->d_name, ".."))
@@ -344,11 +398,11 @@ static int listener_generate_object_list(FAR struct list_node *objlist,
continue;
}
- strlcpy(file_name, entry->d_name, ORB_PATH_MAX);
+ strlcpy(name, entry->d_name, ORB_PATH_MAX);
- len = strlen(file_name) - 1;
- object.instance = file_name[len] - '0';
- file_name[len] = 0;
+ len = strlen(name) - 1;
+ object.instance = name[len] - '0';
+ name[len] = 0;
if (filter)
{
@@ -359,7 +413,7 @@ static int listener_generate_object_list(FAR struct list_node *objlist,
* aaa0, aaa1, aaa2, bbb1.
*/
- FAR const char *str = strstr(filter, file_name);
+ FAR const char *str = strstr(filter, name);
if (!str || (str[len] && str[len] != ',' &&
str[len] != object.instance + '0'))
{
@@ -375,8 +429,7 @@ static int listener_generate_object_list(FAR struct list_node *objlist,
/* Update object infomation to list. */
- ret = listener_update(objlist, &object);
- if (ret < 0)
+ if (listener_update(objlist, &object) < 0)
{
uorbinfo_raw("listener %s failed", object.meta->o_name);
continue;
@@ -515,7 +568,7 @@ static void listener_monitor(FAR struct list_node *objlist, int nb_objects,
else if (errno != EINTR)
{
uorbinfo_raw("Waited for %d seconds without a message. "
- "Giving up.", timeout);
+ "Giving up. err:%d", timeout, errno);
break;
}
}
[incubator-nuttx-apps] 16/20: app/system/uorb: fix listener run_once not work.
Posted by ac...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
acassis pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
commit 874ed7654d1590024c1730b2b672c6769041415f
Author: jihandong <ji...@xiaomi.com>
AuthorDate: Wed Jun 8 19:50:14 2022 +0800
app/system/uorb: fix listener run_once not work.
And remove dead code.
Signed-off-by: Jiuzhu Dong <do...@xiaomi.com>
---
system/uorb/listener.c | 19 +++++++++++--------
1 file changed, 11 insertions(+), 8 deletions(-)
diff --git a/system/uorb/listener.c b/system/uorb/listener.c
index eb115967d..284ecfa7f 100644
--- a/system/uorb/listener.c
+++ b/system/uorb/listener.c
@@ -173,6 +173,8 @@ static int listener_add_object(FAR struct list_node *objlist,
FAR struct orb_object *object)
{
FAR struct listen_object_s *tmp;
+ struct orb_state state;
+ int ret;
tmp = malloc(sizeof(struct listen_object_s));
if (tmp == NULL)
@@ -180,9 +182,17 @@ static int listener_add_object(FAR struct list_node *objlist,
return -ENOMEM;
}
+ ret = listener_get_state(object, &state);
+ if (ret < 0)
+ {
+ free(tmp);
+ return ret;
+ }
+
tmp->object.meta = object->meta;
tmp->object.instance = object->instance;
- tmp->timestamp = 0;
+ tmp->timestamp = orb_absolute_time();
+ tmp->generation = state.generation;
list_add_tail(objlist, &tmp->node);
return 0;
}
@@ -236,13 +246,6 @@ static int listener_update(FAR struct list_node *objlist,
return ret;
}
- if (old->timestamp == 0)
- {
- old->timestamp = orb_absolute_time();
- old->generation = state.generation;
- return 0;
- }
-
delta_time = now_time - old->timestamp;
delta_generation = state.generation - old->generation;
if (delta_generation && delta_time)
[incubator-nuttx-apps] 05/20: system/uorb: listener, has 'top' command.
Posted by ac...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
acassis pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
commit 9f6d3221867b5e81613f8461b16b06be44336302
Author: jihandong <ji...@xiaomi.com>
AuthorDate: Fri Mar 25 21:01:20 2022 +0800
system/uorb: listener, has 'top' command.
Listener can scan device under ORB_SENSOR_PATH, subscribe them and
cotinue printing messages by call their cb.
'-T' can Continuously print updating objects, '-l' means only
print once.
Signed-off-by: jihandong <ji...@xiaomi.com>
Signed-off-by: Jiuzhu Dong <do...@xiaomi.com>
---
system/uorb/Kconfig | 28 +-
system/uorb/Makefile | 9 +-
system/uorb/listener.c | 735 ++++++++++++++++++++++++++++++++++++++++++++++++
system/uorb/uORB/uORB.c | 3 +-
system/uorb/uORB/uORB.h | 5 +-
5 files changed, 762 insertions(+), 18 deletions(-)
diff --git a/system/uorb/Kconfig b/system/uorb/Kconfig
index 028e2f2de..6345f77b1 100644
--- a/system/uorb/Kconfig
+++ b/system/uorb/Kconfig
@@ -18,6 +18,22 @@ config UORB_STACKSIZE
int "stack size"
default DEFAULT_TASK_STACKSIZE
+config UORB_LISTENER
+ bool "uorb listener"
+ default n
+
+config UORB_TESTS
+ bool "uorb unit tests"
+ default n
+
+if UORB_TESTS
+
+config UORB_SRORAGE_DIR
+ string "uorb test result storage dir"
+ default "/data/"
+
+endif # UORB_TESTS
+
config DEBUG_UORB
bool "uorb debug output"
default n
@@ -46,16 +62,4 @@ config UORB_INFO
endif # DEBUG_UORB
-config UORB_TESTS
- bool "uorb unit tests"
- default n
-
-if UORB_TESTS
-
-config UORB_SRORAGE_DIR
- string "uorb test result storage dir"
- default "/data/"
-
-endif # UORB_TESTS
-
endif # UORB
diff --git a/system/uorb/Makefile b/system/uorb/Makefile
index feb09b7da..6f902463d 100644
--- a/system/uorb/Makefile
+++ b/system/uorb/Makefile
@@ -23,10 +23,15 @@ include $(APPDIR)/Make.defs
CSRCS += uORB/uORB.c
CSRCS += $(wildcard sensor/*.c)
+ifneq ($(CONFIG_UORB_LISTENER),)
+MAINSRC += listener.c
+PROGNAME += uorb_listener
+endif
+
ifneq ($(CONFIG_UORB_TESTS),)
CSRCS += test/utility.c
-MAINSRC = test/unit_test.c
-PROGNAME = uorb_unit_test
+MAINSRC += test/unit_test.c
+PROGNAME += uorb_unit_test
endif
PRIORITY = $(CONFIG_UORB_PRIORITY)
diff --git a/system/uorb/listener.c b/system/uorb/listener.c
new file mode 100644
index 000000000..7b3a083ec
--- /dev/null
+++ b/system/uorb/listener.c
@@ -0,0 +1,735 @@
+/****************************************************************************
+ * apps/system/uorb/listener.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/list.h>
+
+#include <errno.h>
+#include <dirent.h>
+#include <poll.h>
+#include <signal.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/ioctl.h>
+#include <unistd.h>
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define ORB_MAX_PRINT_NAME 32
+#define ORB_TOP_WAIT_TIME 1000
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+struct listen_object_s
+{
+ struct list_node node; /* Node of object info list */
+ struct orb_object object; /* Object id */
+ orb_abstime timestamp; /* Time of lastest generation */
+ unsigned long generation; /* Latest generation */
+};
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static int listener_get_state(FAR struct orb_object *object,
+ FAR struct orb_state *state);
+static int listener_add_object(FAR struct list_node *objlist,
+ FAR struct orb_object *object);
+static void listener_delete_object_list(FAR struct list_node *objlist);
+static int listener_generate_object_list(FAR struct list_node *objlist,
+ FAR const char *filter);
+static int listener_print(FAR const struct orb_metadata *meta, int fd);
+static void listener_monitor(FAR struct list_node *objlist, int nb_objects,
+ int topic_rate, int nb_msgs, int timeout);
+static int listener_update(FAR struct list_node *objlist,
+ FAR struct orb_object *object);
+static void listener_top(FAR struct list_node *objlist,
+ FAR const char *filter,
+ bool only_once);
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static bool g_should_exit = false;
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static void usage(void)
+{
+ uorbinfo_raw("\n\
+Utility to listen on uORB topics and print the data to the console.\n\
+\n\
+The listener can be exited any time by pressing Ctrl+C, Esc, or Q.\n\
+\n\
+We use cmd 'uorb_listener <t1,t2,...> -n 1' to print once snapshot for\n\
+specify topics if command exists or all the topic objects when command\n\
+doesn't exists. If topic isn't updated, the snapshot for this topic is\n\
+empty.\n\
+\n\
+We use cmd 'uorb_listener t1,t2,... [arguments...]' to print the topics\n\
+specified. The following arguments apply to all topics.\n\
+\n\
+We use cmd 'uorb_listener ... -n num(>1) ...' to print all the topic\n\
+objects message until the number of received is equal to the specified\n\
+number.\n\
+\n\
+We can print the messages all the time when we do not specify the number\n\
+of message.\n\
+\n\
+listener <command> [arguments...]\n\
+ Commands:\n\
+\t<topics_name> Topic name. Multi name are separated by ','\n\
+\t[-h ] Listener commands help\n\
+\t[-n <val> ] Number of messages, default: 0\n\
+\t[-r <val> ] Subscription rate (unlimited if 0), default: 0\n\
+\t[-t <val> ] Time of listener, in seconds, default: 5\n\
+\t[-T ] Top, continuously print updating objects\n\
+\t[-l ] Top only execute once.\n\
+ ");
+}
+
+/****************************************************************************
+ * Name: listener_get_state
+ *
+ * Description:
+ * Get object's current state.
+ *
+ * Input Parameters:
+ * object Given object
+ * state Returned state.
+ *
+ * Returned Value:
+ * 0 on success, otherwise negative errno.
+ ****************************************************************************/
+
+static int listener_get_state(FAR struct orb_object *object,
+ FAR struct orb_state *state)
+{
+ int ret;
+ int fd;
+
+ fd = orb_subscribe_multi(object->meta, object->instance);
+ if (fd < 0)
+ {
+ return fd;
+ }
+
+ ret = orb_get_state(fd, state);
+ orb_unsubscribe(fd);
+ if (ret < 0)
+ {
+ return ret;
+ }
+
+ state->nsubscribers--; /* Ignore temp subscriber */
+ return 0;
+}
+
+/****************************************************************************
+ * Name: listener_add_object
+ *
+ * Description:
+ * Alloc object node and add to list.
+ *
+ * Input Parameters:
+ * object Object to add.
+ * objlist List to modify.
+ *
+ * Returned Value:
+ * 0 on success, otherwise return negative errno.
+ ****************************************************************************/
+
+static int listener_add_object(FAR struct list_node *objlist,
+ FAR struct orb_object *object)
+{
+ FAR struct listen_object_s *tmp;
+ struct orb_state state;
+ int ret;
+
+ tmp = malloc(sizeof(struct listen_object_s));
+ if (tmp == NULL)
+ {
+ return -ENOMEM;
+ }
+
+ ret = listener_get_state(object, &state);
+ if (ret < 0)
+ {
+ free(tmp);
+ return ret;
+ }
+
+ tmp->object.meta = object->meta;
+ tmp->object.instance = object->instance;
+ tmp->timestamp = orb_absolute_time();
+ tmp->generation = state.generation;
+
+ list_add_tail(objlist, &tmp->node);
+
+ return 0;
+}
+
+/****************************************************************************
+ * Name: listener_update
+ *
+ * Description:
+ * Update object list, print imformation if given object has new data.
+ *
+ * Input Parameters:
+ * object Object to check state.
+ * objlist List to update.
+ *
+ * Returned Value:
+ * 0 on success.
+ ****************************************************************************/
+
+static int listener_update(FAR struct list_node *objlist,
+ FAR struct orb_object *object)
+{
+ FAR struct listen_object_s *old = NULL;
+ FAR struct listen_object_s *tmp;
+ int ret;
+
+ /* Check wether object already exist in old list */
+
+ list_for_every_entry(objlist, tmp, struct listen_object_s, node)
+ {
+ if (tmp->object.meta == object->meta &&
+ tmp->object.instance == object->instance)
+ {
+ old = tmp;
+ break;
+ }
+ }
+
+ if (old)
+ {
+ /* If object existed in old list, print and update. */
+
+ struct orb_state state;
+ orb_abstime now_time;
+ unsigned long delta_time;
+ unsigned long delta_generation;
+
+ now_time = orb_absolute_time();
+ ret = listener_get_state(object, &state);
+ if (ret < 0)
+ {
+ return ret;
+ }
+
+ delta_time = now_time - old->timestamp;
+ delta_generation = state.generation - old->generation;
+ if (delta_generation && delta_time)
+ {
+ unsigned long frequency;
+
+ frequency = delta_generation * 1000000 / delta_time;
+ uorbinfo_raw("\033[K" "%-*s %2u %4" PRIu32 " %4lu "
+ "%2" PRIu32 " %4u",
+ ORB_MAX_PRINT_NAME,
+ object->meta->o_name,
+ object->instance,
+ state.nsubscribers,
+ frequency,
+ state.queue_size,
+ object->meta->o_size);
+ old->generation = state.generation;
+ old->timestamp = now_time;
+ }
+ }
+ else
+ {
+ /* If object not existed in old list, alloc one */
+
+ ret = listener_add_object(objlist, object);
+ if (ret < 0)
+ {
+ return ret;
+ }
+ }
+
+ return 0;
+}
+
+/****************************************************************************
+ * Name: listener_delete_object_list
+ *
+ * Description:
+ * free object list.
+ *
+ * Input Parameters:
+ * objlist List to free.
+ *
+ * Returned Value:
+ * None.
+ ****************************************************************************/
+
+static void listener_delete_object_list(FAR struct list_node *objlist)
+{
+ FAR struct listen_object_s *tmp;
+ FAR struct listen_object_s *next;
+
+ list_for_every_entry_safe(objlist, tmp, next, struct listen_object_s, node)
+ {
+ list_delete(&tmp->node);
+ free(tmp);
+ }
+
+ list_initialize(objlist);
+}
+
+/****************************************************************************
+ * Name: listener_generate_object_list
+ *
+ * Description:
+ * Update / alloc object list by scan ORB_SENSOR_PATH.
+ *
+ * Input Parameters:
+ * objlist List to update / alloc.
+ * filter Specified topic names.
+ *
+ * Returned Value:
+ * File number under ORB_SENSOR_PATH on success.
+ * Negative errno on failure.
+ ****************************************************************************/
+
+static int listener_generate_object_list(FAR struct list_node *objlist,
+ FAR const char *filter)
+{
+ FAR struct dirent *entry;
+ FAR DIR *dir;
+ int cnt = 0;
+ int ret;
+
+ /* Traverse all objects under ORB_SENSOR_PATH */
+
+ dir = opendir(ORB_SENSOR_PATH);
+ if (!dir)
+ {
+ return ERROR;
+ }
+
+ while ((entry = readdir(dir)))
+ {
+ struct orb_object object;
+ char file_name[PATH_MAX];
+ int len;
+
+ /* Get meta data and instance number through file name */
+
+ if (!strcmp(entry->d_name, ".") || !strcmp(entry->d_name, ".."))
+ {
+ continue;
+ }
+
+ strlcpy(file_name, entry->d_name, PATH_MAX);
+
+ len = strlen(file_name) - 1;
+ object.instance = file_name[len] - '0';
+ file_name[len] = 0;
+
+ if (filter)
+ {
+ /* Example:
+ * objects: aaa0, aaa1, aaa2, bbb0, bbb1
+ * filter: "aaa bbb1"
+ * Object list we get:
+ * aaa0, aaa1, aaa2, bbb1.
+ */
+
+ FAR const char *str = strstr(filter, file_name);
+ if (!str || (str[len] && str[len] != ',' &&
+ str[len] != object.instance + '0'))
+ {
+ continue;
+ }
+ }
+
+ object.meta = orb_get_meta(entry->d_name);
+ if (!object.meta)
+ {
+ continue;
+ }
+
+ /* Update object infomation to list. */
+
+ ret = listener_update(objlist, &object);
+ if (ret < 0)
+ {
+ uorbinfo_raw("listener %s failed", object.meta->o_name);
+ continue;
+ }
+
+ cnt++;
+ }
+
+ closedir(dir);
+ return cnt;
+}
+
+/****************************************************************************
+ * Name: listener_print
+ *
+ * Description:
+ * Print topic data by its print_message callback.
+ *
+ * Input Parameters:
+ * meta The uORB metadata.
+ * fd Subscriber handle.
+ *
+ * Returned Value:
+ * 0 on success copy, otherwise -1
+ ****************************************************************************/
+
+static int listener_print(FAR const struct orb_metadata *meta, int fd)
+{
+ char buffer[meta->o_size];
+ int ret;
+
+ ret = orb_copy(meta, fd, buffer);
+#ifdef CONFIG_DEBUG_UORB
+ if (ret == OK && meta->o_cb != NULL)
+ {
+ meta->o_cb(meta, buffer);
+ }
+#else
+ uorbinfo_raw("Enable debug uorb to print message");
+#endif
+
+ return ret;
+}
+
+/****************************************************************************
+ * Name: listener_monitor
+ *
+ * Description:
+ * Moniter objects by subscribe and print data.
+ *
+ * Input Parameters:
+ * objlist List of objects to subscribe.
+ * nb_objects Length of objects list.
+ * topic_rate Subscribe frequency.
+ * nb_msgs Subscribe amount of messages.
+ * timeout Maximum poll waiting time , ms.
+ *
+ * Returned Value:
+ * None
+ ****************************************************************************/
+
+static void listener_monitor(FAR struct list_node *objlist, int nb_objects,
+ int topic_rate, int nb_msgs, int timeout)
+{
+ struct pollfd fds[nb_objects];
+ int recv_msgs[nb_objects];
+ int nb_recv_msgs = 0;
+ int i = 0;
+
+ struct listen_object_s *tmp;
+
+ /* Prepare pollfd for all objects */
+
+ list_for_every_entry(objlist, tmp, struct listen_object_s, node)
+ {
+ int fd;
+
+ fd = orb_subscribe_multi(tmp->object.meta, tmp->object.instance);
+ if (fd < 0)
+ {
+ fds[i].fd = -1;
+ fds[i].events = 0;
+ continue;
+ }
+ else
+ {
+ fds[i].fd = fd;
+ fds[i].events = POLLIN;
+ }
+
+ if (nb_msgs == 1)
+ {
+ listener_print(tmp->object.meta, fd);
+ orb_unsubscribe(fd);
+ }
+ else if (topic_rate != 0)
+ {
+ orb_set_frequency(fd, topic_rate);
+ }
+
+ i++;
+ }
+
+ if (nb_msgs == 1)
+ {
+ return;
+ }
+
+ memset(recv_msgs, 0, sizeof(recv_msgs));
+
+ /* Loop poll and print recieved messages */
+
+ while ((!nb_msgs || nb_recv_msgs < nb_msgs) && !g_should_exit)
+ {
+ if (poll(&fds[0], nb_objects, timeout * 1000) > 0)
+ {
+ i = 0;
+ list_for_every_entry(objlist, tmp, struct listen_object_s, node)
+ {
+ if (fds[i].revents & POLLIN)
+ {
+ nb_recv_msgs++;
+ recv_msgs[i]++;
+ if (listener_print(tmp->object.meta, fds[i].fd) != 0)
+ {
+ uorberr("Listener callback failed");
+ }
+
+ if (nb_msgs && nb_recv_msgs >= nb_msgs)
+ {
+ break;
+ }
+ }
+
+ i++;
+ }
+ }
+ else if (errno != EINTR)
+ {
+ uorbinfo_raw("Waited for %d seconds without a message. "
+ "Giving up.", timeout);
+ break;
+ }
+ }
+
+ i = 0;
+ list_for_every_entry(objlist, tmp, struct listen_object_s, node)
+ {
+ if (fds[i].fd < 0)
+ {
+ uorbinfo_raw("Object name:%s%d, subscribe fail",
+ tmp->object.meta->o_name, tmp->object.instance);
+ }
+ else
+ {
+ orb_unsubscribe(fds[i].fd);
+ uorbinfo_raw("Object name:%s%d, recieved:%d",
+ tmp->object.meta->o_name, tmp->object.instance,
+ recv_msgs[i]);
+ }
+
+ i++;
+ }
+
+ uorbinfo_raw("Total number of received Message:%d/%d",
+ nb_recv_msgs, nb_msgs ? nb_msgs : nb_recv_msgs);
+}
+
+/****************************************************************************
+ * Name: listener_top
+ *
+ * Description:
+ * Continuously print updating objects, like the unix 'top' command.
