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uorb bug fix #3332

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Merged
Donny9 merged 3 commits into from
Jan 19, 2026
+67 −54
Merged

uorb bug fix #3332

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5bf367e
system/uorb:Loop bug fix
Otpvondoiats Nov 12, 2024
fa29e6e
system/uorb: merge set_info to orb_advertise_multi_queue_info.
Donny9 Nov 13, 2024
6ef21da
system/uorb:unit_test bug fix
Otpvondoiats Mar 3, 2025
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6 changes: 0 additions & 6 deletions system/uorb/test/unit_test.c
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Original file line number Diff line number Diff line change
Expand Up @@ -235,12 +235,6 @@ static int latency_test(bool print)
usleep(1000); /* simulate >800 Hz system operation */
}

if (pubsub_task < 0)
{
test_fail("failed launching task");
goto out;
}

ret = OK;

out:
Expand Down
9 changes: 6 additions & 3 deletions system/uorb/uORB/epoll.c
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Original file line number Diff line number Diff line change
Expand Up @@ -105,7 +105,8 @@ static int orb_loop_epoll_run(FAR struct orb_loop_s *loop)
uorberr("epoll wait data in error! fd:%d", handle->fd);
}
}
else if (et[i].events & EPOLLOUT)

if (et[i].events & EPOLLOUT)
{
if (handle->dataout_cb != NULL)
{
Expand All @@ -116,7 +117,8 @@ static int orb_loop_epoll_run(FAR struct orb_loop_s *loop)
uorberr("epoll wait data out error! fd:%d", handle->fd);
}
}
else if (et[i].events & EPOLLPRI)

if (et[i].events & EPOLLPRI)
{
if (handle->eventpri_cb != NULL)
{
Expand All @@ -127,7 +129,8 @@ static int orb_loop_epoll_run(FAR struct orb_loop_s *loop)
uorberr("epoll wait events pri error! fd:%d", handle->fd);
}
}
else if (et[i].events & EPOLLERR)

if (et[i].events & EPOLLERR)
{
if (handle->eventerr_cb != NULL)
{
Expand Down
50 changes: 29 additions & 21 deletions system/uorb/uORB/uORB.c
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Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,7 @@
* Name: orb_advsub_open
*
* Description:
* Open device node as advertiser / subscriber, regist node and save meta
* Open device node as advertiser / subscriber, register node and save meta
* in driver for first user, set buffer number for advertisers.
*
* Input Parameters:
Expand All @@ -57,7 +57,8 @@
****************************************************************************/

static int orb_advsub_open(FAR const struct orb_metadata *meta, int flags,
int instance, unsigned int queue_size)
int instance, unsigned int queue_size,
FAR orb_info_t *info)
{
char path[ORB_PATH_MAX];
int fd;
Expand All @@ -67,7 +68,7 @@
snprintf(path, ORB_PATH_MAX, ORB_SENSOR_PATH"%s%d", meta->o_name,
instance);

/* Check existance before open */
/* Check existence before open */

flags |= O_CLOEXEC;
fd = open(path, flags);
Expand All @@ -78,6 +79,14 @@
reginfo.esize = meta->o_size;
reginfo.nbuffer = queue_size;
reginfo.persist = !!(flags & SENSOR_PERSIST);
if (info != NULL)
{
memcpy(&reginfo.devinfo, info, sizeof(*info));

Check failure on line 84 in system/uorb/uORB/uORB.c

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GitHub Actions / Linux (sim-03) 

'struct sensor_reginfo_s' has no member named 'devinfo'

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'struct sensor_reginfo_s' has no member named 'devinfo'
}
else
{
memset(&reginfo.devinfo, 0, sizeof(*info));

Check failure on line 88 in system/uorb/uORB/uORB.c

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GitHub Actions / Linux (sim-03) 

'struct sensor_reginfo_s' has no member named 'devinfo'

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GitHub Actions / Linux (sim-03) 

'struct sensor_reginfo_s' has no member named 'devinfo'
}

fd = open(ORB_USENSOR_PATH, O_WRONLY | O_CLOEXEC);
if (fd < 0)
Expand Down Expand Up @@ -120,7 +129,8 @@
static int
orb_advertise_multi_queue_flags(FAR const struct orb_metadata *meta,
FAR const void *data, FAR int *instance,
unsigned int queue_size, int flags)
unsigned int queue_size, int flags,
FAR orb_info_t *info)
{
int inst;
int fd;
Expand All @@ -129,7 +139,7 @@

inst = instance ? *instance : orb_group_count(meta);

fd = orb_advsub_open(meta, flags, inst, queue_size);
fd = orb_advsub_open(meta, flags, inst, queue_size, info);
if (fd < 0)
{
uorberr("%s advertise failed (%i)", meta->o_name, fd);
Expand Down Expand Up @@ -172,32 +182,35 @@
return close(fd);
}

int orb_advertise_multi_queue(FAR const struct orb_metadata *meta,
FAR const void *data, FAR int *instance,
unsigned int queue_size)
int orb_advertise_multi_queue_info(FAR const struct orb_metadata *meta,
FAR const void *data, FAR int *instance,
unsigned int queue_size,
FAR orb_info_t *info)
{
return orb_advertise_multi_queue_flags(meta, data, instance,
queue_size, O_WRONLY);
queue_size, O_WRONLY, info);
}

