uorb: add generator tool. #3214

Otpvondoiats · 2025-11-19T07:46:07Z

Summary

uorb_generator this tool can be used in conjunction with uorb_listener.

Before using the tool, it is necessary to set the CONFIG_LINE_MAX parameter to a sufficiently long length to ensure that the terminal can accept complete input data. A recommendation is to set it to 256 or 512.

Incoming data can be printed via uorb_listener or concatenated manually using format information, but it must be ensured that the string and struct information are consistent. Topics saved using uorb_listener -f can be pulled and imported into the simulator for debugging (mount -t hostfs -o fs=/home/xxx/ /data).

Parameter Description:

-f specifies the path to the input playback file. -n specifies the number of times to playback the data. This option is only effective when -s is enabled. -r specifies the playback frequency (in HZ, e.g., 5hz, 20hz). This option is only effective when -s is enabled. -t specifies the topic for playback, with the option to specify a specific instance value afterward. -s enables playback of simulated (fake) data, generating struct data from input entered via the terminal. It will modify the timestamp of the current data to real-time. Simulated data should be placed at the end of the entire command.

By following these instructions, users can effectively utilize the Generator debugging tool in conjunction with uorb_listener for system debugging and verification.

The tool publishes topic data via uorb.
Notice:LINE_MAX must be set to 128 or more.

generator [arguments...]
Commands:
<topics_name> The playback topic name.
[-h ] Listener commands help.
[-f ] File path to be played back(absolute path).
[-n ] Number of playbacks(fake model), default: 1
[-r ] The rate for playing fake data is only valid when parameter 's' is used.
default:10hz.
[-s ] Playback fake data.
[-t ] Playback topic.
e.g.:
sim - sensor_accel0:
uorb_generator -n 100 -r 5 -s -t sensor_accel0 timestamp:23191100,x:0.1,y:9.7,z:0.81,temperature:22.15

    sim - sensor_baro0:
      uorb_generator -n 100 -r 5 -s -t sensor_baro0 timestamp:23191100,pressure:999.12,temperature:26.34

    fies - sensor_accel1
    uorb_generator -f /data/uorb/20240823061723/sensor_accel0.csv -t sensor_accel1

Testing

e.g.:

uorb_generator -f /data/sensor/19700101000003/sensor_accel_uncal0.csv -t sensor_accel_uncal2
uorb_generator -s -r 5 -n 200 -t sensor_accel_uncal2 timestamp:1,x:-2.0,y:3,z:4,temperature:5

e.g.: 1. uorb_generator -f /data/sensor/19700101000003/sensor_accel_uncal0.csv -t sensor_accel_uncal2 2. uorb_generator -s -r 5 -n 200 -t sensor_accel_uncal2 timestamp:1,x:-2.0,y:3,z:4,temperature:5 Signed-off-by: likun17 <likun17@xiaomi.com>

Donny9 · 2025-11-19T08:02:46Z

system/uorb/generator.c

+      return -EINVAL;
+    }
+
+  data = kmm_zalloc(sensor_gen->obj.meta->o_size);


Suggested change

data = kmm_zalloc(sensor_gen->obj.meta->o_size);

data = malloc(sensor_gen->obj.meta->o_size);

Donny9 · 2025-11-19T08:03:02Z

system/uorb/generator.c

+    }
+
+  orb_unadvertise(fd);
+  kmm_free(data);


Suggested change

kmm_free(data);

free(data);

Donny9 · 2025-11-19T08:03:52Z

system/uorb/generator.c

+  int ret;
+  int fd;
+
+  line = kmm_zalloc(GENERATOR_CACHE_BUFF);


Donny9 · 2025-11-19T08:04:11Z

system/uorb/generator.c

+  if (fd < 0)
+    {
+      uorbinfo_raw("Playback orb advertise failed[%d]!", fd);
+      kmm_free(data);


Donny9 · 2025-11-19T08:04:41Z

system/uorb/generator.c

+
+int main(int argc, FAR char *argv[])
+{
+  FAR struct sensor_gen_info_s sensor_tmp;


Suggested change

FAR struct sensor_gen_info_s sensor_tmp;

struct sensor_gen_info_s sensor_tmp;

Donny9 · 2025-11-19T08:05:33Z

system/uorb/generator.c

+      return -EINVAL;
+    }
+
+  data = kmm_zalloc(sensor_gen->obj.meta->o_size);


Suggested change

data = kmm_zalloc(sensor_gen->obj.meta->o_size);

data = zalloc(sensor_gen->obj.meta->o_size);

Donny9 · 2025-11-19T08:07:55Z

system/uorb/generator.c

+      nxsig_usleep(interval);
+    }
+
+  kmm_free(data);


merge, return ret?

