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34ca2a5ed8
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>
85 lines
1.4 KiB
Text
85 lines
1.4 KiB
Text
#
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# For a description of the syntax of this configuration file,
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# see the file kconfig-language.txt in the NuttX tools repository.
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#
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menuconfig UORB
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tristate "uorb(micro object request broker)"
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depends on SENSORS && USENSOR
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default n
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if UORB
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config UORB_PRIORITY
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int "task priority"
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default 100
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config UORB_STACKSIZE
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int "stack size"
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default 4096 if LIBC_PRINT_EXTENSION
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default DEFAULT_TASK_STACKSIZE
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config UORB_FORMAT
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bool
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select LIBC_PRINT_EXTENSION
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default n
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config UORB_LISTENER
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bool "uorb listener"
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select UORB_FORMAT
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default n
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config UORB_GENERATOR
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bool "uorb generator"
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select UORB_FORMAT
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default n
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config UORB_TESTS
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bool "uorb unit tests"
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default n
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config UORB_LOOP_MAX_EVENTS
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int "uorb loop max events"
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depends on EVENT_FD
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default 0
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if UORB_TESTS
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config UORB_STORAGE_DIR
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string "uorb test result storage dir"
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default "/data/"
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endif # UORB_TESTS
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config DEBUG_UORB
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bool "uorb debug output"
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select LIBC_PRINT_EXTENSION
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select UORB_FORMAT
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depends on LIBC_FLOATINGPOINT && SENSORS_USE_FLOAT
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default n
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if DEBUG_UORB
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config UORB_ALERT
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bool "uorb panic output"
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default n
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depends on DEBUG_ALERT
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config UORB_ERROR
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bool "uorb error output"
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default n
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depends on DEBUG_ERROR
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config UORB_WARN
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bool "uorb warn output"
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default n
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depends on DEBUG_WARN
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config UORB_INFO
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bool "uorb info output"
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default n
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depends on DEBUG_INFO
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endif # DEBUG_UORB
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endif # UORB
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