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sensor_monitor: add /proc/sensor_monitor

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"Sensor procfs - Dynamic sensor debugging tool\n"
  "\n"
  "Usage:\n"
  "  cat /proc/sensor_monitor - Show currently monitored topics\n"
  "  echo <level> <topic> > /proc/sensor_monitor - Add topic(s)\n"
  "  echo rm <topic> > /proc/sensor_monitor - Remove topic(s)\n"
  "  echo add <topic> <topic> > /proc/sensor_monitor"
  " - add/remove topics\n"
  "  echo clean > /proc/sensor_monitor      - Remove all topics\n"
  "\n"
  "Examples:\n"
  "  echo sensor_accel > /proc/sensor_monitor\n"
  "  echo \"sensor_accel sensor_compass\" > /proc/sensor_monitor\n"
  "  echo \"1 sensor_accel sensor_compass\" > /proc/sensor_monitor\n"
  "  echo \"2 sensor_accel sensor_compass\" > /proc/sensor_monitor\n"
  "  echo \"rm sensor_accel\" > /proc/sensor_monitor\n"
  "  echo \"rm sensor_accel sensor_compass\" > /proc/sensor_monitor\n"
  "  echo clean > /proc/sensor_monitor\n"
  "  echo \"add 1 sensor_a rm sensor_b\" > /proc/sensor_monitor\n"
  "\n"
  "Note:\n"
  "  If <level> is not specified, it defaults to 1.\n";

Signed-off-by: chenzihan1 <chenzihan1@xiaomi.com>
This commit is contained in:
chenzihan1
2025-04-03 16:28:36 +08:00
committed by Alan C. Assis
parent 090860a348
commit 1528db236a
8 changed files with 1172 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Documentation/components/drivers/special/sensors.rst
+4
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@@ -10,11 +10,15 @@ Currently in NuttX we have 3 different approaches to sensor interfaces:
sensors/sensors_uorb.rst
sensors/sensors_legacy.rst
sensors/sensors_cluster.rst
sensors/sensor_monitor.rst
The preferred way for implementing new sensors is
the :ref:`New sensor framework <new_sensor_framework>`, which provides the most
general interface.
The :doc:`Sensor Monitor <sensors/sensor_monitor>` provides a dynamic debugging
tool for monitoring sensor activity at runtime.
.. attach files to avoid warnings, but don't show them here !
.. toctree::
Documentation/components/drivers/special/sensors/sensor_monitor.rst
+661
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File diff suppressed because it is too large Load Diff
drivers/drivers_initialize.c
+4
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@@ -245,6 +245,10 @@ void drivers_initialize(void)
sensor_rpmsg_initialize();
#endif
#ifdef CONFIG_SENSORS_MONITOR
sensor_monitor_initialize();
#endif
#ifdef CONFIG_DEV_RPMSG_SERVER
rpmsgdev_server_init();
#endif
drivers/sensors/CMakeLists.txt
+4
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@@ -29,6 +29,10 @@ if(CONFIG_SENSORS)
list(APPEND SRCS usensor.c)
endif()
if(CONFIG_SENSORS_MONITOR)
list(APPEND SRCS sensor_monitor.c)
endif()
if(CONFIG_SENSORS_RPMSG)
list(APPEND SRCS sensor_rpmsg.c)
endif()
drivers/sensors/Kconfig
+26 -2
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@@ -31,12 +31,36 @@ config SENSORS_GNSS
---help---
Allow application to use GNSS by /dev/uorb/gnss or /dev/ttyGNSS
config SENSORS_MONITOR
bool "Sensors Monitor Support"
depends on DEBUG_SENSORS_INFO && FS_PROCFS_REGISTER
default n
---help---
Allow application to dynamic monitor topic of sensor by /proc/sensor_monitor.
if SENSORS_MONITOR
config SENSORS_MONITOR_BUCKET
int "The count of sensor monitor hash table bucket."
default 16
---help---
The number of sensors that can be monitored.
