xiaoxiang781216 commented on code in PR #3686:
URL: https://github.com/apache/nuttx-apps/pull/3686#discussion_r3694496482
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system/uorb/Kconfig:
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@@ -16,7 +16,11 @@ config UORB_PRIORITY
config UORB_STACKSIZE
int "stack size"
+ default 4096 if UORB_FORMAT
Review Comment:
let's change to 4KB always?
##########
system/uorb/listener.c:
##########
@@ -200,15 +200,31 @@ static int listener_create_dir(FAR char *dir, size_t size)
static int listener_subscribe(FAR struct listen_object_s *tmp,
bool nonwakeup)
{
+ int flags;
Review Comment:
it's better to let sensor upperhalf layer always return POLLIN for the fetch
only sensor
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system/uorb/listener.c:
##########
@@ -955,6 +957,16 @@ static void listener_monitor(FAR struct listen_list_s
*objlist,
"Giving up. err:%d", timeout, errno);
break;
}
+
+ if (interval != 0)
+ {
+ orb_abstime elapsed = orb_absolute_time() - start;
+
+ if (elapsed < (orb_abstime)interval)
Review Comment:
remove the cast
##########
system/uorb/listener.c:
##########
@@ -913,6 +913,8 @@ static void listener_monitor(FAR struct listen_list_s
*objlist,
while ((!nb_msgs || nb_recv_msgs < nb_msgs) && !g_should_exit)
{
+ orb_abstime start = orb_absolute_time();
+
if (poll(&fds[0], nb_objects, timeout * 1000) > 0)
Review Comment:
how about let driver return one POLLIN in each interval for fetch only sensor
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