nuttx-apps/system/uorb/Kconfig

#
# For a description of the syntax of this configuration file,
# see the file kconfig-language.txt in the NuttX tools repository.
#

menuconfig UORB
	tristate "uorb(micro object request broker)"
	depends on SENSORS && USENSOR
	default n

if UORB

config UORB_PRIORITY
	int "task priority"
	default 100

config UORB_STACKSIZE
	int "stack size"
	default DEFAULT_TASK_STACKSIZE

config UORB_LISTENER
	bool "uorb listener"
	default n

config UORB_TESTS
	bool "uorb unit tests"
	default n

if UORB_TESTS

config UORB_SRORAGE_DIR
	string "uorb test result storage dir"
	default "/data/"

endif # UORB_TESTS

config DEBUG_UORB
	bool "uorb debug output"
	default n

if DEBUG_UORB

config UORB_ALERT
	bool "uorb panic output"
	default n
	depends on DEBUG_ALERT

config UORB_ERROR
	bool "uorb error output"
	default n
	depends on DEBUG_ERROR

config UORB_WARN
	bool "uorb warn output"
	default n
	depends on DEBUG_WARN

config UORB_INFO
	bool "uorb info output"
	default n
	depends on DEBUG_INFO

endif # DEBUG_UORB

endif # UORB
apps/system/uorb: c interfaces. refer to: https://docs.px4.io/v1.12/en/middleware/uorb.html - orb_open: do real work for advertise() and subscribe(), if thre is no user, register topic first, then save meta in driver; only first user can successfully set buffer number. - orb_exists: check topic state, if topic only has subscribers, return "not exists". Signed-off-by: jihandong <jihandong@xiaomi.com> 2022-03-03 13:24:54 +01:00			`#`
			`# For a description of the syntax of this configuration file,`
			`# see the file kconfig-language.txt in the NuttX tools repository.`
			`#`

			`menuconfig UORB`
			`tristate "uorb(micro object request broker)"`
			`depends on SENSORS && USENSOR`
			`default n`

			`if UORB`

apps/system/uorb: c unit testcases testcases: 1. test_single(): single instance, advertise then subscribe. 2. test_multi_inst10(): 10 instance, each 1 subscriber. 3. test_multi(): 2 instances, 2 advertisers, 2 subscribers. 4. test_multi_reversed(): same as test_multi(), but subsribe before advertise. 5. test_unadvertise(): unadvertise upper 4 advertisers. 6. test_multi2(): same as tset_multi(). but multi-thread. 7, test_queue(): topic queue_size = 16. Signed-off-by: jihandong <jihandong@xiaomi.com> Signed-off-by: Jiuzhu Dong <dongjiuzhu1@xiaomi.com> 2022-03-15 13:08:52 +01:00			`config UORB_PRIORITY`
			`int "task priority"`
			`default 100`

			`config UORB_STACKSIZE`
			`int "stack size"`
			`default DEFAULT_TASK_STACKSIZE`

system/uorb: listener, has 'top' command. Listener can scan device under ORB_SENSOR_PATH, subscribe them and cotinue printing messages by call their cb. '-T' can Continuously print updating objects, '-l' means only print once. Signed-off-by: jihandong <jihandong@xiaomi.com> Signed-off-by: Jiuzhu Dong <dongjiuzhu1@xiaomi.com> 2022-03-25 14:01:20 +01:00			`config UORB_LISTENER`
			`bool "uorb listener"`
			`default n`

			`config UORB_TESTS`
			`bool "uorb unit tests"`
			`default n`

			`if UORB_TESTS`

			`config UORB_SRORAGE_DIR`
			`string "uorb test result storage dir"`
			`default "/data/"`

			`endif # UORB_TESTS`

apps/system/uorb: c interfaces. refer to: https://docs.px4.io/v1.12/en/middleware/uorb.html - orb_open: do real work for advertise() and subscribe(), if thre is no user, register topic first, then save meta in driver; only first user can successfully set buffer number. - orb_exists: check topic state, if topic only has subscribers, return "not exists". Signed-off-by: jihandong <jihandong@xiaomi.com> 2022-03-03 13:24:54 +01:00			`config DEBUG_UORB`
			`bool "uorb debug output"`
			`default n`

			`if DEBUG_UORB`

			`config UORB_ALERT`
			`bool "uorb panic output"`
			`default n`
			`depends on DEBUG_ALERT`

			`config UORB_ERROR`
			`bool "uorb error output"`
			`default n`
			`depends on DEBUG_ERROR`

			`config UORB_WARN`
			`bool "uorb warn output"`
			`default n`
			`depends on DEBUG_WARN`

			`config UORB_INFO`
			`bool "uorb info output"`
			`default n`
			`depends on DEBUG_INFO`

			`endif # DEBUG_UORB`

			`endif # UORB`