+ * Exited when the user presses the enter key.
+ *
+ * Input Parameters:
+ * objlist List of objects.
+ * filter Specific topic names.
+ * only_once Print only once, then exit.
+ *
+ * Returned Value:
+ * None.
+ ****************************************************************************/
+
+static void listener_top(FAR struct list_node *objlist,
+ FAR const char *filter,
+ bool only_once)
+{
+ bool quit = false;
+ struct pollfd fds;
+
+ fds.fd = STDIN_FILENO;
+ fds.events = POLLIN;
+
+ uorbinfo_raw("\033[2J\n"); /* clear screen */
+
+ do
+ {
+ /* Wait a while, quit if user input some thing */
+
+ if (poll(&fds, 1, ORB_TOP_WAIT_TIME) > 0)
+ {
+ char c;
+
+ if (read(STDIN_FILENO, &c, 1) > 0)
+ {
+ quit = true;
+ break;
+ }
+ }
+
+ /* Then Update object list and print changes. */
+
+ if (!only_once)
+ {
+ uorbinfo_raw("\033[H"); /* move cursor to top left corner */
+ }
+
+ uorbinfo_raw("\033[K" "current objects: %i", list_length(objlist));
+ uorbinfo_raw("\033[K" "%-*s INST #SUB RATE #Q SIZE",
+ ORB_MAX_PRINT_NAME - 2, "NAME");
+
+ if (listener_generate_object_list(objlist, filter) < 0)
+ {
+ uorberr("Failed to update object list");
+ return;
+ }
+
+ if (!only_once)
+ {
+ uorbinfo_raw("\033[0J"); /* Clear the rest of the screen */
+ }
+ }
+ while (!quit && !only_once);
+}
+
+static void exit_handler(int signo)
+{
+ g_should_exit = true;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+int main(int argc, FAR char *argv[])
+{
+ struct list_node objlist;
+ FAR struct listen_object_s *tmp;
+ int topic_rate = 0;
+ int nb_msgs = 0;
+ int timeout = 5;
+ bool top = false;
+ bool only_once = false;
+ FAR char *filter = NULL;
+ int ret;
+ int ch;
+
+ g_should_exit = false;
+ if (signal(SIGINT, exit_handler) == SIG_ERR)
+ {
+ return 1;
+ }
+
+ /* Pasrse Argument */
+
+ while ((ch = getopt(argc, argv, "r:n:t:Tlh")) != EOF)
+ {
+ switch (ch)
+ {
+ case 'r':
+ topic_rate = strtol(optarg, NULL, 0);
+ if (topic_rate < 0)
+ {
+ goto error;
+ }
+ break;
+
+ case 'n':
+ nb_msgs = strtol(optarg, NULL, 0);
+ if (nb_msgs < 0)
+ {
+ goto error;
+ }
+ break;
+
+ case 't':
+ timeout = strtol(optarg, NULL, 0);
+ if (timeout < 0)
+ {
+ goto error;
+ }
+ break;
+
+ case 'T':
+ top = true;
+ break;
+
+ case 'l':
+ only_once = true;
+ break;
+
+ case 'h':
+ default:
+ goto error;
+ }
+ }
+
+ if (optind < argc)
+ {
+ filter = argv[optind];
+ }
+
+ /* Alloc list and exec command */
+
+ list_initialize(&objlist);
+ ret = listener_generate_object_list(&objlist, filter);
+ if (ret <= 0)
+ {
+ return 0;
+ }
+
+ if (top)
+ {
+ listener_top(&objlist, filter, only_once);
+ }
+ else
+ {
+ uorbinfo_raw("\nMointor objects num:%d", ret);
+ list_for_every_entry(&objlist, tmp, struct listen_object_s, node)
+ {
+ uorbinfo_raw("object_name:%s, object_instance:%d",
+ tmp->object.meta->o_name,
+ tmp->object.instance);
+ }
+
+ listener_monitor(&objlist, ret, topic_rate, nb_msgs, timeout);
+ }
+
+ listener_delete_object_list(&objlist);
+ return 0;
+
+error:
+ usage();
+ return 1;
+}
diff --git a/system/uorb/uORB/uORB.c b/system/uorb/uORB/uORB.c
index 7c58806d2..9b771e657 100644
--- a/system/uorb/uORB/uORB.c
+++ b/system/uorb/uORB/uORB.c
@@ -200,7 +200,8 @@ int orb_get_state(int fd, FAR struct orb_state *state)
1000000 / tmp.min_interval : 0;
state->min_batch_interval = tmp.min_latency;
state->queue_size = tmp.nbuffer;
- state->enable = tmp.nsubscribers > 0;
+ state->nsubscribers = tmp.nsubscribers;
+ state->generation = tmp.generation;
return ret;
}
diff --git a/system/uorb/uORB/uORB.h b/system/uorb/uORB/uORB.h
index 77e424319..1ba96e66d 100644
--- a/system/uorb/uORB/uORB.h
+++ b/system/uorb/uORB/uORB.h
@@ -60,9 +60,8 @@ struct orb_state
uint32_t queue_size; /* The maximum number of buffered elements,
* if 1, no queuing is is used
*/
- bool enable; /* Indicates whether the current node is
- * subscribed or activated
- */
+ uint32_t nsubscribers; /* Number of subscribers */
+ uint64_t generation; /* Mainline generation */
};
struct orb_object
[incubator-nuttx-apps] 09/20: system/uorb: always let orb_advertise, orb_advertise_queue for instance 0
Posted by ac...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
acassis pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
commit 5bb4e14aad7285f0b641eada0ae32a69a218a1e9
Author: Jiuzhu Dong <do...@xiaomi.com>
AuthorDate: Fri Apr 29 13:26:22 2022 +0800
system/uorb: always let orb_advertise, orb_advertise_queue for instance 0
1.orb_advertise, orb_advertise_queue for instance 0
2.orb_advertise_multi, orb_advertise__multi_queue for specified instance
3.If orb_advertise_multi_queue with instance is NULL, auto increase
instance from existing base.
Signed-off-by: Jiuzhu Dong <do...@xiaomi.com>
---
system/uorb/uORB/uORB.h | 8 ++++++--
1 file changed, 6 insertions(+), 2 deletions(-)
diff --git a/system/uorb/uORB/uORB.h b/system/uorb/uORB/uORB.h
index b59913d75..4cfe6b29d 100644
--- a/system/uorb/uORB/uORB.h
+++ b/system/uorb/uORB/uORB.h
@@ -235,14 +235,18 @@ int orb_advertise_multi_queue(FAR const struct orb_metadata *meta,
static inline int orb_advertise(FAR const struct orb_metadata *meta,
FAR const void *data)
{
- return orb_advertise_multi_queue(meta, data, NULL, 1);
+ int instance = 0;
+
+ return orb_advertise_multi_queue(meta, data, &instance, 1);
}
static inline int orb_advertise_queue(FAR const struct orb_metadata *meta,
FAR const void *data,
unsigned int queue_size)
{
- return orb_advertise_multi_queue(meta, data, NULL, queue_size);
+ int instance = 0;
+
+ return orb_advertise_multi_queue(meta, data, &instance, queue_size);
}
static inline int orb_advertise_multi(FAR const struct orb_metadata *meta,
[incubator-nuttx-apps] 17/20: app/system/uorb: modify unit test to support data persist
Posted by ac...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
acassis pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
commit 2b8bfc5be7f6570682ac816ae2f3bc3ab15ef812
Author: jihandong <ji...@xiaomi.com>
AuthorDate: Mon May 30 16:58:23 2022 +0800
app/system/uorb: modify unit test to support data persist
Signed-off-by: jihandong <ji...@xiaomi.com>
---
system/uorb/test/unit_test.c | 37 ++++++++++++++++++++++++-------------
1 file changed, 24 insertions(+), 13 deletions(-)
diff --git a/system/uorb/test/unit_test.c b/system/uorb/test/unit_test.c
index 2ae6f88a3..ac47e22eb 100644
--- a/system/uorb/test/unit_test.c
+++ b/system/uorb/test/unit_test.c
@@ -183,6 +183,7 @@ static int latency_test(bool print)
FAR char *const args[1];
struct orb_test_medium_s sample;
int pubsub_task;
+ int instance = 0;
int fd;
test_note("---------------- LATENCY TEST ------------------");
@@ -190,7 +191,8 @@ static int latency_test(bool print)
sample.val = 308;
sample.timestamp = orb_absolute_time();
- fd = orb_advertise(ORB_ID(orb_test_medium), &sample);
+ fd = orb_advertise_multi_queue_persist(ORB_ID(orb_test_medium),
+ &sample, &instance, 1);
if (fd < 0)
{
return test_fail("orb_advertise failed (%i)", errno);
@@ -239,6 +241,7 @@ static int test_single(void)
{
struct orb_test_s sample;
struct orb_test_s sub_sample;
+ int instance = 0;
bool updated;
int afd;
int sfd;
@@ -250,7 +253,8 @@ static int test_single(void)
sample.val = 0;
- afd = orb_advertise(ORB_ID(orb_test), &sample);
+ afd = orb_advertise_multi_queue_persist(ORB_ID(orb_test),
+ &sample, &instance, 1);
if (afd < 0)
{
return test_fail("advertise failed: %d", errno);
@@ -361,7 +365,8 @@ static int test_multi_inst10(void)
for (i = 0; i < max_inst; i++)
{
- afd[i] = orb_advertise_multi_queue(ORB_ID(orb_test), NULL, &i, 1);
+ afd[i] = orb_advertise_multi_queue_persist(ORB_ID(orb_test),
+ NULL, &i, 1);
if (OK != orb_exists(ORB_ID(orb_test), i))
{
return test_fail("sub %d advertise failed", i);
@@ -438,14 +443,16 @@ static int test_multi(int *afds, int *sfds)
test_note("try multi-topic support");
- afds[0] = orb_advertise_multi(ORB_ID(orb_multitest), &sample, &instance0);
+ afds[0] = orb_advertise_multi_queue_persist(ORB_ID(orb_multitest),
+ &sample, &instance0, 1);
if (instance0 != 0)
{
return test_fail("mult. id0: %d", instance0);
}
- afds[1] = orb_advertise_multi(ORB_ID(orb_multitest), &sample, &instance1);
+ afds[1] = orb_advertise_multi_queue_persist(ORB_ID(orb_multitest),
+ &sample, &instance1, 1);
if (instance1 != 1)
{
@@ -524,14 +531,16 @@ static int test_multi_reversed(int *afds, int *sfds)
return test_fail("sub. id2: ret: %d", sfds[2]);
}
- afds[2] = orb_advertise_multi(ORB_ID(orb_multitest), &sample, &instance2);
+ afds[2] = orb_advertise_multi_queue_persist(ORB_ID(orb_multitest),
+ &sample, &instance2, 1);
if (instance2 != 2)
{
return test_fail("mult. id2: %d", instance2);
}
- afds[3] = orb_advertise_multi(ORB_ID(orb_multitest), &sample, &instance3);
+ afds[3] = orb_advertise_multi_queue_persist(ORB_ID(orb_multitest),
+ &sample, &instance3, 1);
if (instance3 != 3)
{
@@ -615,8 +624,8 @@ static int pub_test_multi2_entry(int argc, char *argv[])
memset(&data_topic, '\0', sizeof(data_topic));
for (i = 0; i < num_instances; ++i)
{
- orb_pub[i] = orb_advertise_multi(ORB_ID(orb_test_medium_multi),
- &data_topic, &i);
+ orb_pub[i] = orb_advertise_multi_queue_persist(
+ ORB_ID(orb_test_medium_multi), &data_topic, &i, 1);
}
usleep(100 * 1000);
@@ -728,6 +737,7 @@ int test_queue(void)
struct orb_test_medium_s sample;
struct orb_test_medium_s sub_sample;
bool updated;
+ int instance = 0;
int ptopic;
int sfd;
int i;
@@ -755,8 +765,8 @@ int test_queue(void)
}
while (updated);
- ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_queue),
- &sample, queue_size);
+ ptopic = orb_advertise_multi_queue_persist(
+ ORB_ID(orb_test_medium_queue), &sample, &instance, queue_size);
if (ptopic < 0)
{
return test_fail("advertise failed: %d", errno);
@@ -872,11 +882,12 @@ static int pub_test_queue_entry(int argc, char *argv[])
struct orb_test_medium_s t;
int num_messages = 20 * queue_size;
int message_counter = 0;
+ int instance = 0;
int ptopic;
memset(&t, '\0', sizeof(t));
- ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_queue_poll),
- &t, queue_size);
+ ptopic = orb_advertise_multi_queue_persist(
+ ORB_ID(orb_test_medium_queue_poll), &t, &instance, queue_size);
if (ptopic < 0)
{
g_thread_should_exit = true;
[incubator-nuttx-apps] 01/20: apps/system/uorb: c interfaces.
Posted by ac...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
acassis pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
commit 3528b5515f2ad8bae0c640e81c47098fb422b201
Author: jihandong <ji...@xiaomi.com>
AuthorDate: Thu Mar 3 20:24:54 2022 +0800
apps/system/uorb: c interfaces.
refer to: https://docs.px4.io/v1.12/en/middleware/uorb.html
- orb_open: do real work for advertise() and subscribe(), if thre is
no user, register topic first, then save meta in driver;
only first user can successfully set buffer number.
- orb_exists: check topic state, if topic only has subscribers,
return "not exists".
Signed-off-by: jihandong <ji...@xiaomi.com>
---
system/uorb/Kconfig | 41 +++
system/uorb/Make.defs | 25 ++
system/uorb/Makefile | 25 ++
system/uorb/uORB/uORB.c | 314 +++++++++++++++++++++++
system/uorb/uORB/uORB.h | 645 ++++++++++++++++++++++++++++++++++++++++++++++++
5 files changed, 1050 insertions(+)
diff --git a/system/uorb/Kconfig b/system/uorb/Kconfig
new file mode 100644
index 000000000..33b15ed35
--- /dev/null
+++ b/system/uorb/Kconfig
@@ -0,0 +1,41 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+menuconfig UORB
+ tristate "uorb(micro object request broker)"
+ depends on SENSORS && USENSOR
+ default n
+
+if UORB
+
+config DEBUG_UORB
+ bool "uorb debug output"
+ default n
+
+if DEBUG_UORB
+
+config UORB_ALERT
+ bool "uorb panic output"
+ default n
+ depends on DEBUG_ALERT
+
+config UORB_ERROR
+ bool "uorb error output"
+ default n
+ depends on DEBUG_ERROR
+
+config UORB_WARN
+ bool "uorb warn output"
+ default n
+ depends on DEBUG_WARN
+
+config UORB_INFO
+ bool "uorb info output"
+ default n
+ depends on DEBUG_INFO
+
+endif # DEBUG_UORB
+
+endif # UORB
diff --git a/system/uorb/Make.defs b/system/uorb/Make.defs
new file mode 100644
index 000000000..6c7bf0d73
--- /dev/null
+++ b/system/uorb/Make.defs
@@ -0,0 +1,25 @@
+############################################################################
+# apps/system/uorb/Make.defs
+#
+# 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.
+#
+############################################################################
+
+ifneq ($(CONFIG_UORB),)
+CONFIGURED_APPS += $(APPDIR)/system/uorb
+CFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" \
+ $(APPDIR)/system/uorb/}
+endif
diff --git a/system/uorb/Makefile b/system/uorb/Makefile
new file mode 100644
index 000000000..93d9f4d17
--- /dev/null
+++ b/system/uorb/Makefile
@@ -0,0 +1,25 @@
+############################################################################
+# apps/system/uorb/uORB/Makefile
+#
+# 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.
+#
+############################################################################
+
+include $(APPDIR)/Make.defs
+
+CSRCS += uORB/uORB.c
+
+include $(APPDIR)/Application.mk
diff --git a/system/uorb/uORB/uORB.c b/system/uorb/uORB/uORB.c
new file mode 100644
index 000000000..7c58806d2
--- /dev/null
+++ b/system/uorb/uORB/uORB.c
@@ -0,0 +1,314 @@
+/****************************************************************************
+ * apps/system/uorb/uORB/uORB.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 <errno.h>
+#include <fcntl.h>
+#include <limits.h>
+#include <poll.h>
+#include <stdio.h>
+#include <sys/ioctl.h>
+#include <unistd.h>
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: orb_open
+ *
+ * Description:
+ * Open device node as advertiser / subscriber, regist node and save meta
+ * in driver for first user, set buffer number for advertisers.
+ *
+ * Input Parameters:
+ * meta The uORB metadata (usually from the ORB_ID() macro)
+ * advertiser Whether advertiser or subscriber.
+ * instance Instance number to open.
+ * queue_size Maximum number of buffered elements.
+ *
+ * Returned Value:
+ * fd on success, otherwise returns negative value and set errno.
+ ****************************************************************************/
+
+static int orb_open(FAR const struct orb_metadata *meta, bool advertiser,
+ int instance, unsigned int queue_size)
+{
+ char path[PATH_MAX];
+ bool first_open = false;
+ int fd;
+ int ret;
+
+ snprintf(path, PATH_MAX, ORB_SENSOR_PATH"%s%d", meta->o_name, instance);
+
+ /* Check existance before open */
+
+ ret = access(path, F_OK);
+ if (ret < 0)
+ {
+ struct sensor_reginfo_s reginfo;
+
+ reginfo.path = path;
+ reginfo.esize = meta->o_size;
+ reginfo.nbuffer = queue_size;
+
+ fd = open(ORB_USENSOR_PATH, O_WRONLY);
+ if (fd < 0)
+ {
+ return fd;
+ }
+
+ /* Register new device node */
+
+ ret = ioctl(fd, SNIOC_REGISTER, (unsigned long)(uintptr_t)®info);
+ close(fd);
+ if (ret < 0 && ret != -EEXIST)
+ {
+ return ret;
+ }
+
+ first_open = true;
+ }
+
+ fd = open(path, O_CLOEXEC | (advertiser ? O_WRONLY : O_RDONLY));
+ if (fd < 0)
+ {
+ return fd;
+ }
+
+ if (first_open)
+ {
+ ioctl(fd, SNIOC_SET_USERPRIV, (unsigned long)(uintptr_t)meta);
+ }
+
+ /* Only first advertiser can successfully set buffer number */
+
+ if (queue_size)
+ {
+ ioctl(fd, SNIOC_SET_BUFFER_NUMBER, (unsigned long)queue_size);
+ }
+
+ return fd;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+int orb_advertise_multi_queue(FAR const struct orb_metadata *meta,
+ FAR const void *data, FAR int *instance,
+ unsigned int queue_size)
+{
+ int inst;
+ int fd;
+
+ /* Open the node as an advertiser */
+
+ inst = instance ? *instance : orb_group_count(meta);
+
+ fd = orb_open(meta, true, inst, queue_size);
+ if (fd < 0)
+ {
+ uorberr("%s advertise failed (%i)", meta->o_name, fd);
+ return -1;
+ }
+
+ /* The advertiser may perform an initial publish to initialise the object */
+
+ if (data != NULL)
+ {
+ int ret;
+
+ ret = orb_publish_multi(fd, data, meta->o_size);
+ if (ret != meta->o_size)
+ {
+ uorberr("%s publish %d, expect %d",
+ meta->o_name, ret, meta->o_size);
+ close(fd);
+ return -1;
+ }
+ }
+
+ return fd;
+}
+
+int orb_unadvertise(int fd)
+{
+ return close(fd);
+}
+
+ssize_t orb_publish_multi(int fd, const void *data, size_t len)
+{
+ return write(fd, data, len);
+}
+
+int orb_subscribe_multi(FAR const struct orb_metadata *meta,
+ unsigned instance)
+{
+ return orb_open(meta, false, instance, 0);
+}
+
+int orb_unsubscribe(int fd)
+{
+ return close(fd);
+}
+
+ssize_t orb_copy_multi(int fd, FAR void *buffer, size_t len)
+{
+ return read(fd, buffer, len);
+}
+
+int orb_get_state(int fd, FAR struct orb_state *state)
+{
+ struct sensor_state_s tmp;
+ int ret;
+
+ if (!state)
+ {
+ return -EINVAL;
+ }
+
+ ret = ioctl(fd, SNIOC_GET_STATE, (unsigned long)(uintptr_t)&tmp);
+ if (ret < 0)
+ {
+ return ret;
+ }
+
+ state->max_frequency = tmp.min_interval ?