int orb_advertise_multi_queue_persist(FAR const struct orb_metadata *meta,
FAR const void *data,
FAR int *instance,
unsigned int queue_size)
int
orb_advertise_multi_queue_persist_info(FAR const struct orb_metadata *meta,
FAR const void *data,
FAR int *instance,
unsigned int queue_size,
FAR orb_info_t *info)
{
return orb_advertise_multi_queue_flags(meta, data, instance, queue_size,
O_WRONLY | SENSOR_PERSIST);
O_WRONLY | SENSOR_PERSIST, info);
}

ssize_t orb_publish_multi(int fd, const void *data, size_t len)
ssize_t orb_publish_multi(int fd, FAR const void *data, size_t len)
{
return write(fd, data, len);
}

int orb_subscribe_multi(FAR const struct orb_metadata *meta,
unsigned instance)
{
return orb_advsub_open(meta, O_RDONLY, instance, 0);
return orb_advsub_open(meta, O_RDONLY, instance, 0, NULL);
}

ssize_t orb_copy_multi(int fd, FAR void *buffer, size_t len)
Expand Down Expand Up @@ -276,11 +289,6 @@
return ret;
}

int orb_set_info(int fd, FAR const orb_info_t *info)
{
return ioctl(fd, SNIOC_SET_INFO, (unsigned long)(uintptr_t)info);
}

int orb_get_info(int fd, FAR orb_info_t *info)
{
return ioctl(fd, SNIOC_GET_INFO, (unsigned long)(uintptr_t)info);
Expand Down
56 changes: 32 additions & 24 deletions system/uorb/uORB/uORB.h
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Original file line number Diff line number Diff line change
Expand Up @@ -108,10 +108,10 @@ struct orb_handle_s
int events; /* Events of interest. */
int fd; /* Topic fd. */
FAR void *arg; /* Callback parameter. */
orb_datain_cb_t datain_cb; /* User EPOLLIN callback funtion. */
orb_dataout_cb_t dataout_cb; /* User EPOLLOUT callback funtion. */
orb_eventpri_cb_t eventpri_cb; /* User EPOLLPRI callback funtion. */
orb_eventerr_cb_t eventerr_cb; /* User EPOLLERR callback funtion. */
orb_datain_cb_t datain_cb; /* User EPOLLIN callback function. */
orb_dataout_cb_t dataout_cb; /* User EPOLLOUT callback function. */
orb_eventpri_cb_t eventpri_cb; /* User EPOLLPRI callback function. */
orb_eventerr_cb_t eventerr_cb; /* User EPOLLERR callback function. */
};

struct orb_loop_ops_s;
Expand Down Expand Up @@ -266,7 +266,7 @@ int orb_open(FAR const char *name, int instance, int flags);
int orb_close(int fd);

/****************************************************************************
* Name: orb_advertise_multi_queue
* Name: orb_advertise_multi_queue_info
*
* Description:
* This performs the initial advertisement of a topic; it creates the topic
Expand All @@ -278,6 +278,7 @@ int orb_close(int fd);
* instance Pointer to an integer which yield the instance ID,
* (has default 0 if pointer is NULL).
* queue_size Maximum number of buffered elements.
* info A pointer to the orb_info_t.
*
* Returned Value:
* -1 on error, otherwise returns an file descriptor
Expand All @@ -287,10 +288,21 @@ int orb_close(int fd);
* this function will return -1 and set errno to ENOENT.
****************************************************************************/

int orb_advertise_multi_queue_info(FAR const struct orb_metadata *meta,
FAR const void *data,
FAR int *instance,
unsigned int queue_size,
FAR orb_info_t *info);

static inline
int orb_advertise_multi_queue(FAR const struct orb_metadata *meta,
FAR const void *data,
FAR int *instance,
unsigned int queue_size);
unsigned int queue_size)
{
return orb_advertise_multi_queue_info(meta, data, instance,
queue_size, NULL);
}

static inline int orb_advertise(FAR const struct orb_metadata *meta,
FAR const void *data)
Expand Down Expand Up @@ -338,10 +350,22 @@ static inline int orb_advertise_multi(FAR const struct orb_metadata *meta,
* this function will return -1 and set errno to ENOENT.
****************************************************************************/

int
orb_advertise_multi_queue_persist_info(FAR const struct orb_metadata *meta,
FAR const void *data,
FAR int *instance,
unsigned int queue_size,
FAR orb_info_t *info);

static inline
int orb_advertise_multi_queue_persist(FAR const struct orb_metadata *meta,
FAR const void *data,
FAR int *instance,
unsigned int queue_size);
unsigned int queue_size)
{
return orb_advertise_multi_queue_persist_info(meta, data, instance,
queue_size, NULL);
}

/****************************************************************************
* Name: orb_unadvertise
Expand Down Expand Up @@ -691,22 +715,6 @@ int orb_set_interval(int fd, unsigned interval);

int orb_get_interval(int fd, FAR unsigned *interval);

/****************************************************************************
* Name: orb_set_info
*
* Description:
* Set topic information.
*
* Input Parameters:
* fd A fd returned from orb_subscribe.
* info Data to be transmitted.
*
* Returned Value:
* 0 on success, -1 otherwise with ERRNO set accordingly.
****************************************************************************/

int orb_set_info(int fd, FAR const orb_info_t *info);

/****************************************************************************
* Name: orb_get_info
*
Expand Down Expand Up @@ -798,7 +806,7 @@ orb_abstime orb_absolute_time(void);
* then Past system time.
*
* Returned Value:
* Bewteen time.
* Between time.
****************************************************************************/

static inline orb_abstime orb_elapsed_time(FAR const orb_abstime *then)
Expand Down
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