FelipeMdeO opened a new pull request, #3686:
URL: https://github.com/apache/nuttx-apps/pull/3686
## Summary
`uorb_listener` never showed data for a sensor whose lower half only
implements `fetch()` (the usual case for an I2C part with no interrupt
line wired, e.g. the MPU6050): `orb_subscribe_multi()` opens the
descriptor blocking, and a fetch()-only sensor never pushes a sample
into the circular buffer, so `sensor_poll()`/`sensor_read()` wait
forever. The 5-second timeout was silent and indistinguishable from a
sensor that genuinely has nothing to report.
Four fixes, one per commit:
* Set `O_NONBLOCK` on the descriptor after subscribing — the core fix,
makes fetch()-only sensors visible to the listener at all.
* Honor the requested rate (`-r`) for fetch()-only sensors — the upper
half only applies `SNIOC_SET_INTERVAL` to pushed samples, so without
this the loop read as fast as it could run.
* Select `LIBC_PRINT_EXTENSION` from `UORB_FORMAT` — without it,
`orb_info()`'s `"%pB"` extension printed the raw buffer address
instead of the decoded data.
* Raise the default `UORB_STACKSIZE` to 4096 when `UORB_FORMAT` is
enabled — the nested `"%pB"` formatting pass peaked at ~2.2KB
(measured with `STACK_COLORATION`), overflowing the 2048 byte
default and corrupting memory outside the task rather than failing
cleanly.
## Impact
Affects any board using `uorb_listener` on a uORB sensor whose lower
half only implements `fetch()`. Push-based sensors are unaffected:
neither `sensor_poll()` nor `sensor_read()` consults `O_NONBLOCK` on
that path. `UORB_STACKSIZE` default only changes for configs that
already select `UORB_FORMAT` (i.e. already use the listener).
## Testing
Target: ESP32-S3-DevKitC (N16R8) with a GY-521 (MPU6050) on I2C0 (SDA
GPIO5 / SCL GPIO4), `esp32s3-devkit:mpu6050` defconfig
(`EXAMPLES_SENSOR_FUSION` disabled just for this test, since it needs
a separate unmerged fix and is unrelated to this bug).
Before (apps master, `5f286fc92`, without this fix):
```
nsh> uorb_listener -n 5 sensor_accel0
Monitor objects num:1
object_name:sensor_accel, object_instance:0
Waited for 5 seconds without a message. Giving up. err:0
Object name:sensor_accel0, received:0
Total number of received Message:0/5
```
The sensor was confirmed alive and publishing via `sensortest` at the
same time.
After (this branch, `6fe80c8ad`):
```
nsh> uorb_listener -n 5 sensor_accel0
Monitor objects num:1
object_name:sensor_accel, object_instance:0
sensor_accel(now:10940000):timestamp:10940000,x:0.045489,y:-0.435745,z:10.307038,temperature:26.365292
sensor_accel(now:10940000):timestamp:10940000,x:-0.043095,y:-0.426168,z:10.268731,temperature:26.506470
sensor_accel(now:10950000):timestamp:10950000,x:0.019153,y:-0.418985,z:10.127473,temperature:26.412352
sensor_accel(now:10960000):timestamp:10960000,x:-0.014365,y:-0.462081,z:10.129868,temperature:26.412352
sensor_accel(now:10970000):timestamp:10970000,x:-0.004788,y:-0.416591,z:10.165780,temperature:26.506470
Object name:sensor_accel0, received:5
Total number of received Message:5/5
nsh> uorb_listener -n 3 -r 10 sensor_accel0,sensor_gyro0
Monitor objects num:2
object_name:sensor_gyro, object_instance:0
object_name:sensor_accel, object_instance:0
sensor_gyro(now:28020000):timestamp:28020000,x:-0.010791,y:0.031042,z:0.693735,temperature:26.318233
sensor_accel(now:28020000):timestamp:28020000,x:-0.043095,y:-0.440533,z:10.170568,temperature:25.847645
sensor_gyro(now:28130000):timestamp:28130000,x:-0.015987,y:0.027978,z:-0.013989,temperature:26.035881
Object name:sensor_gyro0, received:2
Object name:sensor_accel0, received:1
Total number of received Message:3/3
```
Accelerometer Z reads gravity with the board resting flat, gyroscope
reads near zero, both topics interleave correctly, and the 10 Hz rate
requested with `-r` is honored (~110ms between samples).
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