+ 1000000 / tmp.min_interval : 0;
+ state->min_batch_interval = tmp.min_latency;
+ state->queue_size = tmp.nbuffer;
+ state->enable = tmp.nsubscribers > 0;
+
+ return ret;
+}
+
+int orb_check(int fd, FAR bool *updated)
+{
+ struct pollfd fds[1];
+ int ret;
+
+ fds[0].fd = fd;
+ fds[0].events = POLLIN;
+
+ ret = poll(fds, 1, 0);
+ if (ret < 0)
+ {
+ return -1;
+ }
+
+ *updated = (fds[0].revents & POLLIN) > 0;
+ return 0;
+}
+
+int orb_ioctl(int handle, int cmd, unsigned long arg)
+{
+ return ioctl(handle, cmd, arg);
+}
+
+int orb_set_interval(int fd, unsigned interval)
+{
+ return ioctl(fd, SNIOC_SET_INTERVAL, (unsigned long)interval);
+}
+
+int orb_get_interval(int fd, FAR unsigned *interval)
+{
+ struct sensor_state_s tmp;
+ int ret;
+
+ ret = ioctl(fd, SNIOC_GET_STATE, (unsigned long)(uintptr_t)&tmp);
+ if (ret < 0)
+ {
+ return ret;
+ }
+
+ *interval = tmp.min_interval;
+ return ret;
+}
+
+int orb_set_batch_interval(int fd, unsigned batch_interval)
+{
+ return ioctl(fd, SNIOC_BATCH, (unsigned long)batch_interval);
+}
+
+int orb_get_batch_interval(int fd, FAR unsigned *batch_interval)
+{
+ struct sensor_state_s tmp;
+ int ret;
+
+ ret = ioctl(fd, SNIOC_GET_STATE, (unsigned long)(uintptr_t)&tmp);
+ if (ret < 0)
+ {
+ return ret;
+ }
+
+ *batch_interval = tmp.min_latency;
+ return ret;
+}
+
+orb_abstime orb_absolute_time(void)
+{
+ struct timespec ts;
+
+ clock_gettime(CLOCK_MONOTONIC, &ts);
+
+ return 1000000ull * ts.tv_sec + ts.tv_nsec / 1000;
+}
+
+int orb_exists(FAR const struct orb_metadata *meta, int instance)
+{
+ struct sensor_state_s state;
+ char path[PATH_MAX];
+ int ret;
+ int fd;
+
+ snprintf(path, PATH_MAX, ORB_SENSOR_PATH"%s%d", meta->o_name, instance);
+ fd = open(path, 0);
+ if (fd < 0)
+ {
+ return -1;
+ }
+
+ ret = ioctl(fd, SNIOC_GET_STATE, (unsigned long)(uintptr_t)&state);
+ close(fd);
+ if (ret < 0)
+ {
+ return -1;
+ }
+
+ return state.nadvertisers > 0 ? 0 : -1;
+}
+
+int orb_group_count(FAR const struct orb_metadata *meta)
+{
+ unsigned instance = 0;
+
+ while (orb_exists(meta, instance) == 0)
+ {
+ ++instance;
+ }
+
+ return instance;
+}
diff --git a/system/uorb/uORB/uORB.h b/system/uorb/uORB/uORB.h
new file mode 100644
index 000000000..f31ba7063
--- /dev/null
+++ b/system/uorb/uORB/uORB.h
@@ -0,0 +1,645 @@
+/****************************************************************************
+ * apps/system/uorb/uORB/uORB.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APP_SYSTEM_UORB_UORB_UORB_H
+#define __APP_SYSTEM_UORB_UORB_UORB_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/sensors/ioctl.h>
+#include <nuttx/sensors/sensor.h>
+
+#include <sys/time.h>
+#include <debug.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <syslog.h>
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+struct orb_metadata;
+typedef void (*orb_print_message)(FAR const struct orb_metadata *meta,
+ FAR const void *buffer);
+
+struct orb_metadata
+{
+ FAR const char *o_name; /* Unique object name */
+ uint16_t o_size; /* Object size */
+#ifdef CONFIG_DEBUG_UORB
+ orb_print_message o_cb; /* Function pointer of output topic message */
+#endif
+};
+
+typedef FAR const struct orb_metadata *orb_id_t;
+
+struct orb_state
+{
+ uint32_t max_frequency; /* Object maximum frequency, Hz */
+ uint32_t min_batch_interval; /* Object minimum batch interval, us */
+ uint32_t queue_size; /* The maximum number of buffered elements,
+ * if 1, no queuing is is used
+ */
+ bool enable; /* Indicates whether the current node is
+ * subscribed or activated
+ */
+};
+
+struct orb_object
+{
+ orb_id_t meta; /* The metadata of topic object */
+ int instance; /* The instance of topic object */
+};
+
+typedef uint64_t orb_abstime;
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define ORB_SENSOR_PATH "/dev/sensor/"
+#define ORB_USENSOR_PATH "/dev/usensor"
+
+#ifdef CONFIG_UORB_ALERT
+# define uorbpanic(fmt, ...) _alert(fmt "\n", ##__VA_ARGS__)
+#else
+# define uorbpanic _none
+#endif
+
+#ifdef CONFIG_UORB_ERROR
+# define uorberr(fmt, ...) _err(fmt "\n", ##__VA_ARGS__)
+#else
+# define uorberr _none
+#endif
+
+#ifdef CONFIG_UORB_WARN
+# define uorbwarn(fmt, ...) _warn(fmt "\n", ##__VA_ARGS__)
+#else
+# define uorbwarn _none
+#endif
+
+#ifdef CONFIG_UORB_INFO
+# define uorbinfo(fmt, ...) _info(fmt "\n", ##__VA_ARGS__)
+#else
+# define uorbinfo _none
+#endif
+
+#ifdef CONFIG_DEBUG_UORB
+# define uorbdebug(fmt, ...) syslog(LOG_INFO, fmt "\n", ##__VA_ARGS__)
+#else
+# define uorbdebug _none
+#endif
+
+#define uorbinfo_raw(fmt, ...) syslog(LOG_INFO, fmt "\n", ##__VA_ARGS__)
+
+/**
+ * Generates a pointer to the uORB metadata structure for
+ * a given topic.
+ *
+ * The topic must have been declared previously in scope
+ * with ORB_DECLARE().
+ *
+ * @param name The name of the topic.
+ */
+#define ORB_ID(name) &g_orb_##name
+
+/**
+ * Declare the uORB metadata for a topic (used by code generators).
+ *
+ * @param name The name of the topic.
+ */
+#if defined(__cplusplus)
+# define ORB_DECLARE(name) extern "C" const struct orb_metadata g_orb_##name
+#else
+# define ORB_DECLARE(name) extern const struct orb_metadata g_orb_##name
+#endif
+
+/**
+ * Define (instantiate) the uORB metadata for a topic.
+ *
+ * The uORB metadata is used to help ensure that updates and
+ * copies are accessing the right data.
+ *
+ * Note that there must be no more than one instance of this macro
+ * for each topic.
+ *
+ * @param name The name of the topic.
+ * @param struct The structure the topic provides.
+ * @param cb The function pointer of output topic message.
+ */
+#ifdef CONFIG_DEBUG_UORB
+#define ORB_DEFINE(name, structure, cb) \
+ const struct orb_metadata g_orb_##name = \
+ { \
+ #name, \
+ sizeof(structure), \
+ cb, \
+ };
+#else
+#define ORB_DEFINE(name, structure, cb) \
+ const struct orb_metadata g_orb_##name = \
+ { \
+ #name, \
+ sizeof(structure), \
+ };
+#endif
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: orb_advertise_multi_queue
+ *
+ * Description:
+ * This performs the initial advertisement of a topic; it creates the topic
+ * node in /dev/sensor and publishes the initial data.
+ *
+ * Input Parameters:
+ * meta The uORB metadata (usually from the ORB_ID() macro)
+ * data A pointer to the initial data to be published.
+ * instance Pointer to an integer which yield the instance ID,
+ * (has default 0 if pointer is NULL).
+ * queue_size Maximum number of buffered elements.
+ *
+ * Returned Value:
+ * -1 on error, otherwise returns an file descriptor
+ * that can be used to publish to the topic.
+ * If the topic in question is not known (due to an
+ * ORB_DEFINE with no corresponding ORB_DECLARE)
+ * this function will return -1 and set errno to ENOENT.
+ ****************************************************************************/
+
+int orb_advertise_multi_queue(FAR const struct orb_metadata *meta,
+ FAR const void *data,
+ FAR int *instance,
+ unsigned int queue_size);
+
+static inline int orb_advertise(FAR const struct orb_metadata *meta,
+ FAR const void *data)
+{
+ return orb_advertise_multi_queue(meta, data, NULL, 1);
+}
+
+static inline int orb_advertise_queue(FAR const struct orb_metadata *meta,
+ FAR const void *data,
+ unsigned int queue_size)
+{
+ return orb_advertise_multi_queue(meta, data, NULL, queue_size);
+}
+
+static inline int orb_advertise_multi(FAR const struct orb_metadata *meta,
+ FAR const void *data,
+ FAR int *instance)
+{
+ return orb_advertise_multi_queue(meta, data, instance, 1);
+}
+
+/****************************************************************************
+ * Name: orb_unadvertise
+ *
+ * Description:
+ * Unadvertise a topic.
+ *
+ * Input Parameters:
+ * handle A handle returned by orb_advertise or orb_advertise_multi.
+ *
+ * Returned Value:
+ * 0 on success.
+ ****************************************************************************/
+
+int orb_unadvertise(int handle);
+
+/****************************************************************************
+ * Name: orb_publish_multi
+ *
+ * Description:
+ * Publish the specified length of new data to a topic.
+ *
+ * The data is published to the topic and any waiting subscribers will be
+ * notified. Subscribers that are not waiting can check the topic for
+ * updates using orb_check.
+ *
+ * Input Parameters:
+ * handle The handle returned from orb_advertise.
+ * data A pointer to the data to be published.
+ * len The length of the data to be published.
+ *
+ * Returned Value:
+ * 0 on success, -1 otherwise with errno set accordingly.
+ ****************************************************************************/
+
+ssize_t orb_publish_multi(int handle, FAR const void *data, size_t len);
+
+static inline int orb_publish(FAR const struct orb_metadata *meta,
+ int handle, FAR const void *data)
+{
+ int ret;
+
+ ret = orb_publish_multi(handle, data, meta->o_size);
+ return ret == meta->o_size ? 0 : -1;
+}
+
+static inline int orb_publish_auto(FAR const struct orb_metadata *meta,
+ FAR int *handle, FAR const void *data,
+ FAR int *instance)
+{
+ if (handle && *handle)
+ {
+ return orb_publish(meta, *handle, data);
+ }
+ else
+ {
+ int tmp;
+
+ tmp = orb_advertise_multi(meta, data, instance);
+ if (tmp < 0)
+ {
+ return tmp;
+ }
+
+ if (handle)
+ {
+ *handle = tmp;
+ return tmp;
+ }
+ else
+ {
+ return orb_unadvertise(tmp);
+ }
+ }
+}
+
+/****************************************************************************
+ * Name: orb_subscribe_multi
+ *
+ * Description:
+ * Subscribe to a topic.
+ *
+ * The data is published to the topic and any waiting subscribers will be
+ * notified. Subscribers that are not waiting can check the topic for
+ * updates using orb_check.
+ *
+ * If there were any publications of the topic prior to the subscription,
+ * an orb_check right after orb_subscribe_multi will return true.
+ *
+ * Subscription will succeed even if the topic has not been advertised;
+ * in this case, the topic will have a timestamp of zero, it will never
+ * signal a poll() event, checking will always return false and it cannot
+ * be copied, until the topic is subsequently advertised.
+ *
+ * Input Parameters:
+ * meta The uORB metadata (usually from the ORB_ID() macro)
+ * instance The instance of the topic. Instance 0 matches the topic of
+ * the orb_subscribe() call.
+ *
+ * Returned Value:
+ * -1 on error, otherwise returns a handle
+ * that can be used to read and update the topic.
+ * If the topic in question is not known (due to an
+ * ORB_DEFINE_OPTIONAL with no corresponding ORB_DECLARE)
+ * this function will return -1 and set errno to ENOENT.
+ ****************************************************************************/
+
+int orb_subscribe_multi(FAR const struct orb_metadata *meta,
+ unsigned instance);
+
+static inline int orb_subscribe(FAR const struct orb_metadata *meta)
+{
+ return orb_subscribe_multi(meta, 0);
+}
+
+/****************************************************************************
+ * Name: orb_unsubscribe
+ *
+ * Description:
+ * Unsubscribe from a topic.
+ *
+ * Input Parameters:
+ * handle A handle returned from orb_subscribe.
+ *
+ * Returned Value:
+ * 0 on success.
+ ****************************************************************************/
+
+int orb_unsubscribe(int handle);
+
+/****************************************************************************
+ * Name: orb_copy_multi
+ *
+ * Description:
+ * Fetch the specified length of data from a topic.
+ *
+ * This is the only operation that will reset the internal marker that
+ * indicates that a topic has been updated for a subscriber. Once poll
+ * or check return indicating that an updaet is available, this call
+ * must be used to update the subscription.
+ *
+ * Input Parameters:
+ * handle A handle returned from orb_subscribe.
+ * buffer Pointer to the buffer receiving the data, or NULL if the
+ * caller wants to clear the updated flag without.
+ * len The length to the buffer receiving the data.
+ *
+ * Returned Value:
+ * The positive non-zero number of bytes read on success.
+ * 0 on if an end-of-file condition,
+ * -1 otherwise with errno set accordingly.
+ ****************************************************************************/
+
+ssize_t orb_copy_multi(int handle, FAR void *buffer, size_t len);
+
+static inline int orb_copy(FAR const struct orb_metadata *meta,
+ int handle, FAR void *buffer)
+{
+ int ret;
+
+ ret = orb_copy_multi(handle, buffer, meta->o_size);
+ return ret == meta->o_size ? 0 : -1;
+}
+
+/****************************************************************************
+ * Name: orb_get_state
+ *
+ * Description:
+ * Get some state about all subscriber of topic.
+ *
+ * This state contains the maximum frequency and minimum batch interval
+ * in all subscriber, and it also contanis enable to indicate whether
+ * the current node is subscribed or activated.
+ *
+ * If no one subscribes this topic, the state is set:
+ * max_frequency to 0. min_batch_interval to 0, enable to false.
+ *
+ * Input Parameters:
+ * handle The handle returned from orb_advertise / orb_subscribe.
+ * state Pointer to an state of struct orb_state type. This is an
+ * output parameter and will be set to the current state of topic.
+ *
+ * Returned Value:
+ * -1 on error.
+ ****************************************************************************/
+
+int orb_get_state(int handle, FAR struct orb_state *state);
+
+/****************************************************************************
+ * Name: orb_check
+ *
+ * Description:
+ * Check whether a topic has been published to since the last orb_copy.
+ *
+ * This check can be used to determine whether to copy the topic when
+ * not using poll(), or to avoid the overhead of calling poll() when the
+ * topic is likely to have updated.
+ *
+ * Updates are tracked on a per-handle basis; this call will continue to
+ * return true until orb_copy is called using the same handle.
+ *
+ * Input Parameters:
+ * handle A handle returned from orb_subscribe.
+ * update Set to true if the topic has been updated since the
+ * last time it was copied using this handle.
+ *
+ * Returned Value:
+ * 0 if the check was successful,
+ * -1 otherwise with errno set accordingly.
+ ****************************************************************************/
+
+int orb_check(int handle, FAR bool *updated);
+
+/****************************************************************************
+ * Name: orb_ioctl
+ *
+ * Description:
+ * Ioctl control for the subscriber, the same as ioctl().
+ *
+ * Input Parameters:
+ * handle A handle returned from orb_advertise / orb_subscribe.
+ * cmd Ioctl command.
+ * arg Ioctl argument.
+ *
+ * Returned Value:
+ * 0 on success.
+ ****************************************************************************/
+
+int orb_ioctl(int handle, int cmd, unsigned long arg);
+
+/****************************************************************************
+ * Name: orb_set_batch_interval
+ *
+ * Description:
+ * The batch interval set through api is just the value user wants,
+ * and the final value depends on the hardware FIFO capability.
+ * This API will send POLLPRI event to notify publisher and
+ * publisher determine the final batch interval.
+ *
+ * This API is only for topics with hardware fifo, such as sensor with
+ * hardware fifo, otherwise it's meaningless.
+ *
+ * Input Parameters:
+ * handle A handle returned from orb_subscribe.
+ * batch_interval An batch interval in us.
+ *
+ * Returned Value:
+ * 0 on success, -1 otherwise with ERRNO set accordingly.
+ ****************************************************************************/
+
+int orb_set_batch_interval(int handle, unsigned batch_interval);
+
+/****************************************************************************
+ * Name: orb_get_batch_interval
+ *
+ * Description:
+ * Get the batch interval in batch mode.
+ *
+ * This API is only for topics with hardware fifo, such as sensor with
+ * hardware fifo, otherwise it's meaningless.
+ *
+ * @see orb_set_batch_interval()
+ *
+ * Input Parameters:
+ * handle A handle returned from orb_subscribe.
+ * batch_interval The returned batch interval in us.
+ *
+ * Returned Value:
+ * 0 on success, -1 otherwise with ERRNO set accordingly.
+ ****************************************************************************/
+
+int orb_get_batch_interval(int handle, FAR unsigned *batch_interval);
+
+/****************************************************************************
+ * Name:
+ *
+ * Description:
+ * Set the minimum interval between which updates seen for a subscription.
+ *
+ * Input Parameters:
+ * handle A handle returned from orb_subscribe.
+ * interval An interval period in us.
+ *
+ * Returned Value:
+ * 0 on success, -1 otherwise with ERRNO set accordingly.
+ ****************************************************************************/
+
+int orb_set_interval(int handle, unsigned interval);
+
+/****************************************************************************
+ * Name:
+ *
+ * Description:
+ * Get the minimum interval between which updates seen for a subscription.
+ *
+ * Input Parameters:
+ * handle A handle returned from orb_subscribe.
+ * interval The returned interval period in us.
+ *
+ * Returned Value:
+ * 0 on success, -1 otherwise with ERRNO set accordingly.
+ ****************************************************************************/
+
+int orb_get_interval(int handle, FAR unsigned *interval);
+
+/****************************************************************************
+ * Name:
+ * orb_set_frequency
+ *
+ * Description:
+ * Set the maximum frequency for a subscription.
+ *
+ * Input Parameters:
+ * handle A handle returned from orb_subscribe.
+ * frequency A frequency in hz.
+ *
+ * Returned Value:
+ * 0 on success, -1 otherwise with ERRNO set accordingly.
+ ****************************************************************************/
+
+static inline int orb_set_frequency(int handle, unsigned frequency)
+{
+ return orb_set_interval(handle, frequency ? 1000000 / frequency : 0);
+}
+
+/****************************************************************************
+ * Name:
+ * orb_get_frequency
+ *
+ * Description:
+ * Get the maximum frequency for a subscription.
+ *
+ * Input Parameters:
+ * handle A handle returned from orb_subscribe.
+ * frequency The returned frequency in hz.
+ *
+ * Returned Value:
+ * 0 on success, -1 otherwise with ERRNO set accordingly.
+ ****************************************************************************/
+
+static inline int orb_get_frequency(int handle, FAR unsigned *frequency)
+{
+ unsigned interval;
+ int ret;
+
+ ret = orb_get_interval(handle, &interval);
+ if (ret < 0)
+ {
+ return ret;
+ }
+
+ *frequency = interval ? 1000000 / interval : 0;
+
+ return 0;
+}
+
+/****************************************************************************
+ * Name: orb_elapsed_time
+ *
+ * Description:
+ * Get current value of system time in us.
+ *
+ * Returned Value:
+ * Absolute time.
+ ****************************************************************************/
+
+orb_abstime orb_absolute_time(void);
+
+/****************************************************************************
+ * Name: orb_elapsed_time
+ *
+ * Description:
+ * Compute the delta between a timestamp taken in the past and now.
+ *
+ * This function is not interrupt save.
+ *
+ * Input Parameters:
+ * then Past system time.
+ *
+ * Returned Value:
+ * Bewteen time.
+ ****************************************************************************/
+
+static inline orb_abstime orb_elapsed_time(FAR const orb_abstime *then)
+{
+ return orb_absolute_time() - *then;
+}
+
+/****************************************************************************
+ * Name: orb_exists
+ *
+ * Description:
+ * Check if a topic instance has already been advertised.
+ *
+ * Input Parameters:
+ * meta ORB topic metadata.
+ * instance ORB instance
+ *
+ * Returned Value:
+ * 0 if the topic exists, -1 otherwise.
