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https://github.com/apache/nuttx-apps.git
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listener.c: Support data saving to csv file.
Signed-off-by: likun17 <likun17@xiaomi.com>
This commit is contained in:
likun17
Xiang Xiao
parent
b428af2cad
commit
3144c14947
1 changed files with 144 additions and 9 deletions
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@ -32,6 +32,7 @@
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <sys/stat.h>
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#include <sys/ioctl.h>
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#include <unistd.h>
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#include <fcntl.h>
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@ -44,6 +45,7 @@
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#define ORB_MAX_PRINT_NAME 32
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#define ORB_TOP_WAIT_TIME 1000
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#define ORB_DATA_DIR "/data/uorb/"
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/****************************************************************************
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* Private Types
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@ -55,6 +57,7 @@ struct listen_object_s
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struct orb_object object; /* Object id */
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orb_abstime timestamp; /* Time of lastest generation */
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unsigned long generation; /* Latest generation */
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FAR FILE *file;
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};
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/****************************************************************************
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@ -71,12 +74,15 @@ static int listener_generate_object_list(FAR struct list_node *objlist,
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static int listener_print(FAR const struct orb_metadata *meta, int fd);
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static void listener_monitor(FAR struct list_node *objlist, int nb_objects,
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float topic_rate, int topic_latency,
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int nb_msgs, int timeout);
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int nb_msgs, int timeout, bool record);
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static int listener_update(FAR struct list_node *objlist,
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FAR struct orb_object *object);
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static void listener_top(FAR struct list_node *objlist,
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FAR const char *filter,
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bool only_once);
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static int listener_create_dir(FAR char *dir, size_t size);
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static int listener_record(FAR const struct orb_metadata *meta, int fd,
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FAR FILE *file);
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/****************************************************************************
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* Private Data
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@ -114,6 +120,7 @@ listener <command> [arguments...]\n\
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Commands:\n\
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\t<topics_name> Topic name. Multi name are separated by ','\n\
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\t[-h ] Listener commands help\n\
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\t[-f ] Record uorb data to file\n\
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\t[-n <val> ] Number of messages, default: 0\n\
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\t[-r <val> ] Subscription rate (unlimited if 0), default: 0\n\
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\t[-b <val> ] Subscription maximum report latency in us(unlimited if 0),\n\
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@ -124,6 +131,45 @@ listener <command> [arguments...]\n\
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");
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}
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/****************************************************************************
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* Name: creat_record_path
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*
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* Input Parameters:
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* path The path of the storage file.
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*
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* Description:
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* Create the path where files are stored by default.
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*
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* Returned Value:
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* 0 on success, otherwise negative errno.
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****************************************************************************/
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static int listener_create_dir(FAR char *dir, size_t size)
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{
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FAR struct tm *tm_info;
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time_t t;
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time(&t);
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tm_info = gmtime(&t);
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if (0 == strftime(dir, size, ORB_DATA_DIR "%Y%m%d%H%M%S/", tm_info))
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{
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return -EINVAL;
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}
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if (access(ORB_DATA_DIR, F_OK) != 0)
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{
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mkdir(ORB_DATA_DIR, 0777);
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}
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if (access(dir, F_OK) != 0)
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{
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mkdir(dir, 0777);
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}
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return OK;
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}
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/****************************************************************************
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* Name: listener_get_state
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*
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@ -187,6 +233,7 @@ static int listener_add_object(FAR struct list_node *objlist,
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tmp->object.instance = object->instance;
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tmp->timestamp = orb_absolute_time();
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tmp->generation = ret < 0 ? 0 : state.generation;
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tmp->file = NULL;
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list_add_tail(objlist, &tmp->node);
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return 0;
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}
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@ -464,9 +511,41 @@ static int listener_print(FAR const struct orb_metadata *meta, int fd)
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ret = orb_copy(meta, fd, buffer);
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#ifdef CONFIG_DEBUG_UORB
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if (ret == OK && meta->o_cb != NULL)
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if (ret == OK && meta->o_format != NULL)
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{
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meta->o_cb(meta, buffer);
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orb_info(meta->o_format, meta->o_name, buffer);
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}
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#endif
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return ret;
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}
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/****************************************************************************
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* Name: listener_record
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*
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* Description:
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* record topic data.
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*
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* Input Parameters:
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* meta The uORB metadata.
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* fd Subscriber handle.
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* file Save file handle.
