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commit 78590a55ea035f31c951aab87ec90647147d8f69 Author: dongjiuzhu1 <[email protected]> AuthorDate: Sun May 28 16:35:45 2023 +0800 system/uorb: Support frequency less than 1hz Signed-off-by: dongjiuzhu1 <[email protected]> --- system/uorb/listener.c | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/system/uorb/listener.c b/system/uorb/listener.c index b98f78e04..139e9a59f 100644 --- a/system/uorb/listener.c +++ b/system/uorb/listener.c @@ -70,8 +70,8 @@ static int listener_generate_object_list(FAR struct list_node *objlist, FAR const char *filter); static int listener_print(FAR const struct orb_metadata *meta, int fd); static void listener_monitor(FAR struct list_node *objlist, int nb_objects, - int topic_rate, int topic_latency, int nb_msgs, - int timeout); + float topic_rate, int topic_latency, + int nb_msgs, int timeout); static int listener_update(FAR struct list_node *objlist, FAR struct orb_object *object); static void listener_top(FAR struct list_node *objlist, @@ -492,12 +492,12 @@ static int listener_print(FAR const struct orb_metadata *meta, int fd) ****************************************************************************/ static void listener_monitor(FAR struct list_node *objlist, int nb_objects, - int topic_rate, int topic_latency, int nb_msgs, - int timeout) + float topic_rate, int topic_latency, + int nb_msgs, int timeout) { FAR struct pollfd *fds; FAR int *recv_msgs; - int interval = topic_rate ? 1000000 / topic_rate : 0; + int interval = topic_rate ? (int)(1000000 / topic_rate) : 0; int nb_recv_msgs = 0; int i = 0; @@ -706,7 +706,7 @@ int main(int argc, FAR char *argv[]) { struct list_node objlist; FAR struct listen_object_s *tmp; - int topic_rate = 0; + float topic_rate = 0; int topic_latency = 0; int nb_msgs = 0; int timeout = 5; @@ -729,7 +729,7 @@ int main(int argc, FAR char *argv[]) switch (ch) { case 'r': - topic_rate = strtol(optarg, NULL, 0); + topic_rate = atof(optarg); if (topic_rate < 0) { goto error;
