uorb_listener's %pB debug printing (orb_info() -> lib_bsprintf()) does
real floating-point-to-string conversion synchronously, in the
listener's own task -- not a lightweight pointer dump. With
CONFIG_LIBC_PRINT_EXTENSION off, %pB just prints a raw pointer and the
default CONFIG_UORB_STACKSIZE (DEFAULT_TASK_STACKSIZE, 2048 on most
configs) is plenty. With it on, decoding a topic's float fields through
this path silently overflows a 2048-byte stack -- confirmed on real
hardware (ESP32-S3, one push every ~10-20ms from two subscribed
topics): uorb_listener hangs completely after printing only a partial
topic name, no panic, no stack dump, nothing -- because
CONFIG_SCHED_STACKGUARD/CONFIG_STACK_COLORATION aren't on by default
either, so there's no guard to catch the overflow before it corrupts
adjacent memory.
Raising the default only when CONFIG_LIBC_PRINT_EXTENSION is set (not
unconditionally, and not keyed off CONFIG_DEBUG_UORB specifically,
since anything else that selects the same libc extension hits the same
path) keeps the common case -- raw pointer output, small stack --
exactly as before, and only pays for the extra stack when the feature
that needs it is actually enabled.
4096 was verified sufficient (tested against 2048, which reproduces
the hang, and 8192, which also works but wastes RAM); reproduced
cleanly across multiple fresh boots.
Note: this default only applies when CONFIG_UORB_STACKSIZE has never
been explicitly recorded in .config. Like any Kconfig int default,
flipping CONFIG_LIBC_PRINT_EXTENSION on in an existing .config that
already has an explicit CONFIG_UORB_STACKSIZE value won't retroactively
raise it; the value has to be re-picked (e.g. via a fresh olddefconfig
after removing the stale line, or manually).
Signed-off-by: Felipe Moura <moura.fmo@gmail.com>
Every topic's format string is printed through orb_info() or
orb_fprintf(), and both reach the data through "%pB", which is a NuttX
extension rather than a standard conversion. UORB_FORMAT turns that
code on without turning the extension on, so a configuration that
enables the listener but not the debug output builds cleanly, runs, and
prints a pointer where the reading should be:
sensor_voltage(now:4294968998000):0xc0203c98B
The address is the va_format the extension was supposed to expand, and
the trailing B is the conversion character being taken as ordinary
text. Nothing warns, because to the compiler and to printf this is a
valid format string that means something else.
DEBUG_UORB already selects the extension, so the fault is invisible to
anyone who turned that on. The two are independent options and only
one of them declared what it needed. Move the select onto UORB_FORMAT,
which is the option that decides whether the format strings are
compiled in at all.
Signed-off-by: Justin Hammond <justin@dynam.ac>
Declare and define the uORB metadata for the resistance, conductivity,
energy and charge types, and register them in g_sensor_list[] so that
orb_get_meta() and uorb_listener can resolve them by name.
Signed-off-by: likun17 <likun17@xiaomi.com>
Declare and define the uORB metadata for the voltage, current and power
types, and register them in g_sensor_list[] so that orb_get_meta() and
uorb_listener can resolve them by name.
Signed-off-by: likun17 <likun17@xiaomi.com>
SENSOR_TYPE_VELOCITY and SENSOR_TYPE_AMBIENT_TEMPERATURE have an
entry in the kernel g_sensor_meta[] table but no ORB_DECLARE/ORB_DEFINE
in user space, so ORB_ID() fails to link, callers must fall back to
orb_open() by name and lose the o_size check, and uorb_listener cannot
monitor them.
Add the missing metadata and register both in g_sensor_list[];
ambient_temp reuses struct sensor_temp the same way sensor_light_uncal
already reuses struct sensor_light.
Signed-off-by: likun17 <likun17@xiaomi.com>
Introduce a new CONFIG_UORB_FORMAT Kconfig option to control whether
uORB format strings are compiled in. UORB_LISTENER, UORB_GENERATOR,
and DEBUG_UORB all select UORB_FORMAT automatically, so format strings
are included when any of these features are enabled.
