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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> |
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| .. | ||
| sensor | ||
| test | ||
| uORB | ||
| CMakeLists.txt | ||
| generator.c | ||
| Kconfig | ||
| listener.c | ||
| Make.defs | ||
| Makefile | ||