+ ****************************************************************************/
+
+int orb_exists(FAR const struct orb_metadata *meta, int instance);
+
+/****************************************************************************
+ * Name: orb_group_count
+ *
+ * Description:
+ * Get instance amount of advertised topic instances.
+ *
+ * Input Parameters:
+ * meta ORB topic metadata.
+ *
+ * Returned Value:
+ * 0 if none
+ ****************************************************************************/
+
+int orb_group_count(FAR const struct orb_metadata *meta);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __APP_SYSTEM_UORB_UORB_UORB_H */
[incubator-nuttx-apps] 08/20: uorb/listener: add new api: orb_open and orb_close
Posted by ac...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
acassis pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
commit 53ee04ba3c22de569bbddf15205975149158b07b
Author: Jiuzhu Dong <do...@xiaomi.com>
AuthorDate: Thu Apr 28 23:17:57 2022 +0800
uorb/listener: add new api: orb_open and orb_close
don't using subscriber to get state to avoid rpmsg access
Signed-off-by: Jiuzhu Dong <do...@xiaomi.com>
---
system/uorb/listener.c | 34 +++++---------
system/uorb/uORB/uORB.c | 66 +++++++++++++-------------
system/uorb/uORB/uORB.h | 120 +++++++++++++++++++++++++++++++-----------------
3 files changed, 124 insertions(+), 96 deletions(-)
diff --git a/system/uorb/listener.c b/system/uorb/listener.c
index 5b18a54cf..579b2c8b7 100644
--- a/system/uorb/listener.c
+++ b/system/uorb/listener.c
@@ -33,6 +33,7 @@
#include <string.h>
#include <sys/ioctl.h>
#include <unistd.h>
+#include <fcntl.h>
#include <uORB/uORB.h>
@@ -139,21 +140,15 @@ static int listener_get_state(FAR struct orb_object *object,
int ret;
int fd;
- fd = orb_subscribe_multi(object->meta, object->instance);
+ fd = orb_open(object->meta->o_name, object->instance, 0);
if (fd < 0)
{
return fd;
}
ret = orb_get_state(fd, state);
- orb_unsubscribe(fd);
- if (ret < 0)
- {
- return ret;
- }
-
- state->nsubscribers--; /* Ignore temp subscriber */
- return 0;
+ orb_close(fd);
+ return ret;
}
/****************************************************************************
@@ -174,8 +169,6 @@ static int listener_add_object(FAR struct list_node *objlist,
FAR struct orb_object *object)
{
FAR struct listen_object_s *tmp;
- struct orb_state state;
- int ret;
tmp = malloc(sizeof(struct listen_object_s));
if (tmp == NULL)
@@ -183,20 +176,10 @@ static int listener_add_object(FAR struct list_node *objlist,
return -ENOMEM;
}
- ret = listener_get_state(object, &state);
- if (ret < 0)
- {
- free(tmp);
- return ret;
- }
-
tmp->object.meta = object->meta;
tmp->object.instance = object->instance;
- tmp->timestamp = orb_absolute_time();
- tmp->generation = state.generation;
-
+ tmp->timestamp = 0;
list_add_tail(objlist, &tmp->node);
-
return 0;
}
@@ -249,6 +232,13 @@ static int listener_update(FAR struct list_node *objlist,
return ret;
}
+ if (old->timestamp == 0)
+ {
+ old->timestamp = orb_absolute_time();
+ old->generation = state.generation;
+ return 0;
+ }
+
delta_time = now_time - old->timestamp;
delta_generation = state.generation - old->generation;
if (delta_generation && delta_time)
diff --git a/system/uorb/uORB/uORB.c b/system/uorb/uORB/uORB.c
index 5fdf16e9f..2d02378a4 100644
--- a/system/uorb/uORB/uORB.c
+++ b/system/uorb/uORB/uORB.c
@@ -37,7 +37,7 @@
****************************************************************************/
/****************************************************************************
- * Name: orb_open
+ * Name: orb_advsub_open
*
* Description:
* Open device node as advertiser / subscriber, regist node and save meta
@@ -45,7 +45,7 @@
*
* Input Parameters:
* meta The uORB metadata (usually from the ORB_ID() macro)
- * advertiser Whether advertiser or subscriber.
+ * flag The open flag.
* instance Instance number to open.
* queue_size Maximum number of buffered elements.
*
@@ -53,11 +53,10 @@
* fd on success, otherwise returns negative value and set errno.
****************************************************************************/
-static int orb_open(FAR const struct orb_metadata *meta, bool advertiser,
- int instance, unsigned int queue_size)
+static int orb_advsub_open(FAR const struct orb_metadata *meta, int flags,
+ int instance, unsigned int queue_size)
{
char path[ORB_PATH_MAX];
- bool first_open = false;
int fd;
int ret;
@@ -66,11 +65,11 @@ static int orb_open(FAR const struct orb_metadata *meta, bool advertiser,
/* Check existance before open */
- ret = access(path, F_OK);
- if (ret < 0)
+ flags |= O_CLOEXEC;
+ fd = open(path, flags);
+ if (fd < 0)
{
struct sensor_reginfo_s reginfo;
-
reginfo.path = path;
reginfo.esize = meta->o_size;
reginfo.nbuffer = queue_size;
@@ -90,18 +89,16 @@ static int orb_open(FAR const struct orb_metadata *meta, bool advertiser,
return ret;
}
- first_open = true;
- }
-
- fd = open(path, O_CLOEXEC | (advertiser ? O_WRONLY : O_RDONLY));
- if (fd < 0)
- {
- return fd;
- }
+ fd = open(path, flags);
+ if (fd < 0)
+ {
+ return fd;
+ }
- if (first_open)
- {
- ioctl(fd, SNIOC_SET_USERPRIV, (unsigned long)(uintptr_t)meta);
+ if (ret != -EEXIST)
+ {
+ ioctl(fd, SNIOC_SET_USERPRIV, (unsigned long)(uintptr_t)meta);
+ }
}
/* Only first advertiser can successfully set buffer number */
@@ -118,6 +115,19 @@ static int orb_open(FAR const struct orb_metadata *meta, bool advertiser,
* Public Functions
****************************************************************************/
+int orb_open(FAR const char *name, int instance, int flags)
+{
+ char path[ORB_PATH_MAX];
+
+ snprintf(path, ORB_PATH_MAX, ORB_SENSOR_PATH"%s%d", name, instance);
+ return open(path, O_CLOEXEC | flags);
+}
+
+int orb_close(int fd)
+{
+ return close(fd);
+}
+
int orb_advertise_multi_queue(FAR const struct orb_metadata *meta,
FAR const void *data, FAR int *instance,
unsigned int queue_size)
@@ -129,7 +139,7 @@ int orb_advertise_multi_queue(FAR const struct orb_metadata *meta,
inst = instance ? *instance : orb_group_count(meta);
- fd = orb_open(meta, true, inst, queue_size);
+ fd = orb_advsub_open(meta, O_WRONLY, inst, queue_size);
if (fd < 0)
{
uorberr("%s advertise failed (%i)", meta->o_name, fd);
@@ -155,11 +165,6 @@ int orb_advertise_multi_queue(FAR const struct orb_metadata *meta,
return fd;
}
-int orb_unadvertise(int fd)
-{
- return close(fd);
-}
-
ssize_t orb_publish_multi(int fd, const void *data, size_t len)
{
return write(fd, data, len);
@@ -168,12 +173,7 @@ ssize_t orb_publish_multi(int fd, const void *data, size_t len)
int orb_subscribe_multi(FAR const struct orb_metadata *meta,
unsigned instance)
{
- return orb_open(meta, false, instance, 0);
-}
-
-int orb_unsubscribe(int fd)
-{
- return close(fd);
+ return orb_advsub_open(meta, O_RDONLY, instance, 0);
}
ssize_t orb_copy_multi(int fd, FAR void *buffer, size_t len)
@@ -225,9 +225,9 @@ int orb_check(int fd, FAR bool *updated)
return 0;
}
-int orb_ioctl(int handle, int cmd, unsigned long arg)
+int orb_ioctl(int fd, int cmd, unsigned long arg)
{
- return ioctl(handle, cmd, arg);
+ return ioctl(fd, cmd, arg);
}
int orb_set_interval(int fd, unsigned interval)
diff --git a/system/uorb/uORB/uORB.h b/system/uorb/uORB/uORB.h
index 5161c31f6..b59913d75 100644
--- a/system/uorb/uORB/uORB.h
+++ b/system/uorb/uORB/uORB.h
@@ -173,6 +173,38 @@ extern "C"
* Public Function Prototypes
****************************************************************************/
+/****************************************************************************
+ * Name: orb_open
+ *
+ * Description:
+ * Open device exist node with name, instance and flags.
+ *
+ * Input Parameters:
+ * name The topic name.
+ * instance Instance number to open.
+ * flags The open flags.
+ *
+ * Returned Value:
+ * fd on success, otherwise returns negative value and set errno.
+ ****************************************************************************/
+
+int orb_open(FAR const char *name, int instance, int flags);
+
+/****************************************************************************
+ * Name: orb_close
+ *
+ * Description:
+ * Close fd.
+ *
+ * Input Parameters:
+ * fd A fd returned by orb_open.
+ *
+ * Returned Value:
+ * 0 on success.
+ ****************************************************************************/
+
+int orb_close(int fd);
+
/****************************************************************************
* Name: orb_advertise_multi_queue
*
@@ -227,13 +259,16 @@ static inline int orb_advertise_multi(FAR const struct orb_metadata *meta,
* Unadvertise a topic.
*
* Input Parameters:
- * handle A handle returned by orb_advertise or orb_advertise_multi.
+ * fd A fd returned by orb_advertise or orb_advertise_multi.
*
* Returned Value:
* 0 on success.
****************************************************************************/
-int orb_unadvertise(int handle);
+static inline int orb_unadvertise(int fd)
+{
+ return orb_close(fd);
+}
/****************************************************************************
* Name: orb_publish_multi
@@ -246,7 +281,7 @@ int orb_unadvertise(int handle);
* updates using orb_check.
*
* Input Parameters:
- * handle The handle returned from orb_advertise.
+ * fd The fd returned from orb_advertise.
* data A pointer to the data to be published.
* len The length of the data to be published.
*
@@ -254,24 +289,24 @@ int orb_unadvertise(int handle);
* 0 on success, -1 otherwise with errno set accordingly.
****************************************************************************/
-ssize_t orb_publish_multi(int handle, FAR const void *data, size_t len);
+ssize_t orb_publish_multi(int fd, FAR const void *data, size_t len);
static inline int orb_publish(FAR const struct orb_metadata *meta,
- int handle, FAR const void *data)
+ int fd, FAR const void *data)
{
int ret;
- ret = orb_publish_multi(handle, data, meta->o_size);
+ ret = orb_publish_multi(fd, data, meta->o_size);
return ret == meta->o_size ? 0 : -1;
}
static inline int orb_publish_auto(FAR const struct orb_metadata *meta,
- FAR int *handle, FAR const void *data,
+ FAR int *fd, FAR const void *data,
FAR int *instance)
{
- if (handle && *handle)
+ if (fd && *fd)
{
- return orb_publish(meta, *handle, data);
+ return orb_publish(meta, *fd, data);
}
else
{
@@ -283,9 +318,9 @@ static inline int orb_publish_auto(FAR const struct orb_metadata *meta,
return tmp;
}
- if (handle)
+ if (fd)
{
- *handle = tmp;
+ *fd = tmp;
return tmp;
}
else
@@ -319,7 +354,7 @@ static inline int orb_publish_auto(FAR const struct orb_metadata *meta,
* the orb_subscribe() call.
*
* Returned Value:
- * -1 on error, otherwise returns a handle
+ * -1 on error, otherwise returns a fd
* that can be used to read and update the topic.
* If the topic in question is not known (due to an
* ORB_DEFINE_OPTIONAL with no corresponding ORB_DECLARE)
@@ -341,13 +376,16 @@ static inline int orb_subscribe(FAR const struct orb_metadata *meta)
* Unsubscribe from a topic.
*
* Input Parameters:
- * handle A handle returned from orb_subscribe.
+ * fd A fd returned from orb_subscribe.
*
* Returned Value:
* 0 on success.
****************************************************************************/
-int orb_unsubscribe(int handle);
+static inline int orb_unsubscribe(int fd)
+{
+ return orb_close(fd);
+}
/****************************************************************************
* Name: orb_copy_multi
@@ -361,7 +399,7 @@ int orb_unsubscribe(int handle);
* must be used to update the subscription.
*
* Input Parameters:
- * handle A handle returned from orb_subscribe.
+ * fd A fd returned from orb_subscribe.
* buffer Pointer to the buffer receiving the data, or NULL if the
* caller wants to clear the updated flag without.
* len The length to the buffer receiving the data.
@@ -372,14 +410,14 @@ int orb_unsubscribe(int handle);
* -1 otherwise with errno set accordingly.
****************************************************************************/
-ssize_t orb_copy_multi(int handle, FAR void *buffer, size_t len);
+ssize_t orb_copy_multi(int fd, FAR void *buffer, size_t len);
static inline int orb_copy(FAR const struct orb_metadata *meta,
- int handle, FAR void *buffer)
+ int fd, FAR void *buffer)
{
int ret;
- ret = orb_copy_multi(handle, buffer, meta->o_size);
+ ret = orb_copy_multi(fd, buffer, meta->o_size);
return ret == meta->o_size ? 0 : -1;
}
@@ -397,7 +435,7 @@ static inline int orb_copy(FAR const struct orb_metadata *meta,
* max_frequency to 0. min_batch_interval to 0, enable to false.
*
* Input Parameters:
- * handle The handle returned from orb_advertise / orb_subscribe.
+ * fd The fd returned from orb_advertise / orb_subscribe.
* state Pointer to an state of struct orb_state type. This is an
* output parameter and will be set to the current state of topic.
*
@@ -405,7 +443,7 @@ static inline int orb_copy(FAR const struct orb_metadata *meta,
* -1 on error.
****************************************************************************/
-int orb_get_state(int handle, FAR struct orb_state *state);
+int orb_get_state(int fd, FAR struct orb_state *state);
/****************************************************************************
* Name: orb_check
@@ -417,20 +455,20 @@ int orb_get_state(int handle, FAR struct orb_state *state);
* not using poll(), or to avoid the overhead of calling poll() when the
* topic is likely to have updated.
*
- * Updates are tracked on a per-handle basis; this call will continue to
- * return true until orb_copy is called using the same handle.
+ * Updates are tracked on a per-fd basis; this call will continue to
+ * return true until orb_copy is called using the same fd.
*
* Input Parameters:
- * handle A handle returned from orb_subscribe.
+ * fd A fd returned from orb_subscribe.
* update Set to true if the topic has been updated since the
- * last time it was copied using this handle.
+ * last time it was copied using this fd.
*
* Returned Value:
* 0 if the check was successful,
* -1 otherwise with errno set accordingly.
****************************************************************************/
-int orb_check(int handle, FAR bool *updated);
+int orb_check(int fd, FAR bool *updated);
/****************************************************************************
* Name: orb_ioctl
@@ -439,7 +477,7 @@ int orb_check(int handle, FAR bool *updated);
* Ioctl control for the subscriber, the same as ioctl().
*
* Input Parameters:
- * handle A handle returned from orb_advertise / orb_subscribe.
+ * fd A fd returned from orb_advertise / orb_subscribe.
* cmd Ioctl command.
* arg Ioctl argument.
*
@@ -447,7 +485,7 @@ int orb_check(int handle, FAR bool *updated);
* 0 on success.
****************************************************************************/
-int orb_ioctl(int handle, int cmd, unsigned long arg);
+int orb_ioctl(int fd, int cmd, unsigned long arg);
/****************************************************************************
* Name: orb_set_batch_interval
@@ -462,14 +500,14 @@ int orb_ioctl(int handle, int cmd, unsigned long arg);
* hardware fifo, otherwise it's meaningless.
*
* Input Parameters:
- * handle A handle returned from orb_subscribe.
+ * fd A fd returned from orb_subscribe.
* batch_interval An batch interval in us.
*
* Returned Value:
* 0 on success, -1 otherwise with ERRNO set accordingly.
****************************************************************************/
-int orb_set_batch_interval(int handle, unsigned batch_interval);
+int orb_set_batch_interval(int fd, unsigned batch_interval);
/****************************************************************************
* Name: orb_get_batch_interval
@@ -483,14 +521,14 @@ int orb_set_batch_interval(int handle, unsigned batch_interval);
* @see orb_set_batch_interval()
*
* Input Parameters:
- * handle A handle returned from orb_subscribe.
+ * fd A fd returned from orb_subscribe.
* batch_interval The returned batch interval in us.
*
* Returned Value:
* 0 on success, -1 otherwise with ERRNO set accordingly.
****************************************************************************/
-int orb_get_batch_interval(int handle, FAR unsigned *batch_interval);
+int orb_get_batch_interval(int fd, FAR unsigned *batch_interval);
/****************************************************************************
* Name:
@@ -499,14 +537,14 @@ int orb_get_batch_interval(int handle, FAR unsigned *batch_interval);
* Set the minimum interval between which updates seen for a subscription.
*
* Input Parameters:
- * handle A handle returned from orb_subscribe.
+ * fd A fd returned from orb_subscribe.
* interval An interval period in us.
*
* Returned Value:
* 0 on success, -1 otherwise with ERRNO set accordingly.
****************************************************************************/
-int orb_set_interval(int handle, unsigned interval);
+int orb_set_interval(int fd, unsigned interval);
/****************************************************************************
* Name:
@@ -515,14 +553,14 @@ int orb_set_interval(int handle, unsigned interval);
* Get the minimum interval between which updates seen for a subscription.
*
* Input Parameters:
- * handle A handle returned from orb_subscribe.
+ * fd A fd returned from orb_subscribe.
* interval The returned interval period in us.
*
* Returned Value:
* 0 on success, -1 otherwise with ERRNO set accordingly.
****************************************************************************/
-int orb_get_interval(int handle, FAR unsigned *interval);
+int orb_get_interval(int fd, FAR unsigned *interval);
/****************************************************************************
* Name:
@@ -532,16 +570,16 @@ int orb_get_interval(int handle, FAR unsigned *interval);
* Set the maximum frequency for a subscription.
*
* Input Parameters:
- * handle A handle returned from orb_subscribe.
+ * fd A fd returned from orb_subscribe.
* frequency A frequency in hz.
*
* Returned Value:
* 0 on success, -1 otherwise with ERRNO set accordingly.
****************************************************************************/
-static inline int orb_set_frequency(int handle, unsigned frequency)
+static inline int orb_set_frequency(int fd, unsigned frequency)
{
- return orb_set_interval(handle, frequency ? 1000000 / frequency : 0);
+ return orb_set_interval(fd, frequency ? 1000000 / frequency : 0);
}
/****************************************************************************
@@ -552,19 +590,19 @@ static inline int orb_set_frequency(int handle, unsigned frequency)
* Get the maximum frequency for a subscription.
*
* Input Parameters:
- * handle A handle returned from orb_subscribe.
+ * fd A fd returned from orb_subscribe.
* frequency The returned frequency in hz.
*
* Returned Value:
* 0 on success, -1 otherwise with ERRNO set accordingly.
****************************************************************************/
-static inline int orb_get_frequency(int handle, FAR unsigned *frequency)
+static inline int orb_get_frequency(int fd, FAR unsigned *frequency)
{
unsigned interval;
int ret;
- ret = orb_get_interval(handle, &interval);
+ ret = orb_get_interval(fd, &interval);
if (ret < 0)
{
return ret;
[incubator-nuttx-apps] 02/20: apps/system/uorb: c unit testcases
Posted by ac...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
acassis pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
commit d8d1e1e761f0b778bba2fca74a898c42c8bb180a
Author: jihandong <ji...@xiaomi.com>
AuthorDate: Tue Mar 15 20:08:52 2022 +0800
apps/system/uorb: c unit testcases
testcases:
1. test_single(): single instance, advertise then subscribe.
2. test_multi_inst10(): 10 instance, each 1 subscriber.
3. test_multi(): 2 instances, 2 advertisers, 2 subscribers.
4. test_multi_reversed(): same as test_multi(), but subsribe before
advertise.
5. test_unadvertise(): unadvertise upper 4 advertisers.
6. test_multi2(): same as tset_multi(). but multi-thread.
7, test_queue(): topic queue_size = 16.
