system/uorb: adds non-wakeup subscription support.#3373
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xiaoxiang781216 merged 2 commits intoapache:masterfrom Jan 26, 2026
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system/uorb: adds non-wakeup subscription support.#3373xiaoxiang781216 merged 2 commits intoapache:masterfrom
xiaoxiang781216 merged 2 commits intoapache:masterfrom
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default subscribing is wakeup. Signed-off-by: dongjiuzhu1 <dongjiuzhu1@xiaomi.com>
jerpelea
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cederom
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Thank you @Otpvondoiats for very nice functionality and pr description!
Please review build errors.
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Build error: |
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depend on apache/nuttx#18134 (review) |
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failed case: sim/rpproxy
patch: apps nuttx:
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still build errors :-( |
Add nonwakeup ways to using uorb_listener Signed-off-by: dongjiuzhu1 <dongjiuzhu1@xiaomi.com> Signed-off-by: likun17 <likun17@xiaomi.com>
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It's ready |
acassis
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xiaoxiang781216
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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 (edd1cb2) -
system/uorb/uORB/Adds new subscription APIs that enable non-wakeup mode:
Implementation:
orb_advsub_open()to acceptnon_wakeupparameternon_wakeupis true, callsioctl(fd, SNIOC_SET_NONWAKEUP, true)orb_subscribe_multi()unchanged (defaults to wakeup mode)system/uorb/uORB/uORB.c: Added new functions and parametersystem/uorb/uORB/uORB.h: Added API declarations and documentationCommit 2: CLI Tool Support (2079026) -
system/uorb/listener.cAdds
-uflag touorb_listenerfor testing non-wakeup subscriptions:Impact
Users
New Functionality:
-uflagAPI Changes:
Backward Compatibility:
Build Process
Testing