system/uorb: adds non-wakeup subscription support。

[Otpvondoiats]

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:

int orb_subscribe_multi_nonwakeup(FAR const struct orb_metadata *meta, 
                                  unsigned instance);
int orb_subscribe_nonwakeup(FAR const struct orb_metadata *meta);

Implementation:

• Extended orb_advsub_open() to accept non_wakeup parameter
• When non_wakeup is true, calls ioctl(fd, SNIOC_SET_NONWAKEUP, true)
• Existing orb_subscribe_multi() unchanged (defaults to wakeup mode)
• Modified files:
  • system/uorb/uORB/uORB.c: Added new functions and parameter
  • system/uorb/uORB/uORB.h: Added API declarations and documentation

Commit 2: CLI Tool Support (2079026) - system/uorb/listener.c

Adds -u flag to uorb_listener for testing non-wakeup subscriptions:

# Subscribe in non-wakeup mode
uorb_listener -u sensor_accel,sensor_gyro

# Combine with other options
uorb_listener -u -f sensor_temp  # flush in non-wakeup mode
uorb_listener -u -i sensor_mag   # get info without waking system

Impact

Users

New Functionality:

• Applications can now choose per-subscription whether to wake the system
• CLI tool supports testing with -u flag
• Ideal for background monitoring, logging, and non-critical sensor data

API Changes:

// New APIs added
int orb_subscribe_multi_nonwakeup(FAR const struct orb_metadata *meta, unsigned instance);
int orb_subscribe_nonwakeup(FAR const struct orb_metadata *meta);

// New CLI option
uorb_listener -u <topics>

Backward Compatibility:

• 100% compatible - All existing code works unchanged
• Default behavior unchanged (wakeup mode)
• Non-wakeup mode is opt-in only

Build Process

• No build configuration changes required
• No new dependencies added
• Standard compilation process
• Modified files compile without warning

Testing

～～～
ap> ][01/20 22:31:27] [ 7] [cp] bt_temperature_comp_thread, temperature: 32
uorb_listener -n 10 sensor_accel

Mointor objects num:1
object_name:sensor_accel, object_instance:0
sensor_accel(now:20447017000):timestamp:20430408830,x:0.365890,y:0.218209,z:9.730313,temperature:29.453125
sensor_accel(now:20447057000):timestamp:20430449030,x:0.404197,y:0.306794,z:9.785380,temperature:29.453125
[01/20 22:31:28] [ 0] [audio] CPU USAGE: busy=1 cpu_sleep=0 bus_sleep=0 subsys_sleep=99(pd)
sensor_accel(now:20447097200):timestamp:20430489230,x:0.344342,y:0.323553,z:9.680036,temperature:29.453125
sensor_accel(now:20447137400):timestamp:20430529530,x:0.361101,y:0.249333,z:9.792563,temperature:29.453125
sensor_accel(now:20447177700):timestamp:20430569730,x:0.298852,y:0.313977,z:9.754255,temperature:29.453125
sensor_accel(now:20447217800):timestamp:20430609930,x:0.387437,y:0.249333,z:9.792563,temperature:29.453125
sensor_accel(now:20447257900):timestamp:20430650130,x:0.365890,y:0.290035,z:9.713554,temperature:29.453125
sensor_accel(now:20447298100):timestamp:20430690330,x:0.363495,y:0.261304,z:9.802140,temperature:29.453125
sensor_accel(now:20447338300):timestamp:20430730630,x:0.274910,y:0.297217,z:9.876360,temperature:29.453125
sensor_accel(now:20447379000):timestamp:20430770830,x:0.332371,y:0.313977,z:9.787775,temperature:29.453125
Object name:sensor_accel0, recieved:10
Total number of received Message:10/10
ap>
～～～