chenzihan0416 opened a new pull request, #17752:
URL: https://github.com/apache/nuttx/pull/17752
## Summary
This PR introduces a new **Sensor Monitor** feature - a dynamic debugging
tool for NuttX sensor subsystem that provides runtime control over sensor
logging without requiring system rebuild.
## Impact
Significantly improves debugging experience for sensor-related issues
**No Breaking Changes**: Feature is opt-in via Kconfig
## Testing
Testing on qemu
**Add monitoring topics to sensor_monitor**
```bash
goldfish-armv8a-ap> echo 1 sensor_accel0 2 sensor_baro0 >
/proc/sensor_monitor
goldfish-armv8a-ap> cat /proc/sensor_monitor
Sensor procfs - Dynamic sensor debugging tool
Usage:
cat /proc/sensor_monitor - Show currently monitored topics
echo <level> <topic> > /proc/sensor_monitor - Add topic(s)
echo rm <topic> > /proc/sensor_monitor - Remove topic(s)
echo add <topic> <topic> > /proc/sensor_monitor - add/remove topics
echo clean > /proc/sensor_monitor - Remove all topics
Examples:
echo sensor_accel > /proc/sensor_monitor
echo "sensor_accel sensor_compass" > /proc/sensor_monitor
echo "1 sensor_accel sensor_compass" > /proc/sensor_monitor
echo "2 sensor_accel sensor_compass" > /proc/sensor_monitor
echo "rm sensor_accel" > /proc/sensor_monitor
echo "rm sensor_accel sensor_compass" > /proc/sensor_monitor
echo clean > /proc/sensor_monitor
echo "add 1 sensor_a rm sensor_b" > /proc/sensor_monitor
Note:
If <level> is not specified, it defaults to 1.
sensor_accel0 1
sensor_baro0 1
goldfish-armv8a-ap>
```
**Delete the monitored topic**
```bash
goldfish-armv8a-ap> echo clean > /proc/sensor_monitor
goldfish-armv8a-ap> cat /proc/sensor_monitor
Sensor procfs - Dynamic sensor debugging tool
Usage:
cat /proc/sensor_monitor - Show currently monitored topics
echo <level> <topic> > /proc/sensor_monitor - Add topic(s)
echo rm <topic> > /proc/sensor_monitor - Remove topic(s)
echo add <topic> <topic> > /proc/sensor_monitor - add/remove topics
echo clean > /proc/sensor_monitor - Remove all topics
Examples:
echo sensor_accel > /proc/sensor_monitor
echo "sensor_accel sensor_compass" > /proc/sensor_monitor
echo "1 sensor_accel sensor_compass" > /proc/sensor_monitor
echo "2 sensor_accel sensor_compass" > /proc/sensor_monitor
echo "rm sensor_accel" > /proc/sensor_monitor
echo "rm sensor_accel sensor_compass" > /proc/sensor_monitor
echo clean > /proc/sensor_monitor
echo "add 1 sensor_a rm sensor_b" > /proc/sensor_monitor
Note:
If <level> is not specified, it defaults to 1.
goldfish-armv8a-ap> echo 1 sensor_accel0 > /proc/sensor_monitor
goldfish-armv8a-ap> cat /proc/sensor_monitor
Sensor procfs - Dynamic sensor debugging tool
Usage:
cat /proc/sensor_monitor - Show currently monitored topics
echo <level> <topic> > /proc/sensor_monitor - Add topic(s)
echo rm <topic> > /proc/sensor_monitor - Remove topic(s)
echo add <topic> <topic> > /proc/sensor_monitor - add/remove topics
echo clean > /proc/sensor_monitor - Remove all topics
Examples:
echo sensor_accel > /proc/sensor_monitor
echo "sensor_accel sensor_compass" > /proc/sensor_monitor
echo "1 sensor_accel sensor_compass" > /proc/sensor_monitor
echo "2 sensor_accel sensor_compass" > /proc/sensor_monitor
echo "rm sensor_accel" > /proc/sensor_monitor
echo "rm sensor_accel sensor_compass" > /proc/sensor_monitor
echo clean > /proc/sensor_monitor
echo "add 1 sensor_a rm sensor_b" > /proc/sensor_monitor
Note:
If <level> is not specified, it defaults to 1.
sensor_accel0 1
goldfish-armv8a-ap>
goldfish-armv8a-ap>
goldfish-armv8a-ap> echo "rm sensor_accel0" > /proc/sensor_monitor
goldfish-armv8a-ap> Aececat /proc/sensor_monitor
Sensor procfs - Dynamic sensor debugging tool
Usage:
cat /proc/sensor_monitor - Show currently monitored topics
echo <level> <topic> > /proc/sensor_monitor - Add topic(s)
echo rm <topic> > /proc/sensor_monitor - Remove topic(s)
echo add <topic> <topic> > /proc/sensor_monitor - add/remove topics
echo clean > /proc/sensor_monitor - Remove all topics
Examples:
echo sensor_accel > /proc/sensor_monitor
echo "sensor_accel sensor_compass" > /proc/sensor_monitor
echo "1 sensor_accel sensor_compass" > /proc/sensor_monitor
echo "2 sensor_accel sensor_compass" > /proc/sensor_monitor
echo "rm sensor_accel" > /proc/sensor_monitor
echo "rm sensor_accel sensor_compass" > /proc/sensor_monitor
echo clean > /proc/sensor_monitor
echo "add 1 sensor_a rm sensor_b" > /proc/sensor_monitor
Note:
If <level> is not specified, it defaults to 1.
goldfish-armv8a-ap>
```
**Log printing when listening to sensor_accel0**
```bash
sensor_accel0 7
goldfish-armv8a-ap> uorb_listener sensor_accel
[ 153.708584] [79] [ INFO] [ap] sensor_open: [topic: sensor_accel0] user
address: 0x40ef8330, role type: 0, user generation: 22, upper generation: 22,
nsubscribers: 0, nadvertisers: 1, persist: 0
[ 153.710719] [79] [ INFO] [ap] sensor_close: [topic: sensor_accel0] user
address: 0x40ef8330, close subscriber: 0, close advertiser:1
Mointor objects num:1
object_name:sensor_accel, object_instance:0
[ 153.715162] [79] [ INFO] [ap] sensor_open: [topic: sensor_accel0] user
address: 0x40f2a120, role type: 2, user generation: 22, upper generation: 22,
nsubscribers: 1, nadvertisers: 1, persist: 0
[ 153.708584] [79] [ INFO] [ap] sensor_open: [topic: sensor_accel0] user
address: 0x40ef8330, role type: 0, user generation: 22, upper generation: 22,
nsubscribers: 0, nadvertisers: 1, persist: 0
[ 153.710719] [79] [ INFO] [ap] sensor_close: [topic: sensor_accel0] user
address: 0x40ef8330, close subscriber: 0, close advertiser:1
[ 153.715162] [79] [ INFO] [ap] sensor_open: [topic: sensor_accel0] user
address: 0x40f2a120, role type: 2, user generation: 22, upper genera[
153.723194] [ 6] [ INFO] [ap] sensor_push_event: [topic: sensor_accel0] the
number of write event is:1
[ 153.723970] [79] [ INFO] [ap] sensor_do_samples: [topic: sensor_accel0]
do sample interval:23, user.generation:23, ret:32
[ 153.724229] [79] [ INFO] [ap] sensor_read: [topic: sensor_accel0] the
number of read event is:1
sensor_accel(now:153724557):timestamp:153722454,x:0.000000,y:9.776310,z:0.812349,temperature:nan
```
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