Donny9 commented on code in PR #3214: URL: https://github.com/apache/nuttx-apps/pull/3214#discussion_r2540944105
########## system/uorb/generator.c: ########## @@ -0,0 +1,391 @@ +/**************************************************************************** + * apps/system/uorb/generator.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/signal.h> +#include <nuttx/streams.h> + +#include <ctype.h> +#include <uORB/uORB.h> + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define GENERATOR_CACHE_BUFF 4096 + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +struct sensor_gen_info_s +{ + struct orb_object obj; + FAR FILE *file; +}; + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static bool g_should_exit = false; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static void usage(void) +{ + uorbinfo_raw("\n\ +The tool publishes topic data via uorb.\n\ +Notice:NSH_LINELEN must be set to 128 or more.\n\ +\n\ +generator <command> [arguments...]\n\ + Commands:\n\ +\t<topics_name> The playback topic name.\n\ +\t[-h ] Listener commands help.\n\ +\t[-f <val> ] File path to be played back(absolute path).\n\ +\t[-n <val> ] Number of playbacks(fake model), default: 1\n\ +\t[-r <val> ] The rate for playing fake data is only valid\ + when parameter 's' is used. default:10hz.\n\ +\t[-s <val> ] Playback fake data.\n\ +\t[-t <val> ] Playback topic.\n\ +\t e.g.:\n\ +\t\tsim - sensor_accel0:\n\ +\t\t uorb_generator -n 100 -r 5 -s -t sensor_accel0 timestamp:23191100,\ +x:0.1,y:9.7,z:0.81,temperature:22.15\n\n\ +\t\tsim - sensor_baro0:\n\ +\t\t uorb_generator -n 100 -r 5 -s -t sensor_baro0 timestamp:23191100,\ +pressure:999.12,temperature:26.34\n\n\ +\t\tfies - sensor_accel1\n\ +\t\t uorb_generator -f /data/uorb/20240823061723/sensor_accel0.csv\ + -t sensor_accel1\ +\t\t\n\ + "); +} + +static void exit_handler(int signo) +{ + g_should_exit = true; +} + +static int get_play_orb_id(FAR const char *filter, + FAR struct sensor_gen_info_s *info) +{ + struct orb_object object; + + if (filter) + { + object.meta = orb_get_meta(filter); + if (object.meta == NULL) + { + uorbinfo_raw("Input error built-in name:[%s]", filter); + return ERROR; + } + + object.instance = 0; + if (isdigit(filter[strlen(filter) - 1])) + { + object.instance = filter[strlen(filter) - 1] - '0'; + } + + info->obj = object; + return OK; + } + + uorbinfo_raw("The entered built-in topic name is empty."); + return ERROR; +} + +/**************************************************************************** + * Name: replay_worker + * + * Description: + * Playback data files. + * + * Input Parameters: + * sensor_gen Generator objects. + * + * Returned Value: + * 0 on success, otherwise -1 + ****************************************************************************/ + +static int replay_worker(FAR struct sensor_gen_info_s *sensor_gen) +{ + struct lib_meminstream_s meminstream; + bool is_frist = true; + uint64_t last_time; + uint64_t tmp_time; + FAR uint8_t *data; + FAR char *line; + int sleep_time; + int lastc; + int ret; + int fd; + + line = kmm_zalloc(GENERATOR_CACHE_BUFF); + if (line == NULL) + { + return -ENOMEM; + } + + if (fgets(line, GENERATOR_CACHE_BUFF, sensor_gen->file) != NULL) + { + if (strstr(line, sensor_gen->obj.meta->o_name) == NULL) + { + uorbinfo_raw("Topic and file do not match!"); + return -EINVAL; + } + } + else + { + uorbinfo_raw("Playback file format error!"); + return -EINVAL; + } + + data = kmm_zalloc(sensor_gen->obj.meta->o_size); Review Comment: ```suggestion data = malloc(sensor_gen->obj.meta->o_size); ``` ########## system/uorb/generator.c: ########## @@ -0,0 +1,391 @@ +/**************************************************************************** + * apps/system/uorb/generator.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/signal.h> +#include <nuttx/streams.h> + +#include <ctype.h> +#include <uORB/uORB.h> + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define GENERATOR_CACHE_BUFF 4096 + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +struct sensor_gen_info_s +{ + struct orb_object obj; + FAR FILE *file; +}; + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static bool g_should_exit = false; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static void usage(void) +{ + uorbinfo_raw("\n\ +The tool publishes topic data via uorb.