Otpvondoiats opened a new pull request, #3373:
URL: https://github.com/apache/nuttx-apps/pull/3373
## Summary
This PR adds non-wakeup subscription support to the uORB subsystem, enabling
applications to subscribe to sensor topics without waking the system when new
data arrives. This feature is critical for power-sensitive applications where
battery life is prioritized over real-time data delivery.
**Commit 1: Core API (edd1cb249) - `system/uorb/uORB/`**
Adds new subscription APIs that enable non-wakeup mode:
```c
int orb_subscribe_multi_nonwakeup(FAR const struct orb_metadata *meta,
unsigned instance);
int orb_subscribe_nonwakeup(FAR const struct orb_metadata *meta);
```
**Implementation:**
- Extended `orb_advsub_open()` to accept `non_wakeup` parameter
- When `non_wakeup` is true, calls `ioctl(fd, SNIOC_SET_NONWAKEUP, true)`
- Existing `orb_subscribe_multi()` unchanged (defaults to wakeup mode)
- Modified files:
- `system/uorb/uORB/uORB.c`: Added new functions and parameter
- `system/uorb/uORB/uORB.h`: Added API declarations and documentation
**Commit 2: CLI Tool Support (207902693) - `system/uorb/listener.c`**
Adds `-u` flag to `uorb_listener` for testing non-wakeup subscriptions:
```bash
# Subscribe in non-wakeup mode
uorb_listener -u sensor_accel,sensor_gyro
# Combine with other options
uorb_listener -u -f sensor_temp # flush in non-wakeup mode
uorb_listener -u -i sensor_mag # get info without waking system
```
## Impact
### Users
**New Functionality:**
- Applications can now choose per-subscription whether to wake the system
- CLI tool supports testing with `-u` flag
- Ideal for background monitoring, logging, and non-critical sensor data
**API Changes:**
```c
// New APIs added
int orb_subscribe_multi_nonwakeup(FAR const struct orb_metadata *meta,
unsigned instance);
int orb_subscribe_nonwakeup(FAR const struct orb_metadata *meta);
// New CLI option
uorb_listener -u <topics>
```
**Backward Compatibility:**
- **100% compatible** - All existing code works unchanged
- Default behavior unchanged (wakeup mode)
- Non-wakeup mode is opt-in only
### Build Process
- No build configuration changes required
- No new dependencies added
- Standard compilation process
- Modified files compile without warning
## Testing
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ap> ][01/20 22:31:27] [ 7] [cp] bt_temperature_comp_thread, temperature: 32
uorb_listener -n 10 sensor_accel
Mointor objects num:1
object_name:sensor_accel, object_instance:0
sensor_accel(now:20447017000):timestamp:20430408830,x:0.365890,y:0.218209,z:9.730313,temperature:29.453125
sensor_accel(now:20447057000):timestamp:20430449030,x:0.404197,y:0.306794,z:9.785380,temperature:29.453125
[01/20 22:31:28] [ 0] [audio] CPU USAGE: busy=1 cpu_sleep=0 bus_sleep=0
subsys_sleep=99(pd)
sensor_accel(now:20447097200):timestamp:20430489230,x:0.344342,y:0.323553,z:9.680036,temperature:29.453125
sensor_accel(now:20447137400):timestamp:20430529530,x:0.361101,y:0.249333,z:9.792563,temperature:29.453125
sensor_accel(now:20447177700):timestamp:20430569730,x:0.298852,y:0.313977,z:9.754255,temperature:29.453125
sensor_accel(now:20447217800):timestamp:20430609930,x:0.387437,y:0.249333,z:9.792563,temperature:29.453125
sensor_accel(now:20447257900):timestamp:20430650130,x:0.365890,y:0.290035,z:9.713554,temperature:29.453125
sensor_accel(now:20447298100):timestamp:20430690330,x:0.363495,y:0.261304,z:9.802140,temperature:29.453125
sensor_accel(now:20447338300):timestamp:20430730630,x:0.274910,y:0.297217,z:9.876360,temperature:29.453125
sensor_accel(now:20447379000):timestamp:20430770830,x:0.332371,y:0.313977,z:9.787775,temperature:29.453125
Object name:sensor_accel0, recieved:10
Total number of received Message:10/10
ap>
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