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system/uorb: make listener see fetch()-only sensors

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orb_subscribe_multi() opens the descriptor blocking, so a sensor whose
lower half only implements fetch() (no push, e.g. an I2C part with no
interrupt line) never satisfies poll()/read() and the listener silently
times out with zero messages, indistinguishable from a sensor that has
nothing to report. Set O_NONBLOCK after subscribing; sensors that do
push samples are unaffected, since neither sensor_poll() nor
sensor_read() consults O_NONBLOCK on that path.

Signed-off-by: Felipe Moura <moura.fmo@gmail.com>
This commit is contained in:
Felipe Moura 2026-07-31 17:48:04 -03:00
parent 5f286fc924
commit 0fd4adef52
1 changed files with 19 additions and 3 deletions
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22
system/uorb/listener.c
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@ -200,15 +200,31 @@ static int listener_create_dir(FAR char *dir, size_t size)
static int listener_subscribe(FAR struct listen_object_s *tmp,
bool nonwakeup)
{
int flags;
int fd;
if (nonwakeup)
{
return orb_subscribe_multi_nonwakeup(tmp->object.meta,
tmp->object.instance);
fd = orb_subscribe_multi_nonwakeup(tmp->object.meta,
tmp->object.instance);
}
else
{
return orb_subscribe_multi(tmp->object.meta, tmp->object.instance);
fd = orb_subscribe_multi(tmp->object.meta, tmp->object.instance);
}
if (fd < 0)
{
return fd;
}
flags = fcntl(fd, F_GETFL, 0);
if (flags >= 0)
{
fcntl(fd, F_SETFL, flags | O_NONBLOCK);
}
return fd;
}
/****************************************************************************