\n\ +Notice:NSH_LINELEN must be set to 128 or more.\n\ +\n\ +generator <command> [arguments...]\n\ + Commands:\n\ +\t<topics_name> The playback topic name.\n\ +\t[-h ] Listener commands help.\n\ +\t[-f <val> ] File path to be played back(absolute path).\n\ +\t[-n <val> ] Number of playbacks(fake model), default: 1\n\ +\t[-r <val> ] The rate for playing fake data is only valid\ + when parameter 's' is used. default:10hz.\n\ +\t[-s <val> ] Playback fake data.\n\ +\t[-t <val> ] Playback topic.\n\ +\t e.g.:\n\ +\t\tsim - sensor_accel0:\n\ +\t\t uorb_generator -n 100 -r 5 -s -t sensor_accel0 timestamp:23191100,\ +x:0.1,y:9.7,z:0.81,temperature:22.15\n\n\ +\t\tsim - sensor_baro0:\n\ +\t\t uorb_generator -n 100 -r 5 -s -t sensor_baro0 timestamp:23191100,\ +pressure:999.12,temperature:26.34\n\n\ +\t\tfies - sensor_accel1\n\ +\t\t uorb_generator -f /data/uorb/20240823061723/sensor_accel0.csv\ + -t sensor_accel1\ +\t\t\n\ + "); +} + +static void exit_handler(int signo) +{ + g_should_exit = true; +} + +static int get_play_orb_id(FAR const char *filter, + FAR struct sensor_gen_info_s *info) +{ + struct orb_object object; + + if (filter) + { + object.meta = orb_get_meta(filter); + if (object.meta == NULL) + { + uorbinfo_raw("Input error built-in name:[%s]", filter); + return ERROR; + } + + object.instance = 0; + if (isdigit(filter[strlen(filter) - 1])) + { + object.instance = filter[strlen(filter) - 1] - '0'; + } + + info->obj = object; + return OK; + } + + uorbinfo_raw("The entered built-in topic name is empty."); + return ERROR; +} + +/**************************************************************************** + * Name: replay_worker + * + * Description: + * Playback data files. + * + * Input Parameters: + * sensor_gen Generator objects. + * + * Returned Value: + * 0 on success, otherwise -1 + ****************************************************************************/ + +static int replay_worker(FAR struct sensor_gen_info_s *sensor_gen) +{ + struct lib_meminstream_s meminstream; + bool is_frist = true; + uint64_t last_time; + uint64_t tmp_time; + FAR uint8_t *data; + FAR char *line; + int sleep_time; + int lastc; + int ret; + int fd; + + line = kmm_zalloc(GENERATOR_CACHE_BUFF); + if (line == NULL) + { + return -ENOMEM; + } + + if (fgets(line, GENERATOR_CACHE_BUFF, sensor_gen->file) != NULL) + { + if (strstr(line, sensor_gen->obj.meta->o_name) == NULL) + { + uorbinfo_raw("Topic and file do not match!"); + return -EINVAL; + } + } + else + { + uorbinfo_raw("Playback file format error!"); + return -EINVAL; + } + + data = kmm_zalloc(sensor_gen->obj.meta->o_size); + if (data == NULL) + { + return -ENOMEM; + } + + fd = orb_advertise_multi_queue_persist(sensor_gen->obj.meta, + data, &sensor_gen->obj.instance, 1); + if (fd < 0) + { + uorbinfo_raw("Playback orb advertise failed[%d]!", fd); + kmm_free(data); + return fd; + } + + while (fgets(line, GENERATOR_CACHE_BUFF, sensor_gen->file) != NULL) + { + lib_meminstream(&meminstream, line, GENERATOR_CACHE_BUFF); + ret = lib_bscanf(&meminstream.common, &lastc, + sensor_gen->obj.meta->o_format, data); + if (ret >= 0) + { + tmp_time = *(uint64_t *)data; + if (is_frist) + { + last_time = *(uint64_t *)data; + is_frist = false; + } + else + { + sleep_time = tmp_time - last_time; + if (sleep_time > 0) + { + nxsig_usleep(sleep_time); + } + + last_time = tmp_time; + } + + if (OK != orb_publish(sensor_gen->obj.meta, fd, data)) + { + uorbinfo_raw("Topic publish error!"); + break; + } + } + else + { + uorbinfo_raw("[ignore] The text data for this line is wrong![%s]!", + line); + } + } + + orb_unadvertise(fd); + kmm_free(data); Review Comment: ```suggestion free(data); ``` ########## system/uorb/generator.c: ########## @@ -0,0 +1,391 @@ +/**************************************************************************** + * apps/system/uorb/generator.