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system/uorb: uorb_listener adds new features.

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add get sensor device information based on topic.

Signed-off-by: likun17 <likun17@xiaomi.com>
This commit is contained in:
likun17 2024-09-14 14:11:46 +08:00 • committed by Xiang Xiao
parent f09d0b2e09
commit 183deb66e9
1 changed files with 69 additions and 1 deletions
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70
system/uorb/listener.c
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@ -138,6 +138,7 @@ listener <command> [arguments...]\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\
\t[-i ] Get sensor device information based on topic.\n\
");
}
@ -530,6 +531,61 @@ static int listener_print(FAR const struct orb_metadata *meta, int fd)
return ret;
}
/****************************************************************************
* Name: listener_print_info
*
* Description:
* Print sensor device information.
*
* Input Parameters:
* objlist topic object list.
*
* Returned Value:
* void
****************************************************************************/
static void listener_print_info(FAR const struct listen_list_s *objlist)
{
FAR struct listen_object_s *tmp;
orb_info_t info;
int ret;
int fd;
SLIST_FOREACH(tmp, objlist, node)
{
fd = orb_subscribe_multi(tmp->object.meta, tmp->object.instance);
if (fd < 0)
{
continue;
}
ret = orb_get_info(fd, &info);
orb_unsubscribe(fd);
uorbinfo_raw("Topic [%s%d] info:", tmp->object.meta->o_name,
tmp->object.instance);
if (ret < 0)
{
uorbinfo_raw("\t NULL");
continue;
}
uorbinfo_raw("\tname:%s" \
"\n\tvendor:%s" \
"\n\tversion:%" PRIu32 "" \
"\n\tpower:%f" \
"\n\tmax_range:%f" \
"\n\tresolution:%f" \
"\n\tmin_delay:%" PRId32 "" \
"\n\tmax_delay:%" PRId32 "" \
"\n\tfifo_reserved_event_count:%" PRIu32 ""\
"\n\tfifo_max_event_count:%" PRIu32 "\n",
info.name, info.vendor, info.version, info.power,
info.max_range, info.resolution, info.min_delay,
info.max_delay, info.fifo_reserved_event_count,
info.fifo_max_event_count);
}
}
/****************************************************************************
* Name: listener_record
*
@ -854,6 +910,7 @@ int main(int argc, FAR char *argv[])
int nb_msgs = 0;
int timeout = 5;
bool top = false;
bool info = false;
bool record = false;
bool only_once = false;
FAR char *filter = NULL;
@ -868,7 +925,7 @@ int main(int argc, FAR char *argv[])
/* Pasrse Argument */
while ((ch = getopt(argc, argv, "r:b:n:t:Tflh")) != EOF)
while ((ch = getopt(argc, argv, "r:b:n:t:Tflhi")) != EOF)
{
switch (ch)
{
@ -918,6 +975,10 @@ int main(int argc, FAR char *argv[])
only_once = true;
break;
case 'i':
info = true;
break;
case 'h':
default:
goto error;
@ -938,6 +999,12 @@ int main(int argc, FAR char *argv[])
return 0;
}
if (info)
{
listener_print_info(&objlist);
goto exit;
}
if (top)
{
listener_top(&objlist, filter, only_once);
@ -956,6 +1023,7 @@ int main(int argc, FAR char *argv[])
nb_msgs, timeout, record);
}
exit:
listener_delete_object_list(&objlist);
return 0;