Signed-off-by: jihandong <ji...@xiaomi.com>
Signed-off-by: Jiuzhu Dong <do...@xiaomi.com>
---
system/uorb/Kconfig | 20 +
system/uorb/Makefile | 12 +-
system/uorb/test/unit_test.c | 1076 ++++++++++++++++++++++++++++++++++++++++++
system/uorb/test/utility.c | 122 +++++
system/uorb/test/utility.h | 74 +++
5 files changed, 1303 insertions(+), 1 deletion(-)
diff --git a/system/uorb/Kconfig b/system/uorb/Kconfig
index 33b15ed35..028e2f2de 100644
--- a/system/uorb/Kconfig
+++ b/system/uorb/Kconfig
@@ -10,6 +10,14 @@ menuconfig UORB
if UORB
+config UORB_PRIORITY
+ int "task priority"
+ default 100
+
+config UORB_STACKSIZE
+ int "stack size"
+ default DEFAULT_TASK_STACKSIZE
+
config DEBUG_UORB
bool "uorb debug output"
default n
@@ -38,4 +46,16 @@ config UORB_INFO
endif # DEBUG_UORB
+config UORB_TESTS
+ bool "uorb unit tests"
+ default n
+
+if UORB_TESTS
+
+config UORB_SRORAGE_DIR
+ string "uorb test result storage dir"
+ default "/data/"
+
+endif # UORB_TESTS
+
endif # UORB
diff --git a/system/uorb/Makefile b/system/uorb/Makefile
index 93d9f4d17..7194e0db4 100644
--- a/system/uorb/Makefile
+++ b/system/uorb/Makefile
@@ -20,6 +20,16 @@
include $(APPDIR)/Make.defs
-CSRCS += uORB/uORB.c
+CSRCS += uORB/uORB.c
+
+ifneq ($(CONFIG_UORB_TESTS),)
+CSRCS += test/utility.c
+MAINSRC = test/unit_test.c
+PROGNAME = uorb_unit_test
+endif
+
+PRIORITY = $(CONFIG_UORB_PRIORITY)
+STACKSIZE = $(CONFIG_UORB_STACKSIZE)
+MODULE = $(CONFIG_UORB)
include $(APPDIR)/Application.mk
diff --git a/system/uorb/test/unit_test.c b/system/uorb/test/unit_test.c
new file mode 100644
index 000000000..0aaa0a1b7
--- /dev/null
+++ b/system/uorb/test/unit_test.c
@@ -0,0 +1,1076 @@
+/****************************************************************************
+ * apps/system/uorb/test/unit_test.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 <errno.h>
+#include <math.h>
+#include <poll.h>
+#include <string.h>
+#include <stdarg.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "utility.h"
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static volatile bool g_thread_should_exit;
+static volatile int g_num_messages_sent;
+static bool g_pubsubtest_passed;
+static bool g_pubsubtest_print;
+static int g_pubsubtest_res;
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static int pubsubtest_thread_entry(int argc, FAR char *argv[])
+{
+ /* poll on test topic and output latency */
+
+ struct pollfd fds[1];
+ struct orb_test_medium_s t;
+
+ static const unsigned MAX_RUNS = 1000;
+ float latency_integral = 0.0f;
+ float std_dev = 0.f;
+ float mean;
+ int test_multi_sub;
+ int current_value;
+ int num_missed = 0;
+ unsigned timingsgroup = 0;
+ unsigned timings[MAX_RUNS];
+ unsigned timing_min = 9999999;
+ unsigned timing_max = 0;
+ unsigned i;
+
+ /* clear all ready flags */
+
+ test_multi_sub = orb_subscribe_multi(ORB_ID(orb_test_medium), 0);
+
+ orb_copy(ORB_ID(orb_test_medium), test_multi_sub, &t);
+
+ fds[0].fd = test_multi_sub;
+ fds[0].events = POLLIN;
+ current_value = t.val;
+
+ for (i = 0; i < MAX_RUNS; i++)
+ {
+ int pret;
+
+ /* wait for up to 500ms for data */
+
+ pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 500);
+ if (fds[0].revents & POLLIN)
+ {
+ unsigned elt;
+
+ orb_copy(ORB_ID(orb_test_medium), test_multi_sub, &t);
+ elt = (unsigned)orb_elapsed_time(&t.timestamp);
+ latency_integral += elt;
+ timings[i] = elt;
+
+ if (elt > timing_max)
+ {
+ timing_max = elt;
+ }
+
+ if (elt < timing_min)
+ {
+ timing_min = elt;
+ }
+
+ timingsgroup = 0;
+ num_missed += t.val - current_value - 1;
+ current_value = t.val;
+ }
+
+ if (pret < 0)
+ {
+ snerr("poll error %d, %d", pret, errno);
+ continue;
+ }
+ }
+
+ orb_unsubscribe(test_multi_sub);
+
+ if (g_pubsubtest_print)
+ {
+ char fname[32];
+ FAR FILE *f;
+
+ sprintf(fname, CONFIG_UORB_SRORAGE_DIR"/uorb_timings%u.txt",
+ timingsgroup);
+
+ f = fopen(fname, "w");
+ if (f == NULL)
+ {
+ snerr("Error opening file!");
+ return ERROR;
+ }
+
+ for (i = 0; i < MAX_RUNS; i++)
+ {
+ fprintf(f, "%u\n", timings[i]);
+ }
+
+ fclose(f);
+ }
+
+ std_dev = 0.f;
+ mean = latency_integral / MAX_RUNS;
+
+ for (i = 0; i < MAX_RUNS; i++)
+ {
+ float diff;
+
+ diff = (float)timings[i] - mean;
+ std_dev += diff * diff;
+ }
+
+ printf("mean: %u us\n", (unsigned)(mean));
+ printf("std dev: %u us\n", (unsigned)(sqrtf(std_dev / (MAX_RUNS - 1))));
+ printf("min: %u us\n", timing_min);
+ printf("max: %u us\n", timing_max);
+ printf("missed topic updates: %i\n", num_missed);
+
+ g_pubsubtest_passed = true;
+
+ if (latency_integral / MAX_RUNS > 100.0f)
+ {
+ g_pubsubtest_res = ERROR;
+ }
+ else
+ {
+ g_pubsubtest_res = OK;
+ }
+
+ return g_pubsubtest_res;
+}
+
+static int latency_test(bool print)
+{
+ FAR char *const args[1];
+ struct orb_test_medium_s sample;
+ int pubsub_task;
+ int fd;
+
+ test_note("---------------- LATENCY TEST ------------------");
+
+ sample.val = 308;
+ sample.timestamp = orb_absolute_time();
+
+ fd = orb_advertise(ORB_ID(orb_test_medium), &sample);
+ if (fd < 0)
+ {
+ return test_fail("orb_advertise failed (%i)", errno);
+ }
+
+ g_pubsubtest_print = print;
+ g_pubsubtest_passed = false;
+
+ /* test pub / sub latency
+ * Can't pass a pointer in args, must be a null terminated
+ * array of strings because the strings are copied to
+ * prevent access if the caller data goes out of scope
+ */
+
+ args[0] = NULL;
+ pubsub_task = task_create("uorb_latency",
+ SCHED_PRIORITY_DEFAULT,
+ CONFIG_UORB_STACKSIZE,
+ pubsubtest_thread_entry,
+ args);
+
+ /* give the test task some data */
+
+ while (!g_pubsubtest_passed)
+ {
+ ++sample.val;
+ sample.timestamp = orb_absolute_time();
+ if (OK != orb_publish(ORB_ID(orb_test_medium), fd, &sample))
+ {
+ return test_fail("mult. pub0 timing fail");
+ }
+
+ usleep(1000); /* simulate >800 Hz system operation */
+ }
+
+ if (pubsub_task < 0)
+ {
+ return test_fail("failed launching task");
+ }
+
+ orb_unadvertise(fd);
+ return g_pubsubtest_res;
+}
+
+static int test_single(void)
+{
+ struct orb_test_s sample;
+ struct orb_test_s sub_sample;
+ bool updated;
+ int afd;
+ int sfd;
+ int ret;
+
+ test_note("try single-topic support");
+
+ /* advertise, then subscribe */
+
+ sample.val = 0;
+
+ afd = orb_advertise(ORB_ID(orb_test), &sample);
+ if (afd < 0)
+ {
+ return test_fail("advertise failed: %d", errno);
+ }
+
+ sfd = orb_subscribe(ORB_ID(orb_test));
+ if (sfd < 0)
+ {
+ return test_fail("subscribe failed: %d", errno);
+ }
+
+ /* check first publish */
+
+ sub_sample.val = 1;
+
+ if (OK != orb_copy(ORB_ID(orb_test), sfd, &sub_sample))
+ {
+ return test_fail("copy(1) failed: %d", errno);
+ }
+
+ if (sample.val != sub_sample.val)
+ {
+ return test_fail("copy(1) mismatch: %d expected %d",
+ sub_sample.val, sample.val);
+ }
+
+ if (OK != orb_check(sfd, &updated))
+ {
+ return test_fail("check(1) failed");
+ }
+
+ if (updated)
+ {
+ return test_fail("spurious updated flag");
+ }
+
+ /* check second publish */
+
+ sample.val = 2;
+
+ if (OK != orb_publish(ORB_ID(orb_test), afd, &sample))
+ {
+ return test_fail("publish failed");
+ }
+
+ if (OK != orb_check(sfd, &updated))
+ {
+ return test_fail("check(2) failed");
+ }
+
+ if (!updated)
+ {
+ return test_fail("missing updated flag");
+ }
+
+ if (OK != orb_copy(ORB_ID(orb_test), sfd, &sub_sample))
+ {
+ return test_fail("copy(2) failed: %d", errno);
+ }
+
+ if (sample.val != sub_sample.val)
+ {
+ return test_fail("copy(2) mismatch: %d expected %d",
+ sub_sample.val, sample.val);
+ }
+
+ /* unadvertise and out */
+
+ ret = orb_unadvertise(afd);
+ if (ret != OK)
+ {
+ return test_fail("orb_unadvertise failed: %i", ret);
+ }
+
+ ret = orb_unsubscribe(sfd);
+ if (ret != OK)
+ {
+ return test_fail("orb_unsubscribe failed: %i", ret);
+ }
+
+ return test_note("PASS single-topic test");
+}
+
+static int test_multi_inst10(void)
+{
+ const int max_inst = 10;
+ int sfd[max_inst];
+ int afd[max_inst];
+ int i;
+ int j;
+
+ for (i = 0; i < max_inst; i++)
+ {
+ sfd[i] = orb_subscribe_multi(ORB_ID(orb_test), i);
+ }
+
+ /* verify not advertised yet */
+
+ for (i = 0; i < max_inst; i++)
+ {
+ if (OK == orb_exists(ORB_ID(orb_test), i))
+ {
+ return test_fail("sub %d is advertised", i);
+ }
+ }
+
+ /* advertise one at a time and verify instance */
+
+ for (i = 0; i < max_inst; i++)
+ {
+ afd[i] = orb_advertise_multi_queue(ORB_ID(orb_test), NULL, &i, 1);
+ if (OK != orb_exists(ORB_ID(orb_test), i))
+ {
+ return test_fail("sub %d advertise failed", i);
+ }
+ }
+
+ /* publish one at a time and verify */
+
+ for (i = 0; i < 2; i++)
+ {
+ for (j = 0; j < 10; j++)
+ {
+ int instance;
+ int sub_instance;
+
+ for (instance = 0; instance < max_inst; instance++)
+ {
+ struct orb_test_s sample;
+
+ sample.val = j * instance + i;
+ sample.timestamp = orb_absolute_time();
+
+ orb_publish(ORB_ID(orb_test), afd[instance], &sample);
+ }
+
+ for (sub_instance = 0; sub_instance < max_inst; sub_instance++)
+ {
+ bool updated = false;
+
+ orb_check(sfd[sub_instance], &updated);
+ if (!updated)
+ {
+ return test_fail("sub %d not updated", sub_instance);
+ }
+ else
+ {
+ struct orb_test_s sample;
+
+ if (orb_copy(ORB_ID(orb_test), sfd[sub_instance], &sample))
+ {
+ return test_fail("sub %d copy failed", sub_instance);
+ }
+ else
+ {
+ if (sample.val != (j * sub_instance + i))
+ {
+ return test_fail("sub %d invalid value %d",
+ sub_instance, sample.val);
+ }
+ }
+ }
+ }
+ }
+ }
+
+ /* force unsubscribe all, then repeat */
+
+ for (i = 0; i < max_inst; i++)
+ {
+ orb_unsubscribe(sfd[i]);
+ }
+
+ return test_note("PASS orb 10-instances");
+}
+
+static int test_multi(int *afds, int *sfds)
+{
+ struct orb_test_s sample;
+ struct orb_test_s sub_sample;
+ int instance0 = 0;
+ int instance1 = 1;
+
+ /* this routine tests the multi-topic support */
+
+ test_note("try multi-topic support");
+
+ afds[0] = orb_advertise_multi(ORB_ID(orb_multitest), &sample, &instance0);
+
+ if (instance0 != 0)
+ {
+ return test_fail("mult. id0: %d", instance0);
+ }
+
+ afds[1] = orb_advertise_multi(ORB_ID(orb_multitest), &sample, &instance1);
+
+ if (instance1 != 1)
+ {
+ return test_fail("mult. id1: %d", instance1);
+ }
+
+ sample.val = 103;
+
+ if (OK != orb_publish(ORB_ID(orb_multitest), afds[0], &sample))
+ {
+ return test_fail("mult. pub0 fail");
+ }
+
+ sample.val = 203;
+
+ if (OK != orb_publish(ORB_ID(orb_multitest), afds[1], &sample))
+ {
+ return test_fail("mult. pub1 fail");
+ }
+
+ /* subscribe to both topics and ensure valid data is received */
+
+ sfds[0] = orb_subscribe_multi(ORB_ID(orb_multitest), 0);
+
+ if (OK != orb_copy(ORB_ID(orb_multitest), sfds[0], &sub_sample))
+ {
+ return test_fail("sub #0 copy failed: %d", errno);
+ }
+
+ if (sub_sample.val != 103)
+ {
+ return test_fail("sub #0 val. mismatch: %d", sub_sample.val);
+ }
+
+ sfds[1] = orb_subscribe_multi(ORB_ID(orb_multitest), 1);
+
+ if (OK != orb_copy(ORB_ID(orb_multitest), sfds[1], &sub_sample))
+ {
+ return test_fail("sub #1 copy failed: %d", errno);
+ }
+
+ if (sub_sample.val != 203)
+ {
+ return test_fail("sub #1 val. mismatch: %d", sub_sample.val);
+ }
+
+ if (OK != latency_test(false))
+ {
+ return test_fail("latency test failed");
+ }
+
+ orb_unsubscribe(sfds[0]);
+ orb_unsubscribe(sfds[1]);
+
+ return test_note("PASS multi-topic test");
+}
+
+static int test_multi_reversed(int *afds, int *sfds)
+{
+ struct orb_test_s sample;
+ struct orb_test_s sub_sample;
+ int instance2 = 2;
+ int instance3 = 3;
+
+ test_note("try multi-topic support subscribing before publishing");
+
+ /* For these tests 0 and 1 instances are taken from before,
+ * therefore continue with 2 and 3,
+ * subscribe first and advertise afterwards.
