From 6fceb913a25fa24dafa88d38aef30c65a80ad51e Mon Sep 17 00:00:00 2001
From: Jiuzhu Dong <dongjiuzhu1@xiaomi.com>
Date: Fri, 15 Apr 2022 17:16:49 +0800
Subject: [PATCH] system/uorb: optimize stack used

Signed-off-by: Jiuzhu Dong <dongjiuzhu1@xiaomi.com>
---
 system/uorb/listener.c      |  6 ++----
 system/uorb/sensor/topics.c |  6 +++---
 system/uorb/uORB/uORB.c     | 10 ++++++----
 system/uorb/uORB/uORB.h     |  1 +
 4 files changed, 12 insertions(+), 11 deletions(-)

diff --git a/system/uorb/listener.c b/system/uorb/listener.c
index 7b3a083ec..5b18a54cf 100644
--- a/system/uorb/listener.c
+++ b/system/uorb/listener.c
@@ -344,7 +344,7 @@ static int listener_generate_object_list(FAR struct list_node *objlist,
   while ((entry = readdir(dir)))
     {
       struct orb_object object;
-      char file_name[PATH_MAX];
+      char file_name[ORB_PATH_MAX];
       int len;
 
       /* Get meta data and instance number through file name */
@@ -354,7 +354,7 @@ static int listener_generate_object_list(FAR struct list_node *objlist,
           continue;
         }
 
-      strlcpy(file_name, entry->d_name, PATH_MAX);
+      strlcpy(file_name, entry->d_name, ORB_PATH_MAX);
 
       len = strlen(file_name) - 1;
       object.instance = file_name[len] - '0';
@@ -424,8 +424,6 @@ static int listener_print(FAR const struct orb_metadata *meta, int fd)
     {
       meta->o_cb(meta, buffer);
     }
-#else
-  uorbinfo_raw("Enable debug uorb to print message");
 #endif
 
   return ret;
diff --git a/system/uorb/sensor/topics.c b/system/uorb/sensor/topics.c
index b291170de..2c1851f55 100644
--- a/system/uorb/sensor/topics.c
+++ b/system/uorb/sensor/topics.c
@@ -113,7 +113,7 @@ static FAR const struct orb_metadata *g_sensor_list[] =
 FAR const struct orb_metadata *orb_get_meta(FAR const char *name)
 {
   struct sensor_state_s state;
-  char path[PATH_MAX];
+  char path[ORB_PATH_MAX];
   int idx = -1;
   int ret;
   int fd;
@@ -141,11 +141,11 @@ FAR const struct orb_metadata *orb_get_meta(FAR const char *name)
 
   /* Then open node to get meta */
 
-  snprintf(path, PATH_MAX, ORB_SENSOR_PATH"%s", name);
+  snprintf(path, ORB_PATH_MAX, ORB_SENSOR_PATH"%s", name);
   fd = open(path, O_RDONLY);
   if (fd < 0)
     {
-      snprintf(path, PATH_MAX, ORB_SENSOR_PATH"%s%d", name, 0);
+      snprintf(path, ORB_PATH_MAX, ORB_SENSOR_PATH"%s%d", name, 0);
       fd = open(path, O_RDONLY);
       if (fd < 0)
         {
diff --git a/system/uorb/uORB/uORB.c b/system/uorb/uORB/uORB.c
index 9b771e657..5fdf16e9f 100644
--- a/system/uorb/uORB/uORB.c
+++ b/system/uorb/uORB/uORB.c
@@ -56,12 +56,13 @@
 static int orb_open(FAR const struct orb_metadata *meta, bool advertiser,
                     int instance, unsigned int queue_size)
 {
-  char path[PATH_MAX];
+  char path[ORB_PATH_MAX];
   bool first_open = false;
   int fd;
   int ret;
 
-  snprintf(path, PATH_MAX, ORB_SENSOR_PATH"%s%d", meta->o_name, instance);
+  snprintf(path, ORB_PATH_MAX, ORB_SENSOR_PATH"%s%d", meta->o_name,
+           instance);
 
   /* Check existance before open */
 
@@ -281,11 +282,12 @@ orb_abstime orb_absolute_time(void)
 int orb_exists(FAR const struct orb_metadata *meta, int instance)
 {
   struct sensor_state_s state;
-  char path[PATH_MAX];
+  char path[ORB_PATH_MAX];
   int ret;
   int fd;
 
-  snprintf(path, PATH_MAX, ORB_SENSOR_PATH"%s%d", meta->o_name, instance);
+  snprintf(path, ORB_PATH_MAX, ORB_SENSOR_PATH"%s%d", meta->o_name,
+           instance);
   fd = open(path, 0);
   if (fd < 0)
     {
diff --git a/system/uorb/uORB/uORB.h b/system/uorb/uORB/uORB.h
index 1ba96e66d..5161c31f6 100644
--- a/system/uorb/uORB/uORB.h
+++ b/system/uorb/uORB/uORB.h
@@ -78,6 +78,7 @@ typedef uint64_t orb_abstime;
 
 #define ORB_SENSOR_PATH        "/dev/sensor/"
 #define ORB_USENSOR_PATH       "/dev/usensor"
+#define ORB_PATH_MAX           (NAME_MAX + 16)
 
 #ifdef CONFIG_UORB_ALERT
 #  define uorbpanic(fmt, ...)  _alert(fmt "\n", ##__VA_ARGS__)