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/signal.h> +#include <nuttx/streams.h> + +#include <ctype.h> +#include <uORB/uORB.h> + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define GENERATOR_CACHE_BUFF 4096 + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +struct sensor_gen_info_s +{ + struct orb_object obj; + FAR FILE *file; +}; + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static bool g_should_exit = false; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static void usage(void) +{ + uorbinfo_raw("\n\ +The tool publishes topic data via uorb.\n\ +Notice:NSH_LINELEN must be set to 128 or more.\n\ +\n\ +generator <command> [arguments...]\n\ + Commands:\n\ +\t<topics_name> The playback topic name.\n\ +\t[-h ] Listener commands help.\n\ +\t[-f <val> ] File path to be played back(absolute path).\n\ +\t[-n <val> ] Number of playbacks(fake model), default: 1\n\ +\t[-r <val> ] The rate for playing fake data is only valid\ + when parameter 's' is used. default:10hz.\n\ +\t[-s <val> ] Playback fake data.\n\ +\t[-t <val> ] Playback topic.\n\ +\t e.g.:\n\ +\t\tsim - sensor_accel0:\n\ +\t\t uorb_generator -n 100 -r 5 -s -t sensor_accel0 timestamp:23191100,\ +x:0.1,y:9.7,z:0.81,temperature:22.15\n\n\ +\t\tsim - sensor_baro0:\n\ +\t\t uorb_generator -n 100 -r 5 -s -t sensor_baro0 timestamp:23191100,\ +pressure:999.12,temperature:26.34\n\n\ +\t\tfies - sensor_accel1\n\ +\t\t uorb_generator -f /data/uorb/20240823061723/sensor_accel0.csv\ + -t sensor_accel1\ +\t\t\n\ + "); +} + +static void exit_handler(int signo) +{ + g_should_exit = true; +} + +static int get_play_orb_id(FAR const char *filter, + FAR struct sensor_gen_info_s *info) +{ + struct orb_object object; + + if (filter) + { + object.meta = orb_get_meta(filter); + if (object.meta == NULL) + { + uorbinfo_raw("Input error built-in name:[%s]", filter); + return ERROR; + } + + object.instance = 0; + if (isdigit(filter[strlen(filter) - 1])) + { + object.instance = filter[strlen(filter) - 1] - '0'; + } + + info->obj = object; + return OK; + } + + uorbinfo_raw("The entered built-in topic name is empty."); + return ERROR; +} + +/**************************************************************************** + * Name: replay_worker + * + * Description: + * Playback data files. + * + * Input Parameters: + * sensor_gen Generator objects. + * + * Returned Value: + * 0 on success, otherwise -1 + ****************************************************************************/ + +static int replay_worker(FAR struct sensor_gen_info_s *sensor_gen) +{ + struct lib_meminstream_s meminstream; + bool is_frist = true; + uint64_t last_time; + uint64_t tmp_time; + FAR uint8_t *data; + FAR char *line; + int sleep_time; + int lastc; + int ret; + int fd; + + line = kmm_zalloc(GENERATOR_CACHE_BUFF); + if (line == NULL) + { + return -ENOMEM; + } + + if (fgets(line, GENERATOR_CACHE_BUFF, sensor_gen->file) != NULL) + { + if (strstr(line, sensor_gen->obj.meta->o_name) == NULL) + { + uorbinfo_raw("Topic and file do not match!"); + return -EINVAL; + } + } + else + { + uorbinfo_raw("Playback file format error!"); + return -EINVAL; + } + + data = kmm_zalloc(sensor_gen->obj.meta->o_size); + if (data == NULL) + { + return -ENOMEM; + } + + fd = orb_advertise_multi_queue_persist(sensor_gen->obj.meta, + data, &sensor_gen->obj.instance, 1); + if (fd < 0) + { + uorbinfo_raw("Playback orb advertise failed[%d]!", fd); + kmm_free(data); + return fd; + } + + while (fgets(line, GENERATOR_CACHE_BUFF, sensor_gen->file) != NULL) + { + lib_meminstream(&meminstream, line, GENERATOR_CACHE_BUFF); + ret = lib_bscanf(&meminstream.common, &lastc, + sensor_gen->obj.meta->o_format, data); + if (ret >= 0) + { + tmp_time = *(uint64_t *)data; + if (is_frist) + { + last_time = *(uint64_t *)data; + is_frist = false; + } + else + { + sleep_time = tmp_time - last_time; + if (sleep_time > 0) + { + nxsig_usleep(sleep_time); + } + + last_time = tmp_time; + } + + if (OK != orb_publish(sensor_gen->obj.meta, fd, data)) + { + uorbinfo_raw("Topic publish error!"); + break; + } + } + else + { + uorbinfo_raw("[ignore] The text data for this line is wrong![%s]!", + line); + } + } + + orb_unadvertise(fd); + kmm_free(data); + return 