+ */
+
+ sfds[2] = orb_subscribe_multi(ORB_ID(orb_multitest), 2);
+
+ if (sfds[2] < 0)
+ {
+ return test_fail("sub. id2: ret: %d", sfds[2]);
+ }
+
+ afds[2] = orb_advertise_multi(ORB_ID(orb_multitest), &sample, &instance2);
+
+ if (instance2 != 2)
+ {
+ return test_fail("mult. id2: %d", instance2);
+ }
+
+ afds[3] = orb_advertise_multi(ORB_ID(orb_multitest), &sample, &instance3);
+
+ if (instance3 != 3)
+ {
+ return test_fail("mult. id3: %d", instance3);
+ }
+
+ sample.val = 204;
+
+ if (OK != orb_publish(ORB_ID(orb_multitest), afds[2], &sample))
+ {
+ return test_fail("mult. pub2 fail");
+ }
+
+ sample.val = 304;
+
+ if (OK != orb_publish(ORB_ID(orb_multitest), afds[3], &sample))
+ {
+ return test_fail("mult. pub3 fail");
+ }
+
+ /* subscribe to both topics and ensure valid data is received */
+
+ sfds[2] = orb_subscribe_multi(ORB_ID(orb_multitest), 2);
+
+ if (OK != orb_copy(ORB_ID(orb_multitest), sfds[2], &sub_sample))
+ {
+ return test_fail("sub #2 copy failed: %d", errno);
+ }
+
+ if (sub_sample.val != 204)
+ {
+ return test_fail("sub #2 val. mismatch: %d", sub_sample.val);
+ }
+
+ sfds[3] = orb_subscribe_multi(ORB_ID(orb_multitest), 3);
+
+ if (OK != orb_copy(ORB_ID(orb_multitest), sfds[3], &sub_sample))
+ {
+ return test_fail("sub #3 copy failed: %d", errno);
+ }
+
+ if (sub_sample.val != 304)
+ {
+ return test_fail("sub #3 val. mismatch: %d", sub_sample.val);
+ }
+
+ return test_note("PASS multi-topic reversed");
+}
+
+static int test_unadvertise(int *afds)
+{
+ int ret;
+ int i;
+
+ test_note("Testing unadvertise");
+
+ /* we still have the advertisements from the previous test_multi calls. */
+
+ for (i = 0; i < 4; ++i)
+ {
+ ret = orb_unadvertise(afds[i]);
+ if (ret != OK)
+ {
+ return test_fail("orb_unadvertise failed (%i)", ret);
+ }
+ }
+
+ return OK;
+}
+
+static int pub_test_multi2_entry(int argc, char *argv[])
+{
+ struct orb_test_medium_s data_topic;
+ const int num_instances = 3;
+ int data_next_idx = 0;
+ int orb_pub[num_instances];
+ int message_counter = 0;
+ int num_messages = 50 * num_instances;
+ int i;
+
+ memset(&data_topic, '\0', sizeof(data_topic));
+ for (i = 0; i < num_instances; ++i)
+ {
+ orb_pub[i] = orb_advertise_multi(ORB_ID(orb_test_medium_multi),
+ &data_topic, &i);
+ }
+
+ usleep(100 * 1000);
+
+ while (message_counter++ < num_messages)
+ {
+ usleep(2); /* make sure the timestamps are different */
+
+ data_topic.timestamp = orb_absolute_time();
+ data_topic.val = data_next_idx;
+
+ orb_publish(ORB_ID(orb_test_medium_multi), orb_pub[data_next_idx],
+ &data_topic);
+
+ data_next_idx = (data_next_idx + 1) % num_instances;
+ if (data_next_idx == 0)
+ {
+ usleep(50 * 1000);
+ }
+ }
+
+ usleep(100 * 1000);
+
+ g_thread_should_exit = true;
+
+ for (i = 0; i < num_instances; ++i)
+ {
+ orb_unadvertise(orb_pub[i]);
+ }
+
+ return OK;
+}
+
+static int test_multi2(void)
+{
+ const int num_instances = 3;
+ int orb_data_fd[num_instances];
+ int orb_data_next = 0;
+ orb_abstime last_time = 0;
+ FAR char *const args[1];
+ int pubsub_task;
+ int i;
+
+ test_note("Testing multi-topic 2 test (queue simulation)");
+
+ g_thread_should_exit = false;
+
+ /* test: first subscribe, then advertise */
+
+ for (i = 0; i < num_instances; ++i)
+ {
+ orb_data_fd[i] = orb_subscribe_multi(ORB_ID(orb_test_medium_multi), i);
+ }
+
+ /* launch the publisher thread */
+
+ args[0] = NULL;
+ pubsub_task = task_create("uorb_test_multi",
+ SCHED_PRIORITY_MAX - 5,
+ CONFIG_UORB_STACKSIZE,
+ (main_t)&pub_test_multi2_entry,
+ args);
+ if (pubsub_task < 0)
+ {
+ return test_fail("failed launching task");
+ }
+
+ /* loop check update and copy new data */
+
+ while (!g_thread_should_exit)
+ {
+ bool updated = false;
+ int orb_data_cur_fd = orb_data_fd[orb_data_next];
+
+ usleep(1000);
+
+ orb_check(orb_data_cur_fd, &updated);
+ if (updated)
+ {
+ struct orb_test_medium_s msg =
+ {
+ 0, 0
+ };
+
+ orb_copy(ORB_ID(orb_test_medium_multi), orb_data_cur_fd, &msg);
+ if (last_time >= msg.timestamp && last_time != 0)
+ {
+ return test_fail("Timestamp not increasing! (%" PRIu64
+ " >= %" PRIu64 ")", last_time, msg.timestamp);
+ }
+
+ last_time = msg.timestamp;
+ orb_data_next = (orb_data_next + 1) % num_instances;
+ }
+ }
+
+ for (i = 0; i < num_instances; ++i)
+ {
+ orb_unsubscribe(orb_data_fd[i]);
+ }
+
+ return test_note("PASS multi-topic 2 test (queue simulation)");
+}
+
+int test_queue(void)
+{
+ const int queue_size = 16;
+ const int overflow_by = 3;
+ struct orb_test_medium_s sample;
+ struct orb_test_medium_s sub_sample;
+ bool updated;
+ int ptopic;
+ int sfd;
+ int i;
+
+ test_note("Testing orb queuing");
+
+ sfd = orb_subscribe(ORB_ID(orb_test_medium_queue));
+
+ if (sfd < 0)
+ {
+ return test_fail("subscribe failed: %d", errno);
+ }
+
+ /* Get all published messages,
+ * ensure that publish and subscribe message match
+ */
+
+ do
+ {
+ orb_check(sfd, &updated);
+ if (updated)
+ {
+ orb_copy(ORB_ID(orb_test_medium_queue), sfd, &sub_sample);
+ }
+ }
+ while (updated);
+
+ ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_queue),
+ &sample, queue_size);
+ if (ptopic < 0)
+ {
+ return test_fail("advertise failed: %d", errno);
+ }
+
+ orb_check(sfd, &updated);
+ if (!updated)
+ {
+ return test_fail("update flag not set");
+ }
+
+ if (OK != orb_copy(ORB_ID(orb_test_medium_queue), sfd, &sub_sample))
+ {
+ return test_fail("copy(1) failed: %d", errno);
+ }
+
+ if (sub_sample.val != sample.val)
+ {
+ return test_fail("copy(1) mismatch: %d expected %d",
+ sub_sample.val, sample.val);
+ }
+
+ orb_check(sfd, &updated);
+ if (updated)
+ {
+ return test_fail("spurious updated flag");
+ }
+
+#define CHECK_UPDATED(element) \
+ orb_check(sfd, &updated); \
+ if (!updated) \
+ { \
+ return test_fail("update flag not set, element %i", element); \
+ }
+
+#define CHECK_NOT_UPDATED(element) \
+ orb_check(sfd, &updated); \
+ if (updated) \
+ { \
+ return test_fail("update flag set, element %i", element); \
+ }
+
+#define CHECK_COPY(i_got, i_correct) \
+ orb_copy(ORB_ID(orb_test_medium_queue), sfd, &sub_sample); \
+ if (i_got != i_correct) \
+ { \
+ return test_fail("got wrong element from the queue (got %i," \
+ "should be %i)", i_got, i_correct); \
+ }
+
+ /* no messages in the queue anymore */
+
+ test_note(" Testing to write some elements...");
+
+ for (i = 0; i < queue_size - 2; ++i)
+ {
+ sample.val = i;
+ orb_publish(ORB_ID(orb_test_medium_queue), ptopic, &sample);
+ }
+
+ for (i = 0; i < queue_size - 2; ++i)
+ {
+ CHECK_UPDATED(i);
+ CHECK_COPY(sub_sample.val, i);
+ }
+
+ CHECK_NOT_UPDATED(queue_size);
+
+ test_note(" Testing overflow...");
+
+ for (i = 0; i < queue_size + overflow_by; ++i)
+ {
+ sample.val = i;
+ orb_publish(ORB_ID(orb_test_medium_queue), ptopic, &sample);
+ }
+
+ for (i = 0; i < queue_size; ++i)
+ {
+ CHECK_UPDATED(i);
+ CHECK_COPY(sub_sample.val, i + overflow_by);
+ }
+
+ CHECK_NOT_UPDATED(queue_size);
+
+ test_note(" Testing underflow...");
+
+ for (i = 0; i < queue_size; ++i)
+ {
+ CHECK_NOT_UPDATED(i);
+ CHECK_COPY(sub_sample.val, queue_size + overflow_by - 1);
+ }
+
+ sample.val = 943;
+
+ orb_publish(ORB_ID(orb_test_medium_queue), ptopic, &sample);
+
+ CHECK_UPDATED(-1);
+ CHECK_COPY(sub_sample.val, sample.val);
+
+#undef CHECK_COPY
+#undef CHECK_UPDATED
+#undef CHECK_NOT_UPDATED
+
+ orb_unadvertise(ptopic);
+ orb_unsubscribe(sfd);
+
+ return test_note("PASS orb queuing");
+}
+
+static int pub_test_queue_entry(int argc, char *argv[])
+{
+ const int queue_size = 50;
+ struct orb_test_medium_s t;
+ int num_messages = 20 * queue_size;
+ int message_counter = 0;
+ int ptopic;
+
+ memset(&t, '\0', sizeof(t));
+ ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_queue_poll),
+ &t, queue_size);
+ if (ptopic < 0)
+ {
+ g_thread_should_exit = true;
+ return test_fail("advertise failed: %d", errno);
+ }
+
+ ++t.val;
+
+ while (message_counter < num_messages)
+ {
+ /* simulate burst */
+
+ int burst_counter = 0;
+
+ while (burst_counter++ < queue_size / 2 + 7)
+ {
+ /* make interval non-boundary aligned */
+
+ orb_publish(ORB_ID(orb_test_medium_queue_poll), ptopic, &t);
+ ++t.val;
+ }
+
+ message_counter += burst_counter;
+ usleep(20 * 1000); /* give subscriber a chance to catch up */
+ }
+
+ g_num_messages_sent = t.val;
+ usleep(100 * 1000);
+ g_thread_should_exit = true;
+ orb_unadvertise(ptopic);
+
+ return 0;
+}
+
+static int test_queue_poll_notify(void)
+{
+ FAR char *const args[1];
+ struct pollfd fds[1];
+ struct orb_test_medium_s t;
+ bool updated;
+ int next_expected_val = 0;
+ int pubsub_task;
+ int sfd;
+
+ test_note("Testing orb queuing (poll & notify)");
+
+ if ((sfd = orb_subscribe(ORB_ID(orb_test_medium_queue_poll))) < 0)
+ {
+ return test_fail("subscribe failed: %d", errno);
+ }
+
+ /* Get all published messages,
+ * ensure that publish and subscribe message match
+ */
+
+ do
+ {
+ orb_check(sfd, &updated);
+ if (updated)
+ {
+ orb_copy(ORB_ID(orb_test_medium_queue_poll), sfd, &t);
+ }
+ }
+ while (updated);
+
+ g_thread_should_exit = false;
+
+ args[0] = NULL;
+ pubsub_task = task_create("uorb_test_queue",
+ SCHED_PRIORITY_MIN + 5,
+ CONFIG_UORB_STACKSIZE,
+ (main_t)&pub_test_queue_entry,
+ args);
+
+ if (pubsub_task < 0)
+ {
+ return test_fail("failed launching task");
+ }
+
+ fds[0].fd = sfd;
+ fds[0].events = POLLIN;
+
+ while (!g_thread_should_exit)
+ {
+ int poll_ret;
+
+ poll_ret = poll(fds, 1, 500);
+ if (poll_ret == 0)
+ {
+ if (g_thread_should_exit)
+ {
+ break;
+ }
+
+ return test_fail("poll timeout");
+ }
+ else if (poll_ret < 0 && errno != EINTR)
+ {
+ return test_fail("poll error (%d, %d)", poll_ret, errno);
+ }
+
+ if (fds[0].revents & POLLIN)
+ {
+ orb_copy(ORB_ID(orb_test_medium_queue_poll), sfd, &t);
+ if (next_expected_val != t.val)
+ {
+ return test_fail("copy mismatch: %d expected %d",
+ t.val, next_expected_val);
+ }
+
+ ++next_expected_val;
+ }
+ }
+
+ if (g_num_messages_sent != next_expected_val)
+ {
+ return test_fail("number of sent and received messages mismatch"
+ " (sent: %i, received: %i)",
+ g_num_messages_sent, next_expected_val);
+ }
+
+ orb_unsubscribe(sfd);
+
+ return OK;
+}
+
+static int test(void)
+{
+ int afds[4];
+ int sfds[4];
+ int ret;
+
+ ret = test_single();
+ if (ret != OK)
+ {
+ return ret;
+ }
+
+ ret = test_multi_inst10();
+ if (ret != OK)
+ {
+ return ret;
+ }
+
+ ret = test_multi(afds, sfds);
+ if (ret != OK)
+ {
+ return ret;
+ }
+
+ ret = test_multi_reversed(afds, sfds);
+ if (ret != OK)
+ {
+ return ret;
+ }
+
+ ret = test_unadvertise(afds);
+ if (ret != OK)
+ {
+ return ret;
+ }
+
+ ret = test_multi2();
+ if (ret != OK)
+ {
+ return ret;
+ }
+
+ ret = test_queue();
+ if (ret != OK)
+ {
+ return ret;
+ }
+
+ return test_queue_poll_notify();
+}
+
+int main(int argc, FAR char *argv[])
+{
+ /* Test the driver/device. */
+
+ if (argc == 1)
+ {
+ if (test() == OK)
+ {
+ printf("PASS\n");
+ return 0;
+ }
+ else
+ {
+ printf("FAIL\n");
+ return -1;
+ }
+ }
+
+ /* Test the latency. */
+
+ if (argc > 1 && !strcmp(argv[1], "latency_test"))
+ {
+ return latency_test(true);
+ }
+
+ printf("Usage: uorb_tests [latency_test]\n");
+ return -EINVAL;
+}
diff --git a/system/uorb/test/utility.c b/system/uorb/test/utility.c
new file mode 100644
index 000000000..c56ea39b9
--- /dev/null
+++ b/system/uorb/test/utility.c
@@ -0,0 +1,122 @@
+/****************************************************************************
+ * apps/system/uorb/test/utility.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 <stdio.h>
+#include <inttypes.h>
+
+#include "utility.h"
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_orb_test_msg(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct orb_test_s *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %"PRIu64" (%"PRIu64" us ago) val: %"PRId32"",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->val);
+}
+
+static void print_orb_test_medium_msg(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct orb_test_medium_s *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %"PRIu64" (%"PRIu64" us ago) val: %"PRId32"",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->val);
+}
+
+static void print_orb_test_large_msg(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct orb_test_large_s *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %"PRIu64" (%"PRIu64" us ago) val: %"PRId32"",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->val);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(orb_test, struct orb_test_s, print_orb_test_msg);
+ORB_DEFINE(orb_multitest, struct orb_test_s, print_orb_test_msg);
+ORB_DEFINE(orb_test_medium, struct orb_test_medium_s,
+ print_orb_test_medium_msg);
+ORB_DEFINE(orb_test_medium_multi, struct orb_test_medium_s,
+ print_orb_test_medium_msg);
+ORB_DEFINE(orb_test_medium_wrap_around, struct orb_test_medium_s,
+ print_orb_test_medium_msg);
+ORB_DEFINE(orb_test_medium_queue, struct orb_test_medium_s,
+ print_orb_test_medium_msg);
+ORB_DEFINE(orb_test_medium_queue_poll, struct orb_test_medium_s,
+ print_orb_test_medium_msg);
+ORB_DEFINE(orb_test_large, struct orb_test_large_s,
+ print_orb_test_large_msg);
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+int test_note(FAR const char *fmt, ...)
+{
+ va_list ap;
+
+ fprintf(stderr, "uORB note: ");
+ va_start(ap, fmt);
+ vfprintf(stderr, fmt, ap);
+
+ va_end(ap);
+
+ fprintf(stderr, "\n");
+ fflush(stderr);
+
+ return OK;
+}
+
+int test_fail(FAR const char *fmt, ...)
+{
+ va_list ap;
+
+ fprintf(stderr, "uORB fail: ");
+ va_start(ap, fmt);
+ vfprintf(stderr, fmt, ap);
+
+ va_end(ap);
+
+ fprintf(stderr, "\n");
+ fflush(stderr);
+
+ return ERROR;
+}
diff --git a/system/uorb/test/utility.h b/system/uorb/test/utility.h
new file mode 100644
index 000000000..76b9a4068
--- /dev/null
+++ b/system/uorb/test/utility.h
@@ -0,0 +1,74 @@
+/****************************************************************************
+ * apps/system/uorb/test/utility.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APP_SYSTEM_UORB_UORB_TEST_UTILITY_H
+#define __APP_SYSTEM_UORB_UORB_TEST_UTILITY_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include "uORB/uORB.h"
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+struct orb_test_s
+{
+ uint64_t timestamp;
+ int32_t val;
+};
+
+struct orb_test_medium_s
+{
+ uint64_t timestamp;
+ int32_t val;
+};
+
+struct orb_test_large_s
+{
+ uint64_t timestamp;
+ int32_t val;
+};
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(orb_test);
+ORB_DECLARE(orb_multitest);
+ORB_DECLARE(orb_test_large);
+ORB_DECLARE(orb_test_medium);
+ORB_DECLARE(orb_test_medium_multi);
+ORB_DECLARE(orb_test_medium_wrap_around);
+ORB_DECLARE(orb_test_medium_queue);
+ORB_DECLARE(orb_test_medium_queue_poll);
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+int test_note(FAR const char *fmt, ...);
+int test_fail(FAR const char *fmt, ...);
+
+#endif /* __APP_SYSTEM_UORB_TEST_UTILITY_H */
[incubator-nuttx-apps] 14/20: uorb: use another writing method to avoid compiler bug
Posted by ac...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
acassis pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
commit 37f1e453b16f475cd29f239af422ebc656493784
Author: ligd <li...@xiaomi.com>
AuthorDate: Tue May 24 15:03:54 2022 +0800
uorb: use another writing method to avoid compiler bug
int func(int b)
{
int a;
while (1) {
...;
if (b != 0)
a = 1000 / b;
...;
}
}
if b == 0, then system crash in Xtensa arch, clang compiler
Signed-off-by: ligd <li...@xiaomi.com>
---
system/uorb/listener.c | 6 ++++--
1 file changed, 4 insertions(+), 2 deletions(-)
diff --git a/system/uorb/listener.c b/system/uorb/listener.c
index 9c10afdb2..eb115967d 100644
--- a/system/uorb/listener.c
+++ b/system/uorb/listener.c
@@ -499,6 +499,7 @@ static void listener_monitor(FAR struct list_node *objlist, int nb_objects,
{
FAR struct pollfd *fds;
FAR int *recv_msgs;
+ int interval = topic_rate ? 1000000 / topic_rate : 0;
int nb_recv_msgs = 0;
int i = 0;
@@ -541,9 +542,10 @@ static void listener_monitor(FAR struct list_node *objlist, int nb_objects,
listener_print(tmp->object.meta, fd);
orb_unsubscribe(fd);
}
- else if (topic_rate != 0)
+ else if (interval != 0)
{
- orb_set_frequency(fd, topic_rate);
+ orb_set_interval(fd, interval);
+
if (topic_latency != 0)
{
orb_set_batch_interval(fd, topic_latency);
[incubator-nuttx-apps] 07/20: uorb_unit_test: optimize stack used
Posted by ac...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
acassis pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
commit d44dd1c42661fae46cc32f3dd83d05a831018d00
Author: Jiuzhu Dong <do...@xiaomi.com>
AuthorDate: Sat Apr 16 18:24:02 2022 +0800
uorb_unit_test: optimize stack used
Signed-off-by: Jiuzhu Dong <do...@xiaomi.com>
---
system/uorb/test/unit_test.c | 10 +++++++++-
1 file changed, 9 insertions(+), 1 deletion(-)
diff --git a/system/uorb/test/unit_test.c b/system/uorb/test/unit_test.c
index 0aaa0a1b7..2ae6f88a3 100644
--- a/system/uorb/test/unit_test.c
+++ b/system/uorb/test/unit_test.c
@@ -61,11 +61,17 @@ static int pubsubtest_thread_entry(int argc, FAR char *argv[])
int current_value;
int num_missed = 0;
unsigned timingsgroup = 0;
- unsigned timings[MAX_RUNS];
+ FAR unsigned *timings;
unsigned timing_min = 9999999;
unsigned timing_max = 0;
unsigned i;
+ timings = malloc(MAX_RUNS * sizeof(unsigned));
+ if (timings == NULL)
+ {
+ return -ENOMEM;
+ }
+
/* clear all ready flags */
test_multi_sub = orb_subscribe_multi(ORB_ID(orb_test_medium), 0);
@@ -128,6 +134,7 @@ static int pubsubtest_thread_entry(int argc, FAR char *argv[])
if (f == NULL)
{
snerr("Error opening file!");
+ free(timings);
return ERROR;
}
@@ -167,6 +174,7 @@ static int pubsubtest_thread_entry(int argc, FAR char *argv[])
g_pubsubtest_res = OK;
}
+ free(timings);
return g_pubsubtest_res;
}
[incubator-nuttx-apps] 19/20: system/uorb: simply orb_check by SNIOC_UPDATED
Posted by ac...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
acassis pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
commit 131e4dc69d301c2f1651efdfe581ae5e799a5dda
Author: Jiuzhu Dong <do...@xiaomi.com>
AuthorDate: Tue Jun 28 15:53:43 2022 +0800
system/uorb: simply orb_check by SNIOC_UPDATED
Signed-off-by: Jiuzhu Dong <do...@xiaomi.com>
---
system/uorb/uORB/uORB.c | 16 +---------------
1 file changed, 1 insertion(+), 15 deletions(-)
diff --git a/system/uorb/uORB/uORB.c b/system/uorb/uORB/uORB.c
index 953e3b26e..5ab3b2ca3 100644
--- a/system/uorb/uORB/uORB.c
+++ b/system/uorb/uORB/uORB.c
@@ -25,7 +25,6 @@
#include <errno.h>
#include <fcntl.h>
#include <limits.h>
-#include <poll.h>
#include <stdio.h>
#include <sys/ioctl.h>
#include <unistd.h>
@@ -228,20 +227,7 @@ int orb_get_state(int fd, FAR struct orb_state *state)
int orb_check(int fd, FAR bool *updated)
{
- struct pollfd fds[1];
- int ret;
-
- fds[0].fd = fd;
- fds[0].events = POLLIN;
-
- ret = poll(fds, 1, 0);
- if (ret < 0)
- {
- return -1;
- }
-
- *updated = (fds[0].revents & POLLIN) > 0;
- return 0;
+ return ioctl(fd, SNIOC_UPDATED, (unsigned long)(uintptr_t)updated);
}
int orb_ioctl(int fd, int cmd, unsigned long arg)
[incubator-nuttx-apps] 13/20: uorb_listener: support set batch latency
Posted by ac...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
acassis pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
commit 8558e63772387445a04657238dba168b9a072c19
Author: Jiuzhu Dong <do...@xiaomi.com>
AuthorDate: Mon May 16 18:21:23 2022 +0800
uorb_listener: support set batch latency
Signed-off-by: Jiuzhu Dong <do...@xiaomi.com>
---
system/uorb/listener.c | 32 ++++++++++++++++++++++++++++----
1 file changed, 28 insertions(+), 4 deletions(-)
diff --git a/system/uorb/listener.c b/system/uorb/listener.c
index 0abe69c73..9c10afdb2 100644
--- a/system/uorb/listener.c
+++ b/system/uorb/listener.c
@@ -70,7 +70,8 @@ static int listener_generate_object_list(FAR struct list_node *objlist,
FAR const char *filter);
static int listener_print(FAR const struct orb_metadata *meta, int fd);
static void listener_monitor(FAR struct list_node *objlist, int nb_objects,
- int topic_rate, int nb_msgs, int timeout);
+ int topic_rate, int topic_latency, int nb_msgs,
+ int timeout);
static int listener_update(FAR struct list_node *objlist,
FAR struct orb_object *object);
static void listener_top(FAR struct list_node *objlist,
@@ -115,6 +116,8 @@ listener <command> [arguments...]\n\
\t[-h ] Listener commands help\n\
\t[-n <val> ] Number of messages, default: 0\n\
\t[-r <val> ] Subscription rate (unlimited if 0), default: 0\n\
+\t[-b <val> ] Subscription maximum report latency in us(unlimited if 0),\n\
+\t default: 0\n\
\t[-t <val> ] Time of listener, in seconds, default: 5\n\
\t[-T ] Top, continuously print updating objects\n\
\t[-l ] Top only execute once.\n\
@@ -482,6 +485,7 @@ static int listener_print(FAR const struct orb_metadata *meta, int fd)
* objlist List of objects to subscribe.
* nb_objects Length of objects list.
