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Posted to commits@nuttx.apache.org by "Otpvondoiats (via GitHub)" <gi...@apache.org> on 2024/09/19 06:20:07 UTC
[PR] sensor:Fixed the problem of user information lag in cross-core communication "stublist". [nuttx]
Otpvondoiats opened a new pull request, #13538:
URL: https://github.com/apache/nuttx/pull/13538
## Summary
- Bug fix. When the remote core publishes a message, the subscribed cores will receive the message. When the subscribed core publishes a new message, it will take away the message published by the remote core, so all stublist information needs to be updated.
## Impact
- Sensor cross-core communication.
## Testing
```
/****************************************************************************
* apps/examples/hello/hello_main.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/config.h>
#include <stdio.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <string.h>
#include <stdarg.h>
#include <stdlib.h>
#include <unistd.h>
#include <inttypes.h>
#include <uORB/uORB.h>
#include <sensor/gps.h>
#include <uv.h>
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* hello_main
****************************************************************************/
void cp_advertiser(void);
void cp_subscriber(void);
void sensor_adv_sub_er(void);
enum FakeCmd {
FAKE_CONTROL_CMD,
FAKE_DISTRIBUTE_CMD,
};
enum FakeAttribute {
HELLO_QUEUE_SIZE = 5,
HELLO_SLEEP_DURA = 20,
};
int main(int argc, FAR char *argv[])
{
printf("Hello, World!!\n");
if (argc == 1) {
cp_advertiser();
} else if (argc == 2) {
cp_subscriber();
}else {
sensor_adv_sub_er();
}
return 0;
}
void cp_advertiser(void) {
int instance = 0;
int adv_fd = orb_advertise_multi_queue(ORB_ID(sensor_gps), NULL, &instance, HELLO_QUEUE_SIZE);
syslog(3, "DEBUG_IN_HELLO, cp adv:%d\n", adv_fd);
while(true) {
sleep(HELLO_SLEEP_DURA);
struct sensor_gps gps = {};
gps.timestamp = (uint64_t)time(NULL);
gps.time_utc = FAKE_CONTROL_CMD;
int ret = orb_publish(ORB_ID(sensor_gps), adv_fd, &gps);
syslog(3, "DEBUG_IN_HELLO, cp send ctl:%d,%" PRIu64 ",%" PRIu64 "\n",
ret, gps.time_utc, gps.timestamp);
}
}
static void cp_read_cb(uv_poll_t* handle, int status, int events) {
struct sensor_gps gps = {};
int* fd = (int*)(handle->data);
read(*fd, &gps, sizeof(gps));
syslog(3, "DEBUG_IN_HELLO, cp recv data:%" PRIu64 ",%" PRIu64 "\n",
gps.time_utc, gps.timestamp);
}
void cp_subscriber(void) {
int sub_fd = orb_subscribe(ORB_ID(sensor_gps));
syslog(3, "DEBUG_IN_HELLO, cp sub:%d\n", sub_fd);
uv_poll_t handle = {};
handle.data = &sub_fd;
uv_poll_init(uv_default_loop(), &handle, sub_fd);
uv_poll_start(&handle, UV_READABLE, cp_read_cb);
uv_run(uv_default_loop(), UV_RUN_DEFAULT);
}
struct TopicFD {
int sub_fd;
int adv_fd;
};
static void sensor_read_cb(uv_poll_t* handle, int status, int events) {
struct sensor_gps gps = {};
struct TopicFD* fds = (struct TopicFD*)handle->data;
read(fds->sub_fd, &gps, sizeof(gps));
syslog(3, "DEBUG_IN_HELLO, sen recv data:%" PRIu64 ",%" PRIu64 "\n",
gps.time_utc, gps.timestamp);
// need distribute
if (gps.time_utc == FAKE_CONTROL_CMD) {
gps.time_utc = FAKE_DISTRIBUTE_CMD;
int ret = orb_publish(ORB_ID(sensor_gps), fds->adv_fd, &gps);
syslog(3, "DEBUG_IN_HELLO, sen distribute ctl:%d,%" PRIu64 ",%" PRIu64 "\n",
ret, gps.time_utc, gps.timestamp);
}
}
void sensor_adv_sub_er(void) {
int instance = 0;
int adv_fd = orb_advertise_multi_queue(ORB_ID(sensor_gps), NULL, &instance, HELLO_QUEUE_SIZE);
syslog(3, "DEBUG_IN_HELLO, sen adv:%d\n", adv_fd);
int sub_fd = orb_subscribe(ORB_ID(sensor_gps));
syslog(3, "DEBUG_IN_HELLO, sen sub:%d\n", sub_fd);
uv_poll_t handle = {};
struct TopicFD fds = {};
fds.sub_fd = sub_fd;
fds.adv_fd = adv_fd;
handle.data = &fds;
uv_poll_init(uv_default_loop(), &handle, sub_fd);
uv_poll_start(&handle, UV_READABLE, sensor_read_cb);
uv_run(uv_default_loop(), UV_RUN_DEFAULT);
}
```
1. rpserver and rpproxy open uorb config
2. build
```
./build.sh nuttx/boards/sim/sim/sim/configs/rpserver -j16
./build.sh nuttx/boards/sim/sim/sim/configs/rpproxy -j16
```
order:
rpserver: hello & and hello 1 &
rpproxy: hello 1 1 &
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Re: [PR] sensor:Fixed the problem of user information lag in cross-core communication "stublist". [nuttx]
Posted by "xiaoxiang781216 (via GitHub)" <gi...@apache.org>.
