From 027ded4d4e108831c3d4d929497b29d0210d3ab8 Mon Sep 17 00:00:00 2001
From: likun17 <likun17@xiaomi.com>
Date: Fri, 1 Dec 2023 14:27:36 +0800
Subject: [PATCH] sensor:Add sensor gas log output.

Signed-off-by: likun17 <likun17@xiaomi.com>
---
 system/uorb/sensor/gas.c    | 49 +++++++++++++++++++++++++++++++++++++
 system/uorb/sensor/gas.h    | 38 ++++++++++++++++++++++++++++
 system/uorb/sensor/topics.c |  2 ++
 3 files changed, 89 insertions(+)
 create mode 100644 system/uorb/sensor/gas.c
 create mode 100644 system/uorb/sensor/gas.h

diff --git a/system/uorb/sensor/gas.c b/system/uorb/sensor/gas.c
new file mode 100644
index 000000000..6f5d65f71
--- /dev/null
+++ b/system/uorb/sensor/gas.c
@@ -0,0 +1,49 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/gas.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 <sensor/gas.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_DEBUG_UORB
+static void print_sensor_gas_message(FAR const struct orb_metadata *meta,
+                                     FAR const void *buffer)
+{
+  FAR const struct sensor_gas *message = buffer;
+  const orb_abstime now = orb_absolute_time();
+
+  uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
+               "value: %.4f",
+               meta->o_name, message->timestamp, now - message->timestamp,
+               message->gas_resistance);
+}
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_gas, struct sensor_gas, print_sensor_gas_message);
diff --git a/system/uorb/sensor/gas.h b/system/uorb/sensor/gas.h
new file mode 100644
index 000000000..625150406
--- /dev/null
+++ b/system/uorb/sensor/gas.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/gas.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_GAS_H
+#define __APPS_SYSTEM_UORB_SENSOR_GAS_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_gas);
+
+#endif
diff --git a/system/uorb/sensor/topics.c b/system/uorb/sensor/topics.c
index 9d11ff961..846e32dab 100644
--- a/system/uorb/sensor/topics.c
+++ b/system/uorb/sensor/topics.c
@@ -38,6 +38,7 @@
 #include <sensor/dust.h>
 #include <sensor/ecg.h>
 #include <sensor/force.h>
+#include <sensor/gas.h>
 #include <sensor/gps.h>
 #include <sensor/gyro.h>
 #include <sensor/gesture.h>
@@ -80,6 +81,7 @@ static FAR const struct orb_metadata *g_sensor_list[] =
   ORB_ID(sensor_dust),
   ORB_ID(sensor_ecg),
   ORB_ID(sensor_force),
+  ORB_ID(sensor_gas),
   ORB_ID(sensor_gps),
   ORB_ID(sensor_gps_satellite),
   ORB_ID(sensor_gyro),