* topic_rate Subscribe frequency.
+ * topic_latency Subscribe report latency.
* nb_msgs Subscribe amount of messages.
* timeout Maximum poll waiting time , ms.
*
@@ -490,7 +494,8 @@ static int listener_print(FAR const struct orb_metadata *meta, int fd)
****************************************************************************/
static void listener_monitor(FAR struct list_node *objlist, int nb_objects,
- int topic_rate, int nb_msgs, int timeout)
+ int topic_rate, int topic_latency, int nb_msgs,
+ int timeout)
{
FAR struct pollfd *fds;
FAR int *recv_msgs;
@@ -539,6 +544,10 @@ static void listener_monitor(FAR struct list_node *objlist, int nb_objects,
else if (topic_rate != 0)
{
orb_set_frequency(fd, topic_rate);
+ if (topic_latency != 0)
+ {
+ orb_set_batch_interval(fd, topic_latency);
+ }
}
i++;
@@ -598,6 +607,11 @@ static void listener_monitor(FAR struct list_node *objlist, int nb_objects,
}
else
{
+ if (topic_latency)
+ {
+ orb_set_batch_interval(fds[i].fd, 0);
+ }
+
orb_unsubscribe(fds[i].fd);
uorbinfo_raw("Object name:%s%d, recieved:%d",
tmp->object.meta->o_name, tmp->object.instance,
@@ -695,6 +709,7 @@ int main(int argc, FAR char *argv[])
struct list_node objlist;
FAR struct listen_object_s *tmp;
int topic_rate = 0;
+ int topic_latency = 0;
int nb_msgs = 0;
int timeout = 5;
bool top = false;
@@ -711,7 +726,7 @@ int main(int argc, FAR char *argv[])
/* Pasrse Argument */
- while ((ch = getopt(argc, argv, "r:n:t:Tlh")) != EOF)
+ while ((ch = getopt(argc, argv, "r:b:n:t:Tlh")) != EOF)
{
switch (ch)
{
@@ -723,6 +738,14 @@ int main(int argc, FAR char *argv[])
}
break;
+ case 'b':
+ topic_latency = strtol(optarg, NULL, 0);
+ if (topic_latency < 0)
+ {
+ goto error;
+ }
+ break;
+
case 'n':
nb_msgs = strtol(optarg, NULL, 0);
if (nb_msgs < 0)
@@ -781,7 +804,8 @@ int main(int argc, FAR char *argv[])
tmp->object.instance);
}
- listener_monitor(&objlist, ret, topic_rate, nb_msgs, timeout);
+ listener_monitor(&objlist, ret, topic_rate, topic_latency,
+ nb_msgs, timeout);
}
listener_delete_object_list(&objlist);
[incubator-nuttx-apps] 03/20: system/uorb: add builtin sensor topics
Posted by ac...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
acassis pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
commit 46c98420b7e11381280effbdf0709d5e2cd0ae00
Author: Jiuzhu Dong <do...@xiaomi.com>
AuthorDate: Fri Mar 25 19:29:42 2022 +0800
system/uorb: add builtin sensor topics
Signed-off-by: Jiuzhu Dong <do...@xiaomi.com>
---
system/uorb/sensor/accel.c | 51 +++++++++++++++++++++++++++
system/uorb/sensor/accel.h | 39 +++++++++++++++++++++
system/uorb/sensor/baro.c | 49 ++++++++++++++++++++++++++
system/uorb/sensor/baro.h | 38 ++++++++++++++++++++
system/uorb/sensor/cap.c | 51 +++++++++++++++++++++++++++
system/uorb/sensor/cap.h | 38 ++++++++++++++++++++
system/uorb/sensor/co2.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/co2.h | 38 ++++++++++++++++++++
system/uorb/sensor/dust.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/dust.h | 38 ++++++++++++++++++++
system/uorb/sensor/ecg.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/ecg.h | 38 ++++++++++++++++++++
system/uorb/sensor/gesture.c | 52 ++++++++++++++++++++++++++++
system/uorb/sensor/gesture.h | 39 +++++++++++++++++++++
system/uorb/sensor/gps.c | 82 ++++++++++++++++++++++++++++++++++++++++++++
system/uorb/sensor/gps.h | 39 +++++++++++++++++++++
system/uorb/sensor/gyro.c | 51 +++++++++++++++++++++++++++
system/uorb/sensor/gyro.h | 39 +++++++++++++++++++++
system/uorb/sensor/hall.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/hall.h | 38 ++++++++++++++++++++
system/uorb/sensor/hbeat.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/hbeat.h | 38 ++++++++++++++++++++
system/uorb/sensor/hcho.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/hcho.h | 38 ++++++++++++++++++++
system/uorb/sensor/hrate.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/hrate.h | 38 ++++++++++++++++++++
system/uorb/sensor/humi.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/humi.h | 38 ++++++++++++++++++++
system/uorb/sensor/impd.c | 49 ++++++++++++++++++++++++++
system/uorb/sensor/impd.h | 38 ++++++++++++++++++++
system/uorb/sensor/ir.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/ir.h | 38 ++++++++++++++++++++
system/uorb/sensor/light.c | 50 +++++++++++++++++++++++++++
system/uorb/sensor/light.h | 39 +++++++++++++++++++++
system/uorb/sensor/mag.c | 51 +++++++++++++++++++++++++++
system/uorb/sensor/mag.h | 39 +++++++++++++++++++++
system/uorb/sensor/noise.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/noise.h | 38 ++++++++++++++++++++
system/uorb/sensor/ots.c | 49 ++++++++++++++++++++++++++
system/uorb/sensor/ots.h | 38 ++++++++++++++++++++
system/uorb/sensor/ph.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/ph.h | 38 ++++++++++++++++++++
system/uorb/sensor/pm10.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/pm10.h | 38 ++++++++++++++++++++
system/uorb/sensor/pm1p0.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/pm1p0.h | 38 ++++++++++++++++++++
system/uorb/sensor/pm25.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/pm25.h | 38 ++++++++++++++++++++
system/uorb/sensor/ppgd.c | 51 +++++++++++++++++++++++++++
system/uorb/sensor/ppgd.h | 38 ++++++++++++++++++++
system/uorb/sensor/ppgq.c | 53 ++++++++++++++++++++++++++++
system/uorb/sensor/ppgq.h | 38 ++++++++++++++++++++
system/uorb/sensor/prox.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/prox.h | 38 ++++++++++++++++++++
system/uorb/sensor/rgb.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/rgb.h | 38 ++++++++++++++++++++
system/uorb/sensor/temp.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/temp.h | 38 ++++++++++++++++++++
system/uorb/sensor/tvoc.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/tvoc.h | 38 ++++++++++++++++++++
system/uorb/sensor/uv.c | 48 ++++++++++++++++++++++++++
system/uorb/sensor/uv.h | 38 ++++++++++++++++++++
62 files changed, 2735 insertions(+)
diff --git a/system/uorb/sensor/accel.c b/system/uorb/sensor/accel.c
new file mode 100644
index 000000000..2b15cf5ac
--- /dev/null
+++ b/system/uorb/sensor/accel.c
@@ -0,0 +1,51 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/accel.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 <sensor/accel.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_accel_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_accel *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "temperature: %.2f x: %.2f y: %.2f z: %.2f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->temperature, message->x, message->y, message->z);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_accel, struct sensor_accel, print_sensor_accel_message);
+ORB_DEFINE(sensor_accel_uncal, struct sensor_accel,
+ print_sensor_accel_message);
diff --git a/system/uorb/sensor/accel.h b/system/uorb/sensor/accel.h
new file mode 100644
index 000000000..43d22af48
--- /dev/null
+++ b/system/uorb/sensor/accel.h
@@ -0,0 +1,39 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/accel.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_ACCEL_H
+#define __APPS_SYSTEM_UORB_SENSOR_ACCEL_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_accel);
+ORB_DECLARE(sensor_accel_uncal);
+
+#endif
diff --git a/system/uorb/sensor/baro.c b/system/uorb/sensor/baro.c
new file mode 100644
index 000000000..fab5d321f
--- /dev/null
+++ b/system/uorb/sensor/baro.c
@@ -0,0 +1,49 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/baro.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 <sensor/baro.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_baro_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_baro *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "temperature: %.2f pressure: %.2f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->temperature, message->pressure);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_baro, struct sensor_baro, print_sensor_baro_message);
diff --git a/system/uorb/sensor/baro.h b/system/uorb/sensor/baro.h
new file mode 100644
index 000000000..b5c8f930b
--- /dev/null
+++ b/system/uorb/sensor/baro.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/baro.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_BARO_H
+#define __APPS_SYSTEM_UORB_SENSOR_BARO_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_baro);
+
+#endif
diff --git a/system/uorb/sensor/cap.c b/system/uorb/sensor/cap.c
new file mode 100644
index 000000000..e3a809a4d
--- /dev/null
+++ b/system/uorb/sensor/cap.c
@@ -0,0 +1,51 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/cap.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 <sensor/cap.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_cap_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_cap *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "status: %" PRIu32 " rawdata0: %" PRIu32 " rawdata1: "
+ "%" PRIu32 " rawdata2: %" PRIu32 " rawdata3: %" PRIu32 "",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->status, message->rawdata[0], message->rawdata[1],
+ message->rawdata[2], message->rawdata[3]);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_cap, struct sensor_cap, print_sensor_cap_message);
diff --git a/system/uorb/sensor/cap.h b/system/uorb/sensor/cap.h
new file mode 100644
index 000000000..b4dd55372
--- /dev/null
+++ b/system/uorb/sensor/cap.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/cap.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_CAP_H
+#define __APPS_SYSTEM_UORB_SENSOR_CAP_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_cap);
+
+#endif
diff --git a/system/uorb/sensor/co2.c b/system/uorb/sensor/co2.c
new file mode 100644
index 000000000..8dd09f425
--- /dev/null
+++ b/system/uorb/sensor/co2.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/co2.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 <sensor/co2.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_co2_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_co2 *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) co2: %.2f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->co2);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_co2, struct sensor_co2, print_sensor_co2_message);
diff --git a/system/uorb/sensor/co2.h b/system/uorb/sensor/co2.h
new file mode 100644
index 000000000..a4692f9fa
--- /dev/null
+++ b/system/uorb/sensor/co2.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/co2.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_CO2_H
+#define __APPS_SYSTEM_UORB_SENSOR_CO2_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_co2);
+
+#endif
diff --git a/system/uorb/sensor/dust.c b/system/uorb/sensor/dust.c
new file mode 100644
index 000000000..c205952fa
--- /dev/null
+++ b/system/uorb/sensor/dust.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/dust.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 <sensor/dust.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_dust_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_dust *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) dust: %.2f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->dust);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_dust, struct sensor_dust, print_sensor_dust_message);
diff --git a/system/uorb/sensor/dust.h b/system/uorb/sensor/dust.h
new file mode 100644
index 000000000..0be558d15
--- /dev/null
+++ b/system/uorb/sensor/dust.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/dust.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_DUST_H
+#define __APPS_SYSTEM_UORB_SENSOR_DUST_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_dust);
+
+#endif
diff --git a/system/uorb/sensor/ecg.c b/system/uorb/sensor/ecg.c
new file mode 100644
index 000000000..fdc050e83
--- /dev/null
+++ b/system/uorb/sensor/ecg.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/ecg.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 <sensor/ecg.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_ecg_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_ecg *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) ecg: %.4f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->ecg);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_ecg, struct sensor_ecg, print_sensor_ecg_message);
diff --git a/system/uorb/sensor/ecg.h b/system/uorb/sensor/ecg.h
new file mode 100644
index 000000000..c190e2407
--- /dev/null
+++ b/system/uorb/sensor/ecg.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/ecg.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_ECG_H
+#define __APPS_SYSTEM_UORB_SENSOR_ECG_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_ecg);
+
+#endif
diff --git a/system/uorb/sensor/gesture.c b/system/uorb/sensor/gesture.c
new file mode 100644
index 000000000..e012adbd7
--- /dev/null
+++ b/system/uorb/sensor/gesture.c
@@ -0,0 +1,52 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/gesture.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 <sensor/gesture.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void
+print_sensor_wake_gesture_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_wake_gesture *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago)"
+ " event: %" PRIu32 "", meta->o_name, message->timestamp,
+ now - message->timestamp, message->event);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_wake_gesture, struct sensor_wake_gesture,
+ print_sensor_wake_gesture_message);
+ORB_DEFINE(sensor_wake_gesture_uncal, struct sensor_wake_gesture,
+ print_sensor_wake_gesture_message);
diff --git a/system/uorb/sensor/gesture.h b/system/uorb/sensor/gesture.h
new file mode 100644
index 000000000..521f7d8b3
--- /dev/null
+++ b/system/uorb/sensor/gesture.h
@@ -0,0 +1,39 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/gesture.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_GESTURE_H
+#define __APPS_SYSTEM_UORB_SENSOR_GESTURE_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_wake_gesture);
+ORB_DECLARE(sensor_wake_gesture_uncal);
+
+#endif
diff --git a/system/uorb/sensor/gps.c b/system/uorb/sensor/gps.c
new file mode 100644
index 000000000..565e9d2b5
--- /dev/null
+++ b/system/uorb/sensor/gps.c
@@ -0,0 +1,82 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/gps.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 <sensor/gps.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_gps_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_gps *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "time_utc: %" PRIu64 " latitude: %.4f longitude: %.4f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->time_utc, message->latitude, message->longitude);
+
+ uorbinfo_raw("%s:\taltitude: %.4f altitude_ellipsoid: %.4f "
+ "ground_speed: %.4f course: %.4f",
+ meta->o_name, message->altitude, message->altitude_ellipsoid,
+ message->ground_speed, message->course);
+
+ uorbinfo_raw("%s:\teph: %.4f epv: %.4f hdop: %.4f vdop: %.4f",
+ meta->o_name, message->eph, message->epv,
+ message->hdop, message->vdop);
+}
+
+static void
+print_sensor_gps_satellite_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_gps_satellite *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+ int i;
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago)",
+ meta->o_name, message->timestamp, now - message->timestamp);
+
+ for (i = 0; i < message->count; i++)
+ {
+ uorbinfo_raw("%s:\tnumber:%d svid: %" PRIu32
+ "elevation: %" PRIu32 "azimuth: %" PRIu32
+ " snr: %" PRIu32 "",
+ meta->o_name, i, message->info[i].svid,
+ message->info[i].elevation, message->info[i].azimuth,
+ message->info[i].snr);
+ }
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_gps, struct sensor_gps, print_sensor_gps_message);
+ORB_DEFINE(sensor_gps_satellite, struct sensor_gps_satellite,
+ print_sensor_gps_satellite_message);
diff --git a/system/uorb/sensor/gps.h b/system/uorb/sensor/gps.h
new file mode 100644
index 000000000..1c0300ae1
--- /dev/null
+++ b/system/uorb/sensor/gps.h
@@ -0,0 +1,39 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/gps.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_GPS_H
+#define __APPS_SYSTEM_UORB_SENSOR_GPS_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_gps);
+ORB_DECLARE(sensor_gps_satellite);
+
+#endif
diff --git a/system/uorb/sensor/gyro.c b/system/uorb/sensor/gyro.c
new file mode 100644
index 000000000..d0df6a3d4
--- /dev/null
+++ b/system/uorb/sensor/gyro.c
@@ -0,0 +1,51 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/gyro.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 <sensor/gyro.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_gyro_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_gyro *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "temperature: %.2f x: %.2f y: %.2f z: %.2f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->temperature, message->x, message->y, message->z);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_gyro, struct sensor_gyro, print_sensor_gyro_message);
+ORB_DEFINE(sensor_gyro_uncal, struct sensor_gyro,
+ print_sensor_gyro_message);
diff --git a/system/uorb/sensor/gyro.h b/system/uorb/sensor/gyro.h
new file mode 100644
index 000000000..aeb6b9361
--- /dev/null
+++ b/system/uorb/sensor/gyro.h
@@ -0,0 +1,39 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/gyro.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_GYRO_H
+#define __APPS_SYSTEM_UORB_SENSOR_GYRO_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_gyro);
+ORB_DECLARE(sensor_gyro_uncal);
+
+#endif
diff --git a/system/uorb/sensor/hall.c b/system/uorb/sensor/hall.c
new file mode 100644
index 000000000..f55409ff6
--- /dev/null
+++ b/system/uorb/sensor/hall.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/hall.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 <sensor/hall.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_hall_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_hall *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) hall: %d",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->hall);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_hall, struct sensor_hall, print_sensor_hall_message);
diff --git a/system/uorb/sensor/hall.h b/system/uorb/sensor/hall.h
new file mode 100644
index 000000000..01792d70f
--- /dev/null
+++ b/system/uorb/sensor/hall.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/hall.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_HALL_H
+#define __APPS_SYSTEM_UORB_SENSOR_HALL_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_hall);
+
+#endif
diff --git a/system/uorb/sensor/hbeat.c b/system/uorb/sensor/hbeat.c
new file mode 100644
index 000000000..ead4d409a
--- /dev/null
+++ b/system/uorb/sensor/hbeat.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/hbeat.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 <sensor/hbeat.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_hbeat_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_hbeat *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "heart beat: %.4f", meta->o_name, message->timestamp,
+ now - message->timestamp, message->beat);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_hbeat, struct sensor_hbeat, print_sensor_hbeat_message);
diff --git a/system/uorb/sensor/hbeat.h b/system/uorb/sensor/hbeat.h
new file mode 100644
index 000000000..493743fc1
--- /dev/null
+++ b/system/uorb/sensor/hbeat.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/hbeat.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_HBEAT_H
+#define __APPS_SYSTEM_UORB_SENSOR_HBEAT_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_hbeat);
+
+#endif
diff --git a/system/uorb/sensor/hcho.c b/system/uorb/sensor/hcho.c
new file mode 100644
index 000000000..704cbe6c3
--- /dev/null
+++ b/system/uorb/sensor/hcho.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/hcho.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 <sensor/hcho.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_hcho_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_hcho *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) hcho: %.4f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->hcho);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_hcho, struct sensor_hcho, print_sensor_hcho_message);
diff --git a/system/uorb/sensor/hcho.h b/system/uorb/sensor/hcho.h
new file mode 100644
index 000000000..d52d0b8d6
--- /dev/null
+++ b/system/uorb/sensor/hcho.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/hcho.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_HCHO_H
+#define __APPS_SYSTEM_UORB_SENSOR_HCHO_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_hcho);
+
+#endif
diff --git a/system/uorb/sensor/hrate.c b/system/uorb/sensor/hrate.c
new file mode 100644
index 000000000..04961b305
--- /dev/null
+++ b/system/uorb/sensor/hrate.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/hrate.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 <sensor/hrate.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_hrate_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_hrate *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "heart rate: %.4f", meta->o_name, message->timestamp,
+ now - message->timestamp, message->bpm);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_hrate, struct sensor_hrate, print_sensor_hrate_message);
diff --git a/system/uorb/sensor/hrate.h b/system/uorb/sensor/hrate.h
new file mode 100644
index 000000000..d7b5e5266
--- /dev/null
+++ b/system/uorb/sensor/hrate.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/hrate.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_HRATE_H
+#define __APPS_SYSTEM_UORB_SENSOR_HRATE_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_hrate);
+
+#endif
diff --git a/system/uorb/sensor/humi.c b/system/uorb/sensor/humi.c
new file mode 100644
index 000000000..a765d85bd
--- /dev/null
+++ b/system/uorb/sensor/humi.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/humi.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 <sensor/humi.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_humi_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_humi *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) humi: %.4f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->humidity);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_humi, struct sensor_humi, print_sensor_humi_message);
diff --git a/system/uorb/sensor/humi.h b/system/uorb/sensor/humi.h
new file mode 100644
index 000000000..32eaf4c0b
--- /dev/null
+++ b/system/uorb/sensor/humi.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/humi.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_HUMI_H
+#define __APPS_SYSTEM_UORB_SENSOR_HUMI_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_humi);
+
+#endif
diff --git a/system/uorb/sensor/impd.c b/system/uorb/sensor/impd.c
new file mode 100644
index 000000000..00ea5f5cc
--- /dev/null
+++ b/system/uorb/sensor/impd.c
@@ -0,0 +1,49 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/impd.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 <sensor/impd.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_impd_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_impd *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "real: %.2f imaginary: %.2f", meta->o_name,
+ message->timestamp, now - message->timestamp,
+ message->real, message->imag);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_impd, struct sensor_impd, print_sensor_impd_message);