xiaoxiang781216 commented on code in PR #13538:
URL: https://github.com/apache/nuttx/pull/13538#discussion_r1768688985
##########
drivers/sensors/sensor.c:
##########
@@ -456,9 +456,17 @@ static ssize_t sensor_do_samples(FAR struct sensor_upperhalf_s *upper,
if (user->state.interval == UINT32_MAX)
{
- ret = circbuf_peekat(&upper->buffer,
- user->bufferpos * upper->state.esize,
- buffer, len);
+ if (buffer != NULL)
+ {
+ ret = circbuf_peekat(&upper->buffer,
+ user->bufferpos * upper->state.esize,
Review Comment:
align
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Re: [PR] sensor:Fixed the problem of user information lag in cross-core communication "stublist". [nuttx]
Posted by "xiaoxiang781216 (via GitHub)" <gi...@apache.org>.
xiaoxiang781216 merged PR #13538:
URL: https://github.com/apache/nuttx/pull/13538
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Re: [PR] sensor:Fixed the problem of user information lag in cross-core communication "stublist". [nuttx]
Posted by "Otpvondoiats (via GitHub)" <gi...@apache.org>.
Otpvondoiats commented on code in PR #13538:
URL: https://github.com/apache/nuttx/pull/13538#discussion_r1769480264
##########
drivers/sensors/sensor.c:
##########
@@ -456,9 +456,17 @@ static ssize_t sensor_do_samples(FAR struct sensor_upperhalf_s *upper,
if (user->state.interval == UINT32_MAX)
{
- ret = circbuf_peekat(&upper->buffer,
- user->bufferpos * upper->state.esize,
- buffer, len);
+ if (buffer != NULL)
+ {
+ ret = circbuf_peekat(&upper->buffer,
+ user->bufferpos * upper->state.esize,
Review Comment:
Done.
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Re: [PR] sensor:Fixed the problem of user information lag in cross-core communication "stublist". [nuttx]
Posted by "lupyuen (via GitHub)" <gi...@apache.org>.
lupyuen commented on PR #13538:
URL: https://github.com/apache/nuttx/pull/13538#issuecomment-2360105660
[**\[Experimental Bot, please feedback here\]**](https://github.com/search?q=repo%3Aapache%2Fnuttx+13494&type=pullrequests)
The PR summary is lacking some key information, and the testing section is inadequate. Here's a breakdown:
**What's Missing/Needs Improvement:**
* **Insufficient Detail in Summary:**
* **What functional part?** Be specific. Is it the uORB messaging layer itself? A specific driver?
* **How does the fix work?** Briefly explain the technical approach (e.g., "The fix ensures the stublist is updated by...").
* **Impact:**
* **New feature? Existing feature changed?** A bug fix usually means an existing feature is fixed, but clarify this.
* **Impact on user?** This bug fix likely impacts users relying on cross-core sensor communication. Explain how their experience might have been affected by the bug and how this fix resolves it.
* **Impact on documentation?** If the bug fix reveals a misunderstanding in how the system works, documentation might need updating.
* **Testing:**
* **Incomplete Environment:** List the *specific* versions of OS, compiler, target architecture (e.g., "Linux Ubuntu 20.04, GCC 9.4.0, SIM:qemu-system-arm").
* **No "Before" Logs:** Without logs demonstrating the bug, it's impossible to verify the fix.
* **Unclear "After" Logs:** The provided logs are hard to follow. Provide clear steps to reproduce the issue and show how the logs now demonstrate the correct behavior after the fix.
**Revised Testing Section (Example):**
```
## Testing
I confirm that changes are verified on the following setup:
* **Build Host:** Ubuntu 20.04, GCC 9.4.0
* **Target:** SIM: qemu-system-arm (configs: rpserver, rpproxy)
**Steps to Reproduce:**
1. **Before the fix:**
- Start rpserver: `./nuttx/tools/nsh.sh sim:configs/rpserver`
- Run: `hello &` and `hello 1 &`
- Start rpproxy: `./nuttx/tools/nsh.sh sim:configs/rpproxy`
- Run: `hello 1 1 &`
- Observe the logs on both rpserver and rpproxy. The bug manifests as [describe the incorrect behavior, e.g., messages not being received, unexpected message overwrites].
2. **After the fix:**
- Repeat steps 1-4.
- Observe the logs. The fix ensures [describe the expected correct behavior, e.g., messages are now correctly received and processed without overwrites].
**Logs:**
* **Before Fix (trimmed for brevity - attach full logs):**
```
[rpserver logs showing the incorrect behavior]
[rpproxy logs showing the incorrect behavior]
```
* **After Fix (trimmed for brevity - attach full logs):**
```
[rpserver logs showing the correct behavior]
[rpproxy logs showing the correct behavior]
```
```
**Additional Tips:**
* **Conciseness:** Aim for a clear and concise PR description. Avoid overly technical jargon unless necessary.
* **Focus:** Stick to the essential details of the change.
* **Completeness:** Don't leave out crucial information that reviewers need to understand and test your changes.
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