Donny9 · 2025-11-19T08:10:09Z

link issue： apache/nuttx#17343 @acassis please review～

acassis · 2025-11-19T11:48:48Z

@Donny9 I think @Otpvondoiats closed the PR before get it merged and removed the branch, so it is impossible to review

acassis · 2025-11-19T19:53:11Z

@Otpvondoiats you don't need to close the PR to fix the issues in the review, just create a new PR with modifications and use "git rebase -i HEAD~2" to squash it and "git push -f" to force a push to replace the older commit in the repo.

This process is explained here: https://nuttx.apache.org/docs/latest/contributing/making-changes.html#how-to-include-the-suggestions-on-your-pull-request

Otpvondoiats · 2025-11-20T11:35:45Z

@Otpvondoiats you don't need to close the PR to fix the issues in the review, just create a new PR with modifications and use "git rebase -i HEAD~2" to squash it and "git push -f" to force a push to replace the older commit in the repo.

This process is explained here: https://nuttx.apache.org/docs/latest/contributing/making-changes.html#how-to-include-the-suggestions-on-your-pull-request

The reason I closed this PR is that I plan to merge these two submissions into one. Donny9 suggested I keep these, but my own repository branch for the for loop has been deleted, so there will be two PR.

acassis · 2025-11-20T11:45:53Z

@Otpvondoiats you don't need to close the PR to fix the issues in the review, just create a new PR with modifications and use "git rebase -i HEAD~2" to squash it and "git push -f" to force a push to replace the older commit in the repo.
This process is explained here: https://nuttx.apache.org/docs/latest/contributing/making-changes.html#how-to-include-the-suggestions-on-your-pull-request

The reason I closed this PR is that I plan to merge these two submissions into one. Donny9 suggested I keep these, but my own repository branch for the for loop has been deleted, so there will be two PR.

Thank you for explanation. It is a good practice to add the reason the PR was closed, it avoid confusion like in the case of nxinit closed PR.

uorb: add generator tool.

5a94f17

e.g.: 1. uorb_generator -f /data/sensor/19700101000003/sensor_accel_uncal0.csv -t sensor_accel_uncal2 2. uorb_generator -s -r 5 -n 200 -t sensor_accel_uncal2 timestamp:1,x:-2.0,y:3,z:4,temperature:5 Signed-off-by: likun17 <likun17@xiaomi.com>

github-actions bot added Area: System Size: M labels Nov 19, 2025

Donny9 reviewed Nov 19, 2025

View reviewed changes

Donny9 requested a review from acassis November 19, 2025 08:10

Otpvondoiats closed this Nov 19, 2025

Otpvondoiats deleted the lk_gen branch November 19, 2025 08:46

cederom mentioned this pull request Nov 20, 2025

uorb: add generator tool #3215

Merged

	data = kmm_zalloc(sensor_gen->obj.meta->o_size);
	data = malloc(sensor_gen->obj.meta->o_size);

	FAR struct sensor_gen_info_s sensor_tmp;
	struct sensor_gen_info_s sensor_tmp;

	data = kmm_zalloc(sensor_gen->obj.meta->o_size);
	data = zalloc(sensor_gen->obj.meta->o_size);

uorb: add generator tool. #3214

uorb: add generator tool. #3214

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Otpvondoiats commented Nov 19, 2025

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Donny9 commented Nov 19, 2025

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acassis commented Nov 19, 2025

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acassis commented Nov 19, 2025

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Otpvondoiats commented Nov 20, 2025

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acassis commented Nov 20, 2025

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