config SENSORS_MONITOR_LIST
string "The list of sensors that starts monitoring at initialization"
default ""
---help---
The topics that needs to be debugged. Multiple topics are separated by ",".
e.g.:"sensor_gps sensor_accel".
endif
config SENSORS_GNSS_RECV_BUFFERSIZE
int "The size of recvive buffer for nmea message in GNSS driver"
int "The size of receive buffer for nmea message in GNSS driver"
default 2048
depends on SENSORS_GNSS
---help---
The size of recvive buffer for nmea message in GNSS driver, if
The size of receive buffer for nmea message in GNSS driver, if
the nmea message happen overwrite when driver push, you can increase
the size.
drivers/sensors/Make.defs
+4
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@@ -42,6 +42,10 @@ ifeq ($(CONFIG_SENSORS_L86_XXX),y)
CSRCS += l86xxx_uorb.c
endif
ifeq ($(CONFIG_SENSORS_MONITOR),y)
CSRCS += sensor_monitor.c
endif
ifeq ($(CONFIG_SENSORS_GNSS),y)
CSRCS += gnss_uorb.c
endif
drivers/sensors/sensor_monitor.c
+439
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@@ -0,0 +1,439 @@
/****************************************************************************
* drivers/sensors/sensor_monitor.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <ctype.h>
#include <debug.h>
#include <errno.h>
#include <fcntl.h>
#include <search.h>
#include <stdlib.h>
#include <string.h>
#include <nuttx/fs/fs.h>
#include <nuttx/fs/procfs.h>
#include <nuttx/kmalloc.h>
#include <nuttx/sensors/sensor.h>
/****************************************************************************
* Private Types
****************************************************************************/
struct sensor_monitor_buffer_s
{
FAR char *buffer;
size_t totalsize;
size_t buflen;
off_t offset;
};
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/* File system methods */
static int sensor_monitor_open(FAR struct file *filep,
FAR const char *relpath,
int oflags, mode_t mode);
static int sensor_monitor_close(FAR struct file *filep);
static ssize_t sensor_monitor_read(FAR struct file *filep, FAR char *buffer,
size_t buflen);
static ssize_t sensor_monitor_write(FAR struct file *filep,
FAR const char *buffer, size_t buflen);
/****************************************************************************
* Private Data
****************************************************************************/
static const struct procfs_operations g_sensor_monitor_operations =
{
sensor_monitor_open, /* open */
sensor_monitor_close, /* close */
sensor_monitor_read, /* read */
sensor_monitor_write, /* write */
};
static const struct procfs_entry_s g_sensor_monitor_entry =
{
"sensor_monitor", &g_sensor_monitor_operations
};
static struct hsearch_data *g_sensor_monitor_table;
FAR static const char *g_sensor_monitor_header =
"Sensor procfs - Dynamic sensor debugging tool\n"
"\n"
"Usage:\n"
" cat /proc/sensor_monitor - Show currently monitored topics\n"
" echo <level> <topic> > /proc/sensor_monitor - Add topic(s)\n"
" echo rm <topic> > /proc/sensor_monitor - Remove topic(s)\n"
" echo add <topic> <topic> > /proc/sensor_monitor"
" - add/remove topics\n"
" echo clean > /proc/sensor_monitor - Remove all topics\n"
"\n"
"Examples:\n"
" echo sensor_accel > /proc/sensor_monitor\n"
" echo \"sensor_accel sensor_compass\" > /proc/sensor_monitor\n"
" echo \"1 sensor_accel sensor_compass\" > /proc/sensor_monitor\n"
" echo \"2 sensor_accel sensor_compass\" > /proc/sensor_monitor\n"
" echo \"rm sensor_accel\" > /proc/sensor_monitor\n"
" echo \"rm sensor_accel sensor_compass\" > /proc/sensor_monitor\n"
" echo clean > /proc/sensor_monitor\n"
" echo \"add 1 sensor_a rm sensor_b\" > /proc/sensor_monitor\n"
"\n"
"Note:\n"
" If <level> is not specified, it defaults to 1.\n";
/****************************************************************************
* Private Functions
****************************************************************************/
static void sensor_monitor_clean(void)
{
hdestroy_r(g_sensor_monitor_table);
hcreate_r(CONFIG_SENSORS_MONITOR_BUCKET, g_sensor_monitor_table);
}
/****************************************************************************
* Name: sensor_monitor_open
*
* Description:
* Open a file in the procfs.