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*
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* Returned Value:
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* 0 on success copy, otherwise -1
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****************************************************************************/
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static int listener_record(FAR const struct orb_metadata *meta, int fd,
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FAR FILE *file)
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{
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char buffer[meta->o_size];
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int ret;
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ret = orb_copy(meta, fd, buffer);
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#ifdef CONFIG_DEBUG_UORB
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if (ret == OK && meta->o_format != NULL)
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{
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ret = orb_fprintf(file, meta->o_format, buffer);
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}
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#endif
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@ -493,15 +572,17 @@ static int listener_print(FAR const struct orb_metadata *meta, int fd)
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static void listener_monitor(FAR struct list_node *objlist, int nb_objects,
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float topic_rate, int topic_latency,
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int nb_msgs, int timeout)
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int nb_msgs, int timeout, bool record)
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{
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FAR struct pollfd *fds;
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char path[PATH_MAX];
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FAR int *recv_msgs;
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float interval = topic_rate ? (1000000 / topic_rate) : 0;
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int nb_recv_msgs = 0;
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FAR char *dir;
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int i = 0;
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struct listen_object_s *tmp;
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FAR struct listen_object_s *tmp;
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fds = malloc(nb_objects * sizeof(struct pollfd));
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if (!fds)
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@ -548,6 +629,34 @@ static void listener_monitor(FAR struct list_node *objlist, int nb_objects,
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i++;
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}
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if (record)
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{
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listener_create_dir(path, sizeof(path));
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dir = path + strlen(path);
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list_for_every_entry(objlist, tmp, struct listen_object_s, node)
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{
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sprintf(dir, "%s%d.csv", tmp->object.meta->o_name,
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tmp->object.instance);
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tmp->file = fopen(path, "w");
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if (tmp->file != NULL)
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{
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#ifdef CONFIG_DEBUG_UORB
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fprintf(tmp->file, "%s,%d,%d,%s\n", tmp->object.meta->o_format,
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tmp->object.meta->o_size, tmp->object.instance,
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tmp->object.meta->o_name);
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#endif
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uorbinfo_raw("creat file:[%s]", path);
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}
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else
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{
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uorbinfo_raw("file creat failed!meta name:%s,instance:%d",
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tmp->object.meta->o_name, tmp->object.instance);
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}
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}
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}
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/* Loop poll and print recieved messages */
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while ((!nb_msgs || nb_recv_msgs < nb_msgs) && !g_should_exit)
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@ -561,9 +670,22 @@ static void listener_monitor(FAR struct list_node *objlist, int nb_objects,
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{
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nb_recv_msgs++;
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recv_msgs[i]++;
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if (listener_print(tmp->object.meta, fds[i].fd) != 0)
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if (tmp->file != NULL)
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{
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uorberr("Listener callback failed");
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if (listener_record(tmp->object.meta, fds[i].fd,
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tmp->file) < 0)
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{
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uorberr("Listener record %s data failed!",
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tmp->object.meta->o_name);
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}
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}
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else
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{
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if (listener_print(tmp->object.meta, fds[i].fd) != 0)
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{
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uorberr("Listener callback failed");
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}
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}
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if (nb_msgs && nb_recv_msgs >= nb_msgs)
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@ -604,6 +726,12 @@ static void listener_monitor(FAR struct list_node *objlist, int nb_objects,
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recv_msgs[i]);
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}
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if (tmp->file != NULL)
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{
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fflush(tmp->file);
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fclose(tmp->file);
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}
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i++;
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}
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@ -699,6 +827,7 @@ int main(int argc, FAR char *argv[])
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int nb_msgs = 0;
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int timeout = 5;
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bool top = false;
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bool record = false;
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bool only_once = false;
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FAR char *filter = NULL;
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int ret;
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@ -712,7 +841,7 @@ int main(int argc, FAR char *argv[])
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/* Pasrse Argument */
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while ((ch = getopt(argc, argv, "r:b:n:t:Tlh")) != EOF)
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while ((ch = getopt(argc, argv, "r:b:n:t:Tflh")) != EOF)
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{
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switch (ch)
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{
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@ -748,6 +877,12 @@ int main(int argc, FAR char *argv[])
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}
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break;
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#ifdef CONFIG_DEBUG_UORB
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case 'f':
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record = true;
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break;
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#endif
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case 'T':
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top = true;
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break;
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@ -791,7 +926,7 @@ int main(int argc, FAR char *argv[])
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}
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listener_monitor(&objlist, ret, topic_rate, topic_latency,
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nb_msgs, timeout);
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nb_msgs, timeout, record);
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}
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listener_delete_object_list(&objlist);
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