Otpvondoiats opened a new pull request, #2604:
URL: https://github.com/apache/nuttx-apps/pull/2604
## Summary
1. Added urob loop function module and supported epoll.
```
struct orb_handle_s g_handle;
struct orb_handle_s g_handle1;
struct orb_loop_s g_loop;
void *test_loop(void *arg)
{
struct orb_loop_s *loop = arg;
if ( loop == NULL)
{
return ((void *)0);
}
if(orb_loop_run(loop) < 0)
{
syslog(1, "&&&& THREAD error!\n");
}
syslog(1, "&&&& THREAD exit !\n");
return ((void *)0);
}
int print_accel(FAR struct orb_handle_s *handle, FAR void *arg)
{
int ret;
struct sensor_accel accel;
pthread_t id = pthread_self();
ret = orb_copy(ORB_ID(sensor_accel), handle->fd, &accel);
if (ret == OK)
{
syslog(1, "data [%d] -> fd:%d, x:%f, y:%f, z:%f handle:%p,
threadid:%d",
(int)arg, handle->fd, accel.x, accel.y, accel.z, handle, id);
}
count++;
return OK;
}
int flush_accel(FAR struct orb_handle_s *handle, FAR void *arg)
{
int ret;
struct sensor_accel accel;
pthread_t id = pthread_self();
ret = orb_copy(ORB_ID(sensor_accel), handle->fd, &accel);
if (ret == OK)
{
syslog(1, "flush [%d] -> fd:%d, x:%f, y:%f, z:%f handle:%p,
threadid:%d",
(int)arg, handle->fd, accel.x, accel.y, accel.z, handle, id);
}
return OK;
}
int state_accel(FAR struct orb_handle_s *handle, FAR void *arg)
{
int ret;
struct orb_state state;
pthread_t id = pthread_self();
ret = orb_get_state(handle->fd, &state);
if (ret == OK)
{
syslog(1, "/// state [%d] -> fd:%d, max:%u, min:%u, que:%u nsu:%u, " \
"gen:%lu, handle:%p, threadid:%d",
(int)arg, handle->fd, state.max_frequency,
state.min_batch_interval,
state.queue_size, state.nsubscribers, state.generation, handle,
id);
}
return OK;
}
int start_loop(void)
{
pthread_t ntid;
int err;
int fd_handle;
int fd_handle1;
fd_handle = orb_subscribe_multi(ORB_ID(sensor_accel), 0);
err = orb_loop_init(&g_loop, ORB_EPOLL_TYPE);
if (err < 0)
{
syslog(1, "init g_loop error! error:%d\n", err);
}
err = orb_handle_init(&g_handle, fd_handle, EPOLLIN,
(FAR void *)0, print_accel, flush_accel,
state_accel);
if (err < 0)
{
syslog(1, "init g_handle error! error:%d\n", err);
}
err = orb_handle_start(&g_loop, &g_handle);
if (err < 0)
{
syslog(1, "initg_ handle start error! error:%d\n", err);
}
err = pthread_create(&ntid, NULL, test_loop, &g_loop);
if (err != 0)
{
syslog(1, "can't create thread\n");
}
usleep(100000);
/* add handle 1; */
fd_handle1 = orb_subscribe_multi(ORB_ID(sensor_accel), 1);
err = orb_handle_init(&g_handle1, fd_handle1, EPOLLIN,
(FAR void *)1, print_accel, flush_accel,
state_accel);
if (err < 0)
{
syslog(1, "init g_handle error! error:%d\n", err);
}
err = orb_handle_start(&g_loop, &g_handle1);
if (err < 0)
{
syslog(1, "initg_ handle start error! error:%d\n", err);
}
usleep(500000);
while (1)
{
if( count < 200)
{
usleep(50000);
continue;
}
err = orb_loop_deinit(&g_loop);
if (err < 0)
{
syslog(1, "deinit loop error! error:%d\n", err);
}
break;
}
orb_unsubscribe(fd_handle);
syslog(1, "main thread exit\n");
}
```
## Impact
n/a
## Testing
- Environment:
OS and Version: Ubuntu 20.04.6 LTS x86_64
GCC Version: 13.1.0
SIM: ./tools/configure.sh sim:nsh
- Order:
./nuttx
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