0; +} + +/**************************************************************************** + * Name: fake_worker + * + * Description: + * Publish fake data. + * + * Input Parameters: + * sensor_gen Generator objects. + * nb_cycle Number of publications. + * topic_rate Publish frequency. + * buffer String data to publish. + * + * Returned Value: + * 0 on success, otherwise -1 + ****************************************************************************/ + +static int fake_worker(FAR struct sensor_gen_info_s *sensor_gen, + int nb_cycle, float topic_rate, FAR char *buffer) +{ + struct lib_meminstream_s meminstream; + FAR uint8_t *data; + uint64_t interval; + int lastc; + int fd; + int i; + + if (buffer == NULL) + { + return -EINVAL; + } + + data = kmm_zalloc(sensor_gen->obj.meta->o_size); + if (data == NULL) + { + return -ENOMEM; + } + + lib_meminstream(&meminstream, buffer, strlen(buffer)); + if (lib_bscanf(&meminstream.common, &lastc, + sensor_gen->obj.meta->o_format, data) < 0) + { + uorbinfo_raw("Input string data parsing error![%s]", buffer); + goto error; + } + + fd = orb_advertise_multi_queue_persist(sensor_gen->obj.meta, + data, &sensor_gen->obj.instance, 1); + if (fd < 0) + { + uorbinfo_raw("Fake orb advertise failed[%d]!", fd); + goto error; + } + + interval = topic_rate ? (1000000 / topic_rate) : 500000; + + for (i = 0; i < nb_cycle; ++i) + { + *(uint64_t *)data = orb_absolute_time(); + if (OK != orb_publish(sensor_gen->obj.meta, fd, data)) + { + uorbinfo_raw("Topic publish error!"); + goto error; + } + + nxsig_usleep(interval); + } + + kmm_free(data); Review Comment: merge, return ret? ########## system/uorb/generator.c: ########## @@ -0,0 +1,391 @@ +/**************************************************************************** + * apps/system/uorb/generator.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/signal.h> +#include <nuttx/streams.h> + +#include <ctype.h> +#include <uORB/uORB.h> + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define GENERATOR_CACHE_BUFF 4096 + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +struct sensor_gen_info_s +{ + struct orb_object obj; + FAR FILE *file; +}; + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static bool g_should_exit = false; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static void usage(void) +{ + uorbinfo_raw("\n\ +The tool publishes topic data via uorb.\n\ +Notice:NSH_LINELEN must be set to 128 or more.\n\ +\n\ +generator <command> [arguments...]\n\ + Commands:\n\ +\t<topics_name> The playback topic name.\n\ +\t[-h ] Listener commands help.\n\ +\t[-f <val> ] File path to be played back(absolute path).\n\ +\t[-n <val> ] Number of playbacks(fake model), default: 1\n\ +\t[-r <val> ] The rate for playing fake data is only valid\ + when parameter 's' is used. default:10hz.\n\ +\t[-s <val> ] Playback fake data.\n\ +\t[-t <val> ] Playback topic.\n\ +\t e.g.:\n\ +\t\tsim - sensor_accel0:\n\ +\t\t uorb_generator -n 100 -r 5 -s -t sensor_accel0 timestamp:23191100,\ +x:0.1,y:9.7,z:0.81,temperature:22.15\n\n\ +\t\tsim - sensor_baro0:\n\ +\t\t uorb_generator -n 100 -r 5 -s -t sensor_baro0 timestamp:23191100,\ +pressure:999.12,temperature:26.34\n\n\ +\t\tfies - sensor_accel1\n\ +\t\t uorb_generator -f /data/uorb/20240823061723/sensor_accel0.csv\ + -t sensor_accel1\ +\t\t\n\ + "); +} + +static void exit_handler(int signo) +{ + g_should_exit = true; +} + +static int get_play_orb_id(FAR const char *filter, + FAR struct sensor_gen_info_s *info) +{ + struct orb_object object; + + if (filter) + { + object.meta = orb_get_meta(filter); + if (object.meta == NULL) + { + uorbinfo_raw("Input error built-in name:[%s]", filter); + return ERROR; + } + + object.instance = 0; + if (isdigit(filter[strlen(filter) - 1])) + { + object.instance = filter[strlen(filter) - 1] - '0'; + } + + info->obj = object; + return OK; + } + + uorbinfo_raw("The entered built-in topic name is empty."); + return ERROR; +} + +/**************************************************************************** + * Name: replay_worker + * + * Description: + * Playback data files. + * + * Input Parameters: + * sensor_gen Generator objects. + * + * Returned Value: + * 