*
****************************************************************************/
static int sensor_monitor_open(FAR struct file *filep,
FAR const char *relpath,
int oflags, mode_t mode)
{
FAR struct procfs_file_s *procfile;
/* Allocate a container to hold the file attributes */
procfile = kmm_malloc(sizeof(struct procfs_file_s));
if (procfile == NULL)
{
ferr("ERROR: Failed to allocate file attributes\n");
return -ENOMEM;
}
/* Save the attributes as the open-specific state in filep->f_priv */
filep->f_priv = procfile;
return OK;
}
/****************************************************************************
* Name: sensor_monitor_close
*
* Description:
* Close a file in the procfs.
*
****************************************************************************/
static int sensor_monitor_close(FAR struct file *filep)
{
FAR struct procfs_file_s *procfile;
/* Recover our private data from the struct file instance */
procfile = filep->f_priv;
DEBUGASSERT(procfile);
/* Release the file attributes structure */
kmm_free(procfile);
filep->f_priv = NULL;
return OK;
}
/****************************************************************************
* Name: sensor_monitor_print
*
* Description:
* Print the sensor currently being monitored
*
****************************************************************************/
static void sensor_monitor_print(FAR ENTRY *item, FAR void *args)
{
FAR struct sensor_monitor_buffer_s *sminfo =
(FAR struct sensor_monitor_buffer_s *)args;
char buffer[NAME_MAX];
size_t copysize;
size_t linesize;
if (sminfo->buflen > 0)
{
linesize = procfs_snprintf(buffer, NAME_MAX,
"%-20s\t%-20d\n", item->key,
(int)(intptr_t)item->data);
copysize = procfs_memcpy(buffer, linesize, sminfo->buffer,
sminfo->buflen, &sminfo->offset);
sminfo->totalsize += copysize;
sminfo->buffer += copysize;
sminfo->buflen -= copysize;
}
}
/****************************************************************************
* Name: sensor_monitor_read
*
* Description:
* Print the topic currently being monitored
*
****************************************************************************/
static ssize_t sensor_monitor_read(FAR struct file *filep, FAR char *buffer,
size_t buflen)
{
struct sensor_monitor_buffer_s sminfo;
size_t copysize;
sminfo.offset = filep->f_pos;
sminfo.totalsize = 0;
copysize = procfs_memcpy(g_sensor_monitor_header,
strlen(g_sensor_monitor_header),
buffer, buflen,
&sminfo.offset);
sminfo.buffer = buffer + copysize;
sminfo.buflen = buflen - copysize;
sminfo.totalsize += copysize;
hforeach_r(sensor_monitor_print, &sminfo, g_sensor_monitor_table);
filep->f_pos += sminfo.totalsize;
return sminfo.totalsize;
}
/****************************************************************************
* Name: sensor_monitor_remove
*
* Description:
* remove monitored topics.
*
****************************************************************************/
static int sensor_monitor_remove(FAR const char *token)
{
ENTRY item;
item.key = (char *)token;
if (!hsearch_r(item, DELETE, NULL, g_sensor_monitor_table))
{
snerr("failed to delete topic %s\n", token);
return -ENOENT;
}
return OK;
}
/****************************************************************************
* Name: sensor_monitor_add
*
* Description:
* add monitored topics.
*
****************************************************************************/
static int sensor_monitor_add(FAR const char *name, int level)
{
FAR ENTRY *entry;
ENTRY item;
item.key = (FAR char *)name;
item.data = NULL;
if (hsearch_r(item, FIND, &entry, g_sensor_monitor_table))
{
entry->data = (FAR void *)(intptr_t)level;
return OK;
}
item.key = strdup(name);
item.data = (FAR void *)(intptr_t)level;
if (!hsearch_r(item, ENTER, &entry, g_sensor_monitor_table))
{
kmm_free(item.key);
snerr("failed to add topic %s\n", name);
return -ENOMEM;
}
return OK;
}
/****************************************************************************
* Name: sensor_monitor_write
*
* Description:
* Add/delete monitored topics.
