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uorb_listener: support set batch latency

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Signed-off-by: Jiuzhu Dong <dongjiuzhu1@xiaomi.com>
This commit is contained in:
Jiuzhu Dong 2022-05-16 18:21:23 +08:00 committed by Alan Carvalho de Assis
parent 3a8f4b53fc
commit 8558e63772
1 changed files with 28 additions and 4 deletions
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32
system/uorb/listener.c
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@ -70,7 +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 nb_msgs, int timeout);
int 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,
@ -115,6 +116,8 @@ listener <command> [arguments...]\n\
\t[-h ] Listener commands help\n\
\t[-n <val> ] Number of messages, default: 0\n\
\t[-r <val> ] Subscription rate (unlimited if 0), default: 0\n\
\t[-b <val> ] Subscription maximum report latency in us(unlimited if 0),\n\
\t default: 0\n\
\t[-t <val> ] Time of listener, in seconds, default: 5\n\
\t[-T ] Top, continuously print updating objects\n\
\t[-l ] Top only execute once.\n\
@ -482,6 +485,7 @@ static int listener_print(FAR const struct orb_metadata *meta, int fd)
* objlist List of objects to subscribe.
* nb_objects Length of objects list.
* topic_rate Subscribe frequency.
* topic_latency Subscribe report latency.
* nb_msgs Subscribe amount of messages.
* timeout Maximum poll waiting time , ms.
*
@ -490,7 +494,8 @@ 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 nb_msgs, int timeout)
int topic_rate, int topic_latency, int nb_msgs,
int timeout)
{
FAR struct pollfd *fds;
FAR int *recv_msgs;
@ -539,6 +544,10 @@ static void listener_monitor(FAR struct list_node *objlist, int nb_objects,
else if (topic_rate != 0)
{
orb_set_frequency(fd, topic_rate);
if (topic_latency != 0)
{
orb_set_batch_interval(fd, topic_latency);
}
}
i++;
@ -598,6 +607,11 @@ static void listener_monitor(FAR struct list_node *objlist, int nb_objects,
}
else
{
if (topic_latency)
{
orb_set_batch_interval(fds[i].fd, 0);
}
orb_unsubscribe(fds[i].fd);
uorbinfo_raw("Object name:%s%d, recieved:%d",
tmp->object.meta->o_name, tmp->object.instance,
@ -695,6 +709,7 @@ int main(int argc, FAR char *argv[])
struct list_node objlist;
FAR struct listen_object_s *tmp;
int topic_rate = 0;
int topic_latency = 0;
int nb_msgs = 0;
int timeout = 5;
bool top = false;
@ -711,7 +726,7 @@ int main(int argc, FAR char *argv[])
/* Pasrse Argument */
while ((ch = getopt(argc, argv, "r:n:t:Tlh")) != EOF)
while ((ch = getopt(argc, argv, "r:b:n:t:Tlh")) != EOF)
{
switch (ch)
{
@ -723,6 +738,14 @@ int main(int argc, FAR char *argv[])
}
break;
case 'b':
topic_latency = strtol(optarg, NULL, 0);
if (topic_latency < 0)
{
goto error;
}
break;
case 'n':
nb_msgs = strtol(optarg, NULL, 0);
if (nb_msgs < 0)
@ -781,7 +804,8 @@ int main(int argc, FAR char *argv[])
tmp->object.instance);
}
listener_monitor(&objlist, ret, topic_rate, nb_msgs, timeout);
listener_monitor(&objlist, ret, topic_rate, topic_latency,
nb_msgs, timeout);
}
listener_delete_object_list(&objlist);