0 on success, otherwise -1 + ****************************************************************************/ + +static int replay_worker(FAR struct sensor_gen_info_s *sensor_gen) +{ + struct lib_meminstream_s meminstream; + bool is_frist = true; + uint64_t last_time; + uint64_t tmp_time; + FAR uint8_t *data; + FAR char *line; + int sleep_time; + int lastc; + int ret; + int fd; + + line = kmm_zalloc(GENERATOR_CACHE_BUFF); + if (line == NULL) + { + return -ENOMEM; + } + + if (fgets(line, GENERATOR_CACHE_BUFF, sensor_gen->file) != NULL) + { + if (strstr(line, sensor_gen->obj.meta->o_name) == NULL) + { + uorbinfo_raw("Topic and file do not match!"); + return -EINVAL; + } + } + else + { + uorbinfo_raw("Playback file format error!"); + return -EINVAL; + } + + data = kmm_zalloc(sensor_gen->obj.meta->o_size); + if (data == NULL) + { + return -ENOMEM; + } + + fd = orb_advertise_multi_queue_persist(sensor_gen->obj.meta, + data, &sensor_gen->obj.instance, 1); + if (fd < 0) + { + uorbinfo_raw("Playback orb advertise failed[%d]!", fd); + kmm_free(data); Review Comment: ditto ########## system/uorb/generator.c: ########## @@ -0,0 +1,391 @@ +/**************************************************************************** + * apps/system/uorb/generator.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/signal.h> +#include <nuttx/streams.h> + +#include <ctype.h> +#include <uORB/uORB.h> + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define GENERATOR_CACHE_BUFF 4096 + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +struct sensor_gen_info_s +{ + struct orb_object obj; + FAR FILE *file; +}; + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static bool g_should_exit = false; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static void usage(void) +{ + uorbinfo_raw("\n\ +The tool publishes topic data via uorb.\n\ +Notice:NSH_LINELEN must be set to 128 or more.\n\ +\n\ +generator <command> [arguments...]\n\ + Commands:\n\ +\t<topics_name> The playback topic name.\n\ +\t[-h ] Listener commands help.\n\ +\t[-f <val> ] File path to be played back(absolute path).\n\ +\t[-n <val> ] Number of playbacks(fake model), default: 1\n\ +\t[-r <val> ] The rate for playing fake data is only valid\ + when parameter 's' is used. default:10hz.\n\ +\t[-s <val> ] Playback fake data.\n\ +\t[-t <val> ] Playback topic.\n\ +\t e.g.:\n\ +\t\tsim - sensor_accel0:\n\ +\t\t uorb_generator -n 100 -r 5 -s -t sensor_accel0 timestamp:23191100,\ +x:0.1,y:9.7,z:0.81,temperature:22.15\n\n\ +\t\tsim - sensor_baro0:\n\ +\t\t uorb_generator -n 100 -r 5 -s -t sensor_baro0 timestamp:23191100,\ +pressure:999.12,temperature:26.34\n\n\ +\t\tfies - sensor_accel1\n\ +\t\t uorb_generator -f /data/uorb/20240823061723/sensor_accel0.csv\ + -t sensor_accel1\ +\t\t\n\ + "); +} + +static void exit_handler(int signo) +{ + g_should_exit = true; +} + +static int get_play_orb_id(FAR const char *filter, + FAR struct sensor_gen_info_s *info) +{ + struct orb_object object; + + if (filter) + { + object.meta = orb_get_meta(filter); + if (object.meta == NULL) + { + uorbinfo_raw("Input error built-in name:[%s]", filter); + return ERROR; + } + + object.instance = 0; + if (isdigit(filter[strlen(filter) - 1])) + { + object.instance = filter[strlen(filter) - 1] - '0'; + } + + info->obj = object; + return OK; + } + + uorbinfo_raw("The entered built-in topic name is empty."); + return ERROR; +} + +/**************************************************************************** + * Name: replay_worker + * + * Description: + * Playback data files. + * + * Input Parameters: + * sensor_gen Generator objects. + * + * Returned Value: + * 0 on success, otherwise -1 + ****************************************************************************/ + +static int replay_worker(FAR struct sensor_gen_info_s *sensor_gen) +{ + struct lib_meminstream_s meminstream; + bool is_frist = true; + uint64_t last_time; + uint64_t tmp_time; + FAR uint8_t *data; + FAR char *line; + int sleep_time; + int lastc; + int ret; + int fd; + + line = kmm_zalloc(GENERATOR_CACHE_BUFF); + if (line == NULL) + { + return -ENOMEM; + } + + if (fgets(line, GENERATOR_CACHE_BUFF, sensor_gen->file) != NULL) + { + if (strstr(line, sensor_gen->obj.meta->o_name) == NULL) + { + uorbinfo_raw("Topic and file do not match!"); + return -EINVAL; + } + } + else + { + uorbinfo_raw("Playback file format error!"); + return -EINVAL; + } + + data = kmm_zalloc(sensor_gen->obj.meta->o_size); + if (data == NULL) + { + return -ENOMEM; + } + + fd = orb_advertise_multi_queue_persist(sensor_gen->obj.meta, + data, &sensor_gen->obj.instance, 1); + if (fd < 0) + { + uorbinfo_raw("Playback orb advertise failed[%d]!", fd); + kmm_free(data); + return fd; + } + + while (fgets(line, GENERATOR_CACHE_BUFF, sensor_gen->file) != NULL) + { + lib_meminstream(&meminstream, line, GENERATOR_CACHE_BUFF); + ret = lib_bscanf(&meminstream.common, &lastc, + sensor_gen->obj.meta->o_format, data); + if (ret >= 0) + { + tmp_time = *(uint64_t *)data; + if (is_frist) + { + last_time = *(uint64_t *)data; + is_frist = false; + } + else + { + sleep_time = tmp_time - last_time; + if (sleep_time > 0) + { + nxsig_usleep(sleep_time); + } + + last_time = tmp_time; + } + + if (OK != orb_publish(sensor_gen->obj.meta, fd, data)) + { + uorbinfo_raw("Topic publish error!"); + break; + } + } + else + { + uorbinfo_raw("[ignore] The text data for this line is wrong![%s]!", + line); + } + } + + orb_unadvertise(fd); + kmm_free(data); + return 0; +} + +/**************************************************************************** + * Name: fake_worker + * + * Description: + * Publish fake data. + * + * Input Parameters: + * sensor_gen Generator objects. + * nb_cycle Number of publications. + * topic_rate Publish frequency. + * buffer String data to publish. + * + * Returned Value: + * 0 on success, otherwise -1 + ****************************************************************************/ + +static int fake_worker(FAR struct sensor_gen_info_s *sensor_gen, + int nb_cycle, float topic_rate, FAR char *buffer) +{ + struct lib_meminstream_s meminstream; + FAR uint8_t *data; + uint64_t interval; + int lastc; + int fd; + int i; + + if (buffer == NULL) + { + return -EINVAL; + } + + data = kmm_zalloc(sensor_gen->obj.meta->o_size); Review Comment: ```suggestion data = zalloc(sensor_gen->obj.meta->o_size); ``` ########## system/uorb/generator.c: ########## @@ -0,0 +1,391 @@ +/**************************************************************************** + * apps/system/uorb/generator.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/signal.h> +#include <nuttx/streams.h> + +#include <ctype.h> +#include <uORB/uORB.h> + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define GENERATOR_CACHE_BUFF 4096 + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +struct sensor_gen_info_s +{ + struct orb_object obj; + FAR FILE *file; +}; + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static bool g_should_exit = false; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static void usage(void) +{ + uorbinfo_raw("\n\ +The tool publishes topic data via uorb.\n\ +Notice:NSH_LINELEN must be set to 128 or more.\n\ +\n\ +generator <command> [arguments...]\n\ + Commands:\n\ +\t<topics_name> The playback topic name.\n\ +\t[-h ] Listener commands help.\n\ +\t[-f <val> ] File path to be played back(absolute path).\n\ +\t[-n <val> ] Number of playbacks(fake model), default: 1\n\ +\t[-r <val> ] The rate for playing fake data is only valid\ + when parameter 's' is used. default:10hz.\n\ +\t[-s <val> ] Playback fake data.\n\ +\t[-t <val> ] Playback topic.\n\ +\t e.g.:\n\ +\t\tsim - sensor_accel0:\n\ +\t\t uorb_generator -n 100 -r 5 -s -t sensor_accel0 timestamp:23191100,\ +x:0.1,y:9.7,z:0.81,temperature:22.15\n\n\ +\t\tsim - sensor_baro0:\n\ +\t\t uorb_generator -n 100 -r 5 -s -t sensor_baro0 timestamp:23191100,\ +pressure:999.12,temperature:26.34\n\n\ +\t\tfies - sensor_accel1\n\ +\t\t uorb_generator -f /data/uorb/20240823061723/sensor_accel0.csv\ + -t sensor_accel1\ +\t\t\n\ + "); +} + +static void exit_handler(int signo) +{ + g_should_exit = true; +} + +static int get_play_orb_id(FAR const char *filter, + FAR struct sensor_gen_info_s *info) +{ + struct orb_object object; + + if (filter) + { + object.meta = orb_get_meta(filter); + if (object.meta == NULL) + { + uorbinfo_raw("Input error built-in name:[%s]", filter); + return ERROR; + } + + object.instance = 0; + if (isdigit(filter[strlen(filter) - 1])) + { + object.instance = filter[strlen(filter) - 1] - '0'; + } + + info->obj = object; + return OK; + } + + uorbinfo_raw("The entered built-in topic name is empty."); + return ERROR; +} + +/**************************************************************************** + * Name: replay_worker + * + * Description: + * Playback data files. + * + * Input Parameters: + * sensor_gen Generator objects. + * + * Returned Value: + * 0 on success, otherwise -1 + ****************************************************************************/ + +static int replay_worker(FAR struct sensor_gen_info_s *sensor_gen) +{ + struct lib_meminstream_s meminstream; + bool is_frist = true; + uint64_t last_time; + uint64_t tmp_time; + FAR uint8_t *data; + FAR char *line; + int sleep_time; + int lastc; + int ret; + int fd; + + line = kmm_zalloc(GENERATOR_CACHE_BUFF); Review Comment: ditto ########## system/uorb/generator.c: ########## @@ -0,0 +1,391 @@ +/**************************************************************************** + * apps/system/uorb/generator.c + * + * Licensed to the Apache Software Foundation (ASF) under one or more + * contributor license agreements. See the NOTICE file distributed with + * this work for additional information regarding copyright ownership. The + * ASF licenses this file to you under the Apache License, Version 2.0 (the + * "License"); you may not use this file except in compliance with the + * License. You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the + * License for the specific language governing permissions and limitations + * under the License. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/signal.h> +#include <nuttx/streams.h> + +#include <ctype.h> +#include <uORB/uORB.h> + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define GENERATOR_CACHE_BUFF 4096 + +/**************************************************************************** + * Private Types + ****************************************************************************/ + +struct sensor_gen_info_s +{ + struct orb_object obj; + FAR FILE *file; +}; + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +static bool g_should_exit = false; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +static void usage(void) +{ + uorbinfo_raw("\n\ +The tool publishes topic data via uorb.\n\ +Notice:NSH_LINELEN must be set to 128 or more.\n\ +\n\ +generator <command> [arguments...]\n\ + Commands:\n\ +\t<topics_name> The playback topic name.\n\ +\t[-h ] Listener commands help.\n\ +\t[-f <val> ] File path to be played back(absolute path).\n\ +\t[-n <val> ] Number of playbacks(fake model), default: 1\n\ +\t[-r <val> ] The rate for playing fake data is only valid\ + when parameter 's' is used. default:10hz.\n\ +\t[-s <val> ] Playback fake data.\n\ +\t[-t <val> ] Playback topic.\n\ +\t e.g.:\n\ +\t\tsim - sensor_accel0:\n\ +\t\t uorb_generator -n 100 -r 5 -s -t sensor_accel0 timestamp:23191100,\ +x:0.1,y:9.7,z:0.81,temperature:22.15\n\n\ +\t\tsim - sensor_baro0:\n\ +\t\t uorb_generator -n 100 -r 5 -s -t sensor_baro0 timestamp:23191100,\ +pressure:999.12,temperature:26.34\n\n\ +\t\tfies - sensor_accel1\n\ +\t\t uorb_generator -f /data/uorb/20240823061723/sensor_accel0.csv\ + -t sensor_accel1\ +\t\t\n\ + "); +} + +static void exit_handler(int signo) +{ + g_should_exit = true; +} + +static int get_play_orb_id(FAR const char *filter, + FAR struct sensor_gen_info_s *info) +{ + struct orb_object object; + + if (filter) + { + object.meta = orb_get_meta(filter); + if (object.meta == NULL) + { + uorbinfo_raw("Input error built-in name:[%s]", filter); + return ERROR; + } + + object.instance = 0; + if (isdigit(filter[strlen(filter) - 1])) + { + object.instance = filter[strlen(filter) - 1] - '0'; + } + + info->obj = object; + return OK; + } + + uorbinfo_raw("The entered built-in topic name is empty."); + return ERROR; +} + +/**************************************************************************** + * Name: replay_worker + * + * Description: + * Playback data files. + * + * Input Parameters: + * sensor_gen Generator objects. + * + * Returned Value: + * 0 on success, otherwise -1 + ****************************************************************************/ + +static int replay_worker(FAR struct sensor_gen_info_s *sensor_gen) +{ + struct lib_meminstream_s meminstream; + bool is_frist = true; + uint64_t last_time; + uint64_t tmp_time; + FAR uint8_t *data; + FAR char *line; + int sleep_time; + int lastc; + int ret; + int fd; + + line = kmm_zalloc(GENERATOR_CACHE_BUFF); + if (line == NULL) + { + return -ENOMEM; + } + + if (fgets(line, GENERATOR_CACHE_BUFF, sensor_gen->file) != NULL) + { + if (strstr(line, sensor_gen->obj.meta->o_name) == NULL) + { + uorbinfo_raw("Topic and file do not match!"); + return -EINVAL; + } + } + else + { + uorbinfo_raw("Playback file format error!"); + return -EINVAL; + } + + data = kmm_zalloc(sensor_gen->obj.meta->o_size); + if (data == NULL) + { + return -ENOMEM; + } + + fd = orb_advertise_multi_queue_persist(sensor_gen->obj.meta, + data, &sensor_gen->obj.instance, 1); + if (fd < 0) + { + uorbinfo_raw("Playback orb advertise failed[%d]!", fd); + kmm_free(data); + return fd; + } + + while (fgets(line, GENERATOR_CACHE_BUFF, sensor_gen->file) != NULL) + { + lib_meminstream(&meminstream, line, GENERATOR_CACHE_BUFF); + ret = lib_bscanf(&meminstream.common, &lastc, + sensor_gen->obj.meta->o_format, data); + if (ret >= 0) + { + tmp_time = *(uint64_t *)data; + if (is_frist) + { + last_time = *(uint64_t *)data; + is_frist = false; + } + else + { + sleep_time = tmp_time - last_time; + if (sleep_time > 0) + { + nxsig_usleep(sleep_time); + } + + last_time = tmp_time; + } + + if (OK != orb_publish(sensor_gen->obj.meta, fd, data)) + { + uorbinfo_raw("Topic publish error!"); + break; + } + } + else + { + uorbinfo_raw("[ignore] The text data for this line is wrong![%s]!", + line); + } + } + + orb_unadvertise(fd); + kmm_free(data); + return 0; +} + +/**************************************************************************** + * Name: fake_worker + * + * Description: + * Publish fake data. + * + * Input Parameters: + * sensor_gen Generator objects. + * nb_cycle Number of publications. + * topic_rate Publish frequency. + * buffer String data to publish. + * + * Returned Value: + * 0 on success, otherwise -1 + ****************************************************************************/ + +static int fake_worker(FAR struct sensor_gen_info_s *sensor_gen, + int nb_cycle, float topic_rate, FAR char *buffer) +{ + struct lib_meminstream_s meminstream; + FAR uint8_t *data; + uint64_t interval; + int lastc; + int fd; + int i; + + if (buffer == NULL) + { + return -EINVAL; + } + + data = kmm_zalloc(sensor_gen->obj.meta->o_size); + if (data == NULL) + { + return -ENOMEM; + } + + lib_meminstream(&meminstream, buffer, strlen(buffer)); + if (lib_bscanf(&meminstream.common, &lastc, + sensor_gen->obj.meta->o_format, data) < 0) + { + uorbinfo_raw("Input string data parsing error![%s]", buffer); + goto error; + } + + fd = orb_advertise_multi_queue_persist(sensor_gen->obj.meta, + data, &sensor_gen->obj.instance, 1); + if (fd < 0) + { + uorbinfo_raw("Fake orb advertise failed[%d]!", fd); + goto error; + } + + interval = topic_rate ? (1000000 / topic_rate) : 500000; + + for (i = 0; i < nb_cycle; ++i) + { + *(uint64_t *)data = orb_absolute_time(); + if (OK != orb_publish(sensor_gen->obj.meta, fd, data)) + { + uorbinfo_raw("Topic publish error!"); + goto error; + } + + nxsig_usleep(interval); + } + + kmm_free(data); + return 0; + +error: + kmm_free(data); + return -1; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +int main(int argc, FAR char *argv[]) +{ + FAR struct sensor_gen_info_s sensor_tmp; Review Comment: ```suggestion struct sensor_gen_info_s sensor_tmp; ``` -- This is an automated message from the Apache Git Service. To respond to the message, please log on to GitHub and use the URL above to go to the specific comment. To unsubscribe, e-mail: [email protected] For queries about this service, please contact Infrastructure at: [email protected]