diff --git a/system/uorb/sensor/impd.h b/system/uorb/sensor/impd.h
new file mode 100644
index 000000000..b2bedb62c
--- /dev/null
+++ b/system/uorb/sensor/impd.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/impd.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_IMPD_H
+#define __APPS_SYSTEM_UORB_SENSOR_IMPD_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_impd);
+
+#endif
diff --git a/system/uorb/sensor/ir.c b/system/uorb/sensor/ir.c
new file mode 100644
index 000000000..1ee57f8a7
--- /dev/null
+++ b/system/uorb/sensor/ir.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/ir.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 <sensor/ir.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_ir_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_ir *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) ir: %.4f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->ir);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_ir, struct sensor_ir, print_sensor_ir_message);
diff --git a/system/uorb/sensor/ir.h b/system/uorb/sensor/ir.h
new file mode 100644
index 000000000..2fba17607
--- /dev/null
+++ b/system/uorb/sensor/ir.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/ir.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_IR_H
+#define __APPS_SYSTEM_UORB_SENSOR_IR_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_ir);
+
+#endif
diff --git a/system/uorb/sensor/light.c b/system/uorb/sensor/light.c
new file mode 100644
index 000000000..89b2fd530
--- /dev/null
+++ b/system/uorb/sensor/light.c
@@ -0,0 +1,50 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/light.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 <sensor/light.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_light_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_light *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "light: %.2f ir: %.2f", meta->o_name, message->timestamp,
+ now - message->timestamp, message->light, message->ir);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_light, struct sensor_light, print_sensor_light_message);
+ORB_DEFINE(sensor_light_uncal, struct sensor_light,
+ print_sensor_light_message);
diff --git a/system/uorb/sensor/light.h b/system/uorb/sensor/light.h
new file mode 100644
index 000000000..c2a7c6f7b
--- /dev/null
+++ b/system/uorb/sensor/light.h
@@ -0,0 +1,39 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/light.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_LIGHT_H
+#define __APPS_SYSTEM_UORB_SENSOR_LIGHT_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_light);
+ORB_DECLARE(sensor_light_uncal);
+
+#endif
diff --git a/system/uorb/sensor/mag.c b/system/uorb/sensor/mag.c
new file mode 100644
index 000000000..c68fd71c5
--- /dev/null
+++ b/system/uorb/sensor/mag.c
@@ -0,0 +1,51 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/mag.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 <sensor/mag.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_mag_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_mag *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "temperature: %.2f x: %.2f y: %.2f z: %.2f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->temperature, message->x, message->y, message->z);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_mag, struct sensor_mag, print_sensor_mag_message);
+ORB_DEFINE(sensor_mag_uncal, struct sensor_mag,
+ print_sensor_mag_message);
diff --git a/system/uorb/sensor/mag.h b/system/uorb/sensor/mag.h
new file mode 100644
index 000000000..972e3f83e
--- /dev/null
+++ b/system/uorb/sensor/mag.h
@@ -0,0 +1,39 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/mag.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_MAG_H
+#define __APPS_SYSTEM_UORB_SENSOR_MAG_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_mag);
+ORB_DECLARE(sensor_mag_uncal);
+
+#endif
diff --git a/system/uorb/sensor/noise.c b/system/uorb/sensor/noise.c
new file mode 100644
index 000000000..46420e363
--- /dev/null
+++ b/system/uorb/sensor/noise.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/noise.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 <sensor/noise.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_noise_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_noise *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "noise: %.4f", meta->o_name, message->timestamp,
+ now - message->timestamp, message->db);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_noise, struct sensor_noise, print_sensor_noise_message);
diff --git a/system/uorb/sensor/noise.h b/system/uorb/sensor/noise.h
new file mode 100644
index 000000000..5f0504164
--- /dev/null
+++ b/system/uorb/sensor/noise.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/noise.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_NOISE_H
+#define __APPS_SYSTEM_UORB_SENSOR_NOISE_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_noise);
+
+#endif
diff --git a/system/uorb/sensor/ots.c b/system/uorb/sensor/ots.c
new file mode 100644
index 000000000..100054c07
--- /dev/null
+++ b/system/uorb/sensor/ots.c
@@ -0,0 +1,49 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/ots.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 <sensor/ots.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_ots_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_ots *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "x: % " PRIi32 " y: % " PRIi32 "",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->x, message->y);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_ots, struct sensor_ots, print_sensor_ots_message);
diff --git a/system/uorb/sensor/ots.h b/system/uorb/sensor/ots.h
new file mode 100644
index 000000000..9a8c1ecb7
--- /dev/null
+++ b/system/uorb/sensor/ots.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/ots.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_OTS_H
+#define __APPS_SYSTEM_UORB_SENSOR_OTS_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_ots);
+
+#endif
diff --git a/system/uorb/sensor/ph.c b/system/uorb/sensor/ph.c
new file mode 100644
index 000000000..06028869e
--- /dev/null
+++ b/system/uorb/sensor/ph.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/ph.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 <sensor/ph.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_ph_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_ph *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) ph: %.4f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->ph);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_ph, struct sensor_ph, print_sensor_ph_message);
diff --git a/system/uorb/sensor/ph.h b/system/uorb/sensor/ph.h
new file mode 100644
index 000000000..57d1e79e4
--- /dev/null
+++ b/system/uorb/sensor/ph.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/ph.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_PH_H
+#define __APPS_SYSTEM_UORB_SENSOR_PH_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_ph);
+
+#endif
diff --git a/system/uorb/sensor/pm10.c b/system/uorb/sensor/pm10.c
new file mode 100644
index 000000000..b2e57f197
--- /dev/null
+++ b/system/uorb/sensor/pm10.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/pm10.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 <sensor/pm10.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_pm10_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_pm10 *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) pm10: %.4f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->pm10);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_pm10, struct sensor_pm10, print_sensor_pm10_message);
diff --git a/system/uorb/sensor/pm10.h b/system/uorb/sensor/pm10.h
new file mode 100644
index 000000000..6cba6edd7
--- /dev/null
+++ b/system/uorb/sensor/pm10.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/pm10.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_PM10_H
+#define __APPS_SYSTEM_UORB_SENSOR_PM10_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_pm10);
+
+#endif
diff --git a/system/uorb/sensor/pm1p0.c b/system/uorb/sensor/pm1p0.c
new file mode 100644
index 000000000..31a1db77e
--- /dev/null
+++ b/system/uorb/sensor/pm1p0.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/pm1p0.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 <sensor/pm1p0.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_pm1p0_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_pm1p0 *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "pm1p0: %.4f", meta->o_name, message->timestamp,
+ now - message->timestamp, message->pm1p0);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_pm1p0, struct sensor_pm1p0, print_sensor_pm1p0_message);
diff --git a/system/uorb/sensor/pm1p0.h b/system/uorb/sensor/pm1p0.h
new file mode 100644
index 000000000..dca018507
--- /dev/null
+++ b/system/uorb/sensor/pm1p0.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/pm1p0.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_PM1P0_H
+#define __APPS_SYSTEM_UORB_SENSOR_PM1P0_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_pm1p0);
+
+#endif
diff --git a/system/uorb/sensor/pm25.c b/system/uorb/sensor/pm25.c
new file mode 100644
index 000000000..83dee92cc
--- /dev/null
+++ b/system/uorb/sensor/pm25.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/pm25.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 <sensor/pm25.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_pm25_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_pm25 *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) pm25: %.4f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->pm25);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_pm25, struct sensor_pm25, print_sensor_pm25_message);
diff --git a/system/uorb/sensor/pm25.h b/system/uorb/sensor/pm25.h
new file mode 100644
index 000000000..b62fb9d7c
--- /dev/null
+++ b/system/uorb/sensor/pm25.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/pm25.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_PM25_H
+#define __APPS_SYSTEM_UORB_SENSOR_PM25_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_pm25);
+
+#endif
diff --git a/system/uorb/sensor/ppgd.c b/system/uorb/sensor/ppgd.c
new file mode 100644
index 000000000..9c6bceba1
--- /dev/null
+++ b/system/uorb/sensor/ppgd.c
@@ -0,0 +1,51 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/ppgd.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 <sensor/ppgd.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_ppgd_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_ppgd *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "ppg1: %" PRIu32 " ppg2: %" PRIu32 " current: %" PRIu32 " "
+ "gain1: %" PRIu16 " gain2: %" PRIu16 "",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->ppg[0], message->ppg[1], message->current,
+ message->gain[0], message->gain[1]);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_ppgd, struct sensor_ppgd, print_sensor_ppgd_message);
diff --git a/system/uorb/sensor/ppgd.h b/system/uorb/sensor/ppgd.h
new file mode 100644
index 000000000..d326c50bd
--- /dev/null
+++ b/system/uorb/sensor/ppgd.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/ppgd.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_PPGD_H
+#define __APPS_SYSTEM_UORB_SENSOR_PPGD_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_ppgd);
+
+#endif
diff --git a/system/uorb/sensor/ppgq.c b/system/uorb/sensor/ppgq.c
new file mode 100644
index 000000000..92563ceb7
--- /dev/null
+++ b/system/uorb/sensor/ppgq.c
@@ -0,0 +1,53 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/ppgq.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 <sensor/ppgq.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_ppgq_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_ppgq *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "ppg1: %" PRIu32 " ppg2: %" PRIu32 " ppg3: %" PRIu32 " "
+ "ppg4: %" PRIu32 "current: %" PRIu32 " gain1: %" PRIu16 " "
+ "gain2: %" PRIu16 " gain3: %" PRIu16 " gain4: %" PRIu16 "",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->ppg[0], message->ppg[1], message->ppg[2],
+ message->ppg[3], message->current, message->gain[0],
+ message->gain[1], message->gain[2], message->gain[3]);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_ppgq, struct sensor_ppgq, print_sensor_ppgq_message);
diff --git a/system/uorb/sensor/ppgq.h b/system/uorb/sensor/ppgq.h
new file mode 100644
index 000000000..9816fcc8e
--- /dev/null
+++ b/system/uorb/sensor/ppgq.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/ppgq.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_PPGQ_H
+#define __APPS_SYSTEM_UORB_SENSOR_PPGQ_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_ppgq);
+
+#endif
diff --git a/system/uorb/sensor/prox.c b/system/uorb/sensor/prox.c
new file mode 100644
index 000000000..cc373d936
--- /dev/null
+++ b/system/uorb/sensor/prox.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/prox.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 <sensor/prox.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_prox_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_prox *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "proximity: %.4f", meta->o_name, message->timestamp,
+ now - message->timestamp, message->proximity);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_prox, struct sensor_prox, print_sensor_prox_message);
diff --git a/system/uorb/sensor/prox.h b/system/uorb/sensor/prox.h
new file mode 100644
index 000000000..b4d8eb9a3
--- /dev/null
+++ b/system/uorb/sensor/prox.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/prox.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_PROX_H
+#define __APPS_SYSTEM_UORB_SENSOR_PROX_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_prox);
+
+#endif
diff --git a/system/uorb/sensor/rgb.c b/system/uorb/sensor/rgb.c
new file mode 100644
index 000000000..f5363a3fe
--- /dev/null
+++ b/system/uorb/sensor/rgb.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/rgb.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 <sensor/rgb.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_rgb_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_rgb *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) red: %.2f"
+ " green: %.2f blue: %.2f\n", meta->o_name, message->timestamp,
+ now - message->timestamp, message->r, message->g, message->b);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_rgb, struct sensor_rgb, print_sensor_rgb_message);
diff --git a/system/uorb/sensor/rgb.h b/system/uorb/sensor/rgb.h
new file mode 100644
index 000000000..3eee8ec21
--- /dev/null
+++ b/system/uorb/sensor/rgb.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/rgb.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_RGB_H
+#define __APPS_SYSTEM_UORB_SENSOR_RGB_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_rgb);
+
+#endif
diff --git a/system/uorb/sensor/temp.c b/system/uorb/sensor/temp.c
new file mode 100644
index 000000000..428d51c6d
--- /dev/null
+++ b/system/uorb/sensor/temp.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/temp.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 <sensor/temp.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_temp_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_temp *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+ "temperature: %.4f", meta->o_name, message->timestamp,
+ now - message->timestamp, message->temperature);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_temp, struct sensor_temp, print_sensor_temp_message);
diff --git a/system/uorb/sensor/temp.h b/system/uorb/sensor/temp.h
new file mode 100644
index 000000000..3d0f9301e
--- /dev/null
+++ b/system/uorb/sensor/temp.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/temp.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_TEMP_H
+#define __APPS_SYSTEM_UORB_SENSOR_TEMP_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_temp);
+
+#endif
diff --git a/system/uorb/sensor/tvoc.c b/system/uorb/sensor/tvoc.c
new file mode 100644
index 000000000..b3cf21846
--- /dev/null
+++ b/system/uorb/sensor/tvoc.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/tvoc.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 <sensor/tvoc.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_tvoc_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_tvoc *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) tvoc: %.4f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->tvoc);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_tvoc, struct sensor_tvoc, print_sensor_tvoc_message);
diff --git a/system/uorb/sensor/tvoc.h b/system/uorb/sensor/tvoc.h
new file mode 100644
index 000000000..9c8f9889e
--- /dev/null
+++ b/system/uorb/sensor/tvoc.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/tvoc.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_TVOC_H
+#define __APPS_SYSTEM_UORB_SENSOR_TVOC_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_tvoc);
+
+#endif
diff --git a/system/uorb/sensor/uv.c b/system/uorb/sensor/uv.c
new file mode 100644
index 000000000..0e827c675
--- /dev/null
+++ b/system/uorb/sensor/uv.c
@@ -0,0 +1,48 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/uv.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 <sensor/uv.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_uv_message(FAR const struct orb_metadata *meta,
+ FAR const void *buffer)
+{
+ FAR const struct sensor_uv *message = buffer;
+ const orb_abstime now = orb_absolute_time();
+
+ uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) uvi: %.4f",
+ meta->o_name, message->timestamp, now - message->timestamp,
+ message->uvi);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_uv, struct sensor_uv, print_sensor_uv_message);
diff --git a/system/uorb/sensor/uv.h b/system/uorb/sensor/uv.h
new file mode 100644
index 000000000..fbdd6ddf9
--- /dev/null
+++ b/system/uorb/sensor/uv.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/uv.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_UV_H
+#define __APPS_SYSTEM_UORB_SENSOR_UV_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_uv);
+
+#endif
[incubator-nuttx-apps] 11/20: app/system/uorb: alloc on heap instead of stack.
Posted by ac...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
acassis pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
commit 384c05beb27e63d2517caa70f0279237084e4fe2
Author: jihandong <ji...@xiaomi.com>
AuthorDate: Sat May 7 22:30:47 2022 +0800
app/system/uorb: alloc on heap instead of stack.
Signed-off-by: jihandong <ji...@xiaomi.com>
---
system/uorb/listener.c | 21 +++++++++++++++++++--
1 file changed, 19 insertions(+), 2 deletions(-)
diff --git a/system/uorb/listener.c b/system/uorb/listener.c
index 8369503b5..0abe69c73 100644
--- a/system/uorb/listener.c
+++ b/system/uorb/listener.c
@@ -492,13 +492,26 @@ static int listener_print(FAR const struct orb_metadata *meta, int fd)
static void listener_monitor(FAR struct list_node *objlist, int nb_objects,
int topic_rate, int nb_msgs, int timeout)
{
- struct pollfd fds[nb_objects];
- int recv_msgs[nb_objects];
+ FAR struct pollfd *fds;
+ FAR int *recv_msgs;
int nb_recv_msgs = 0;
int i = 0;
struct listen_object_s *tmp;
+ fds = malloc(nb_objects * sizeof(struct pollfd));
+ if (!fds)
+ {
+ return;
+ }
+
+ recv_msgs = malloc(nb_objects * sizeof(int));
+ if (!recv_msgs)
+ {
+ free(fds);
+ return;
+ }
+
/* Prepare pollfd for all objects */
list_for_every_entry(objlist, tmp, struct listen_object_s, node)
@@ -533,6 +546,8 @@ static void listener_monitor(FAR struct list_node *objlist, int nb_objects,
if (nb_msgs == 1)
{
+ free(fds);
+ free(recv_msgs);
return;
}
@@ -594,6 +609,8 @@ static void listener_monitor(FAR struct list_node *objlist, int nb_objects,
uorbinfo_raw("Total number of received Message:%d/%d",
nb_recv_msgs, nb_msgs ? nb_msgs : nb_recv_msgs);
+ free(fds);
+ free(recv_msgs);
}
/****************************************************************************
[incubator-nuttx-apps] 18/20: uorb/listener: ignore first get_state failed.
Posted by ac...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
acassis pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
commit 3f865c4f9ebd77e53967a51f573bdb2acdbcea60
Author: jihandong <ji...@xiaomi.com>
AuthorDate: Mon Jun 13 15:39:24 2022 +0800
uorb/listener: ignore first get_state failed.
Signed-off-by: jihandong <ji...@xiaomi.com>
Signed-off-by: Jiuzhu Dong <do...@xiaomi.com>
---
system/uorb/listener.c | 11 +++--------
1 file changed, 3 insertions(+), 8 deletions(-)
diff --git a/system/uorb/listener.c b/system/uorb/listener.c
index 284ecfa7f..237e149d8 100644
--- a/system/uorb/listener.c
+++ b/system/uorb/listener.c
@@ -183,16 +183,10 @@ static int listener_add_object(FAR struct list_node *objlist,
}
ret = listener_get_state(object, &state);
- if (ret < 0)
- {
- free(tmp);
- return ret;
- }
-
tmp->object.meta = object->meta;
tmp->object.instance = object->instance;
tmp->timestamp = orb_absolute_time();
- tmp->generation = state.generation;
+ tmp->generation = ret < 0 ? 0 : state.generation;
list_add_tail(objlist, &tmp->node);
return 0;
}
@@ -252,7 +246,8 @@ static int listener_update(FAR struct list_node *objlist,
{
unsigned long frequency;
- frequency = delta_generation * 1000000 / delta_time;
+ frequency = (state.max_frequency ? state.max_frequency : 1000000)
+ * delta_generation / delta_time;
uorbinfo_raw("\033[K" "%-*s %2u %4" PRIu32 " %4lu "
"%2" PRIu32 " %4u",
ORB_MAX_PRINT_NAME,
[incubator-nuttx-apps] 20/20: app/system/uorb: fix error, memset() wrong size.
Posted by ac...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
acassis pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
commit 74af9a8065c68d66bfdf0590aa8f96a819e402fc
Author: jihandong <ji...@xiaomi.com>
AuthorDate: Mon May 9 17:28:47 2022 +0800
app/system/uorb: fix error, memset() wrong size.
Signed-off-by: jihandong <ji...@xiaomi.com>
---
system/uorb/listener.c | 4 +---
1 file changed, 1 insertion(+), 3 deletions(-)
diff --git a/system/uorb/listener.c b/system/uorb/listener.c
index 237e149d8..71f833a17 100644
--- a/system/uorb/listener.c
+++ b/system/uorb/listener.c
@@ -509,7 +509,7 @@ static void listener_monitor(FAR struct list_node *objlist, int nb_objects,
return;
}
- recv_msgs = malloc(nb_objects * sizeof(int));
+ recv_msgs = calloc(nb_objects, sizeof(int));
if (!recv_msgs)
{
free(fds);
@@ -560,8 +560,6 @@ static void listener_monitor(FAR struct list_node *objlist, int nb_objects,
return;
}
- memset(recv_msgs, 0, sizeof(recv_msgs));
-
/* Loop poll and print recieved messages */
while ((!nb_msgs || nb_recv_msgs < nb_msgs) && !g_should_exit)
[incubator-nuttx-apps] 12/20: apps/uorb: fix compile break
Posted by ac...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
acassis pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
commit 3a8f4b53fc5a6aaaf3c5c7bb41f3f516301ee0c2
Author: Jiuzhu Dong <do...@xiaomi.com>
AuthorDate: Mon May 9 19:32:13 2022 +0800
apps/uorb: fix compile break
Signed-off-by: Jiuzhu Dong <do...@xiaomi.com>
---
system/uorb/Make.defs | 2 ++
1 file changed, 2 insertions(+)
diff --git a/system/uorb/Make.defs b/system/uorb/Make.defs
index 6c7bf0d73..ead9d224b 100644
--- a/system/uorb/Make.defs
+++ b/system/uorb/Make.defs
@@ -22,4 +22,6 @@ ifneq ($(CONFIG_UORB),)
CONFIGURED_APPS += $(APPDIR)/system/uorb
CFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" \
$(APPDIR)/system/uorb/}
+CXXFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" \
+ $(APPDIR)/system/uorb/}
endif