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new 41cd6eb16d0 Documentation/uorb: Fix command references in uORB docs.
41cd6eb16d0 is described below
commit 41cd6eb16d0e1fe9dd7a05963938b61424be7c52
Author: hanzhijian <[email protected]>
AuthorDate: Thu May 21 19:44:24 2026 +0800
Documentation/uorb: Fix command references in uORB docs.
Align the uORB application documentation with the actual command names,
source layout, and configuration options in apps/system/uorb.
This updates the page to describe both uorb_listener and uorb_generator,
uses the registered NSH command names in usage examples, and documents the
listener and generator options to match the current implementation.
It also adds the relevant Kconfig enablement notes so the documented
commands are easier to find and use.
Tested with:
- make html SPHINXOPTS="-W" -j
Signed-off-by: hanzhijian <[email protected]>
---
Documentation/applications/system/uorb/index.rst | 29 +++++++++++++++++-------
1 file changed, 21 insertions(+), 8 deletions(-)
diff --git a/Documentation/applications/system/uorb/index.rst
b/Documentation/applications/system/uorb/index.rst
index 2a02d3de81d..a34a6fbadc3 100644
--- a/Documentation/applications/system/uorb/index.rst
+++ b/Documentation/applications/system/uorb/index.rst
@@ -69,12 +69,14 @@ and subscribers is achieved through ioctl operations.
^^^^^^^^^^^^^^^^^
The directory apps/system/uorb contains the uORB wrapper, unit tests, physical
-sensor topic definitions, and the uorb_listener tool.
+sensor topic definitions, and the ``uorb_listener`` and ``uorb_generator``
+tools.
::
├── Kconfig
- ├── listener.c // Implementation of uorb_listener.c
+ ├── generator.c // Implementation of the uorb_generator command
+ ├── listener.c // Implementation of the uorb_listener command
├── Make.defs
├── Makefile
├── sensor // Definitions for physical sensor topics
@@ -534,6 +536,12 @@ and management in an embedded system environment.
**Tools**
^^^^^^^^^
+To use these tools, enable ``CONFIG_UORB`` and the corresponding command
+options in ``apps/system/uorb/Kconfig``:
+
+- ``CONFIG_UORB_LISTENER`` for ``uorb_listener``
+- ``CONFIG_UORB_GENERATOR`` for ``uorb_generator``
+
.. _uorb_listener:
**uorb_listener**
@@ -547,25 +555,30 @@ Below are some commonly used cases:
::
- listener <command> [arguments...]
+ uorb_listener <command> [arguments...]
Commands:
<topics_name> Topic name. Multi name are separated by ','
[-h ] Listener commands help
- [-f ] Record uorb data to file
+ [-s ] Record uorb data to file
[-n <val> ] Number of messages, default: 0
[-r <val> ] Subscription rate (unlimited if 0), default: 0
[-b <val> ] Subscription maximum report latency in us(unlimited if
0), default: 0
[-t <val> ] Time of listener, in seconds, default: 5
+ [-f ] Flush sensor driver data
[-T ] Top, continuously print updating objects
[-l ] Top only execute once.
+ [-i ] Print topic state information
+ [-u ] Use non-wakeup mode when available
``uorb_listener`` continuously prints information for all topics at the
frequency of topic publications.
-``uorb_listener -f`` continuously saves information for all topics to
/data/uorb/***/***.csv at the frequency of
+``uorb_listener -s`` continuously saves information for all topics to
/data/uorb/***/***.csv at the frequency of
topic publications. If the -f flag is used and the file cannot be created, the
data will be output to the terminal instead.
-``uorb_listener -f sensor_accel0`` continuously saves information for the
specified topic to a file at the frequency of topic publications.
+``uorb_listener -s sensor_accel0`` continuously saves information for the
specified topic to a file at the frequency of topic publications.
+
+``uorb_listener -f`` requests a flush for physical sensor topics that support
FIFO flush operations.
``uorb_listener n 1`` prints a snapshot of the current information for all
topics.
@@ -608,9 +621,9 @@ By following these instructions, users can effectively
utilize the Generator deb
::
The tool publishes topic data via uorb.
- Notice:LINE_MAX must be set to 128 or more.
+ Notice:NSH_LINELEN must be set to 128 or more.
- generator <command> [arguments...]
+ uorb_generator <command> [arguments...]
Commands:
<topics_name> The playback topic name.
[-h ] Listener commands help.