This replaces the previous approach of guarding format strings with
CONFIG_DEBUG_UORB, which prevented uorb_listener from displaying
sensor data when debug output was disabled.
Signed-off-by: hanzhijian <hanzhijian@zepp.com>
listener_update() only prints topic data when delta_generation is
non-zero (i.e., new data arrived since last check). In listener_top,
the first call adds objects to the list, and subsequent calls only
print if new data was published between iterations. This results in
listener_top -T showing only the header with no topic rows.
Fix by always printing the current topic state in listener_update,
setting frequency to 0 when no new data arrives. This ensures
listener_top displays all topics every iteration.
Fixesapache/nuttx-apps#3202
Signed-off-by: hanzj <hanzhijian@zepp.com>
Some applications require satellite information for positioning using the flag USED_IN_FIX.
More details: https://github.com/apache/nuttx/pull/16805
Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>
Fix `orb_subscribe_multi` undefined error.
/workspace/prebuilts/gcc/linux/arm64/bin/../lib/gcc/aarch64-none-elf/13.2.1/../../../../aarch64-none-elf/bin/ld: apps/system/uorb/libapps_uorb_listener.a(listener.c.o): in function `listener_monitor':
/workspace/apps/system/uorb/listener.c:803:(.text.listener_monitor.constprop.0+0xe4): undefined reference to `orb_subscribe_multi'
/workspace/apps/system/uorb/listener.c:803:(.text.listener_monitor.constprop.0+0xe4): relocation truncated to fit: R_AARCH64_CALL26 against undefined symbol `orb_subscribe_multi'
Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>
Add timestamp for GNSS measurements and clock, for matching.
When recovering the combination of `GnssMeasurement` and `GnssClock` into
[GnssData](https://android.googlesource.com/platform/hardware/libhardware/+/
refs/heads/android14-release/include/hardware/gps.h#1748),
the reason for splitting is that the uORB buffer is not large enough to
accommodate `GnssData`, since different topics cannot guarantee the
same timing when publishing and subscribing data, we need an index to match.
WARNING: A new member "timestamp" of type uint64_t has been added at
the beginning of the struct "sensor_gnss_measurement" and "sensor_gnss_clock".
Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>
Add orb_loop_exit_async() API to send exit event to uORB loop.
Closing immediately after a write may cause missing a wakeup.
When all file descriptors associated with the same eventfd object have been closed, the resources for object are freed by the kernel. --EVENTFD(2)
Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>
/workspace/apps/system/uorb/uORB/internal.h:42:31: error: 'struct orb_loop_s' declared inside parameter list will not be visible outside of this definition or declaration
Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>
This change prevents users from trying to use the `uorb_listener`
application without having floating point printing enabled on systems
that do not have an FPU (systems with FPUs have `LIBC_FLOATINGPOINT`)
enabled by default. Solution dicussed and agreed in:
https://github.com/apache/nuttx/issues/15599.
Most tools used for compliance and SBOM generation use SPDX identifiers
This change brings us a step closer to an easy SBOM generation.
Signed-off-by: Alin Jerpelea <alin.jerpelea@sony.com>
The `struct sensor_gnss_satellite.cf` may be parsed from `GSV.signal_id`(e.g. NMEA 0183 v4.11) and `struct sensor_gnss_satellite.constellation`
Signed-off-by: wangjianyu3 <wangjianyu3@xiaomi.com>
The PRIu16 macro in the system is defined as "u", and "hu" is required.
In Linux and Nuttx, PRIu32 PRIu16 PRIu8 are all defined as "u", but %pB
prints the structure and needs its offset. %pB gets the offset through
sizeof(short int)
Signed-off-by: likun17 <likun17@xiaomi.com>
After you call orb_flush(), you can determine whether the
flush is completed by listening to the POLLPRI event
of fd and getting the event in orb_get_events.
After calling orb_get_events, the flush events will be cleared.
Signed-off-by: dongjiuzhu1 <dongjiuzhu1@xiaomi.com>