*
****************************************************************************/
static ssize_t sensor_monitor_write(FAR struct file *filep,
FAR const char *buffer, size_t buflen)
{
int ret;
bool add = true;
int level = 1;
size_t remaining = buflen;
char token[NAME_MAX];
while (remaining > 0 && buffer[0] != '\n')
{
size_t len;
FAR const char *end;
end = memchr(buffer, ' ', remaining);
if (end)
{
len = end - buffer;
}
else
{
len = remaining;
}
memcpy(token, buffer, len);
token[len] = '\0';
buffer += len;
remaining -= len;
if (remaining > 0 && *buffer != '\0')
{
buffer++;
remaining--;
}
if (!strcmp(token, "rm"))
{
add = false;
}
else if (!strcmp(token, "add"))
{
add = true;
}
else if (!strcmp(token, "clean"))
{
sensor_monitor_clean();
}
else if (isdigit(token[0]))
{
level = atoi(token);
}
else if (token[0])
{
if (add)
{
ret = sensor_monitor_add(token, level);
if (ret < 0)
{
return ret;
}
}
else
{
ret = sensor_monitor_remove(token);
if (ret < 0)
{
return ret;
}
}
}
}
return buflen;
}
static void sensor_monitor_free_entry(FAR ENTRY *entry)
{
kmm_free(entry->key);
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: sensor_monitor_initialize
*
* Description:
* Register sensor procfs.
*
* Return Value:
* 0 on success, or negative error code on failure.
*
****************************************************************************/
int sensor_monitor_initialize(void)
{
size_t len;
g_sensor_monitor_table = kmm_zalloc(sizeof(struct hsearch_data));
if (!g_sensor_monitor_table)
{
return -ENOMEM;
}
g_sensor_monitor_table->free_entry = sensor_monitor_free_entry;
if (!hcreate_r(CONFIG_SENSORS_MONITOR_BUCKET, g_sensor_monitor_table))
{
kmm_free(g_sensor_monitor_table);
return -ENOMEM;
}
len = strlen(CONFIG_SENSORS_MONITOR_LIST);
sensor_monitor_write(NULL, CONFIG_SENSORS_MONITOR_LIST, len);
return procfs_register(&g_sensor_monitor_entry);
}
/****************************************************************************
* Name: sensor_monitor_level
*
* Description:
* get sensor monitor log level
*
* Return Value:
* syslog level
*
****************************************************************************/
int sensor_monitor_level(FAR const char *name)
{
FAR ENTRY *entry;
ENTRY item;
item.key = (FAR char *)name;
item.data = NULL;
if (!hsearch_r(item, FIND, &entry, g_sensor_monitor_table))
{
return LOG_EMERG;
}
return (int)(intptr_t)entry->data;
}
include/nuttx/sensors/sensor.h
+30
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@@ -795,6 +795,36 @@ void sensor_rpmsg_unregister(FAR struct sensor_lowerhalf_s *lower);
int sensor_rpmsg_initialize(void);
#endif
/****************************************************************************
*Name: sensor_monitor_initialize
*
* Description:
* Initialize sensor procfs.
*
* Return Value:
* 0 on success, or negative error code on failure.
*
****************************************************************************/
#ifdef CONFIG_SENSORS_MONITOR
int sensor_monitor_initialize(void);
#endif
/****************************************************************************
* Name: sensor_monitor_level
*
* Description:
* get sensor monitor log level
*
* Return Value:
* syslog level
*
****************************************************************************/
#ifdef CONFIG_SENSORS_MONITOR
int sensor_monitor_level(FAR const char *name);
#endif
#undef EXTERN
#if defined(__cplusplus)
}