drivers/sensors: sensor bug fix - part 1

[Otpvondoiats]

Summary

• bugfix

1. add sensor_device_info when sensor_regsiter by usensor
2. uorb:Fixed O_DIRECT flag triggering rpmsg cross-core
3. sensor:Added virtual sensor flag to prioritize reading of driver information.

Impact

Cross-core direct connection and cross-core information retrieval

Testing

grass:/ # uorb
uorb_advertise_demo  uorb_downsample      uorb_listener        uorb_rpmsg_test      uorb_unit_test
grass:/ # uorb_listener -n 10 sensor_accel                                                                                                                                                                                               

Mointor objects num:1
object_name:sensor_accel, object_instance:0
sensor_accel(now:2225773497):timestamp:193400799,x:0.229420,y:0.309188,z:9.802140,temperature:28.654297
sensor_accel(now:2225775471):timestamp:193441149,x:0.286881,y:0.232574,z:9.833264,temperature:28.654297
sensor_accel(now:2225776827):timestamp:193481499,x:0.243785,y:0.218209,z:9.802140,temperature:28.654297
sensor_accel(now:2225777142):timestamp:193521849,x:0.306035,y:0.158354,z:9.756650,temperature:28.654297
sensor_accel(now:2225777429):timestamp:193562199,x:0.267727,y:0.290035,z:9.766227,temperature:28.654297
sensor_accel(now:2225778291):timestamp:193602549,x:0.303640,y:0.199055,z:9.823688,temperature:28.654297
sensor_accel(now:2225779478):timestamp:193642899,x:0.272516,y:0.244545,z:9.766227,temperature:28.654297
sensor_accel(now:2225779971):timestamp:193683249,x:0.346736,y:0.316371,z:9.696795,temperature:28.654297
sensor_accel(now:2225780657):timestamp:193723599,x:0.320400,y:0.239756,z:9.794957,temperature:28.654297
sensor_accel(now:2225781241):timestamp:193763949,x:0.296458,y:0.285246,z:9.814111,temperature:28.654297
Object name:sensor_accel0, recieved:10
Total number of received Message:10/10

uniy test

grass:/ # uorb_unit_test                                                                                                                                                                                                                 
uORB note: try single-topic support
uORB note: PASS single-topic test
uORB note: PASS orb 10-instances
uORB note: try multi-topic support
uORB note: PASS multi-topic test
uORB note: try multi-topic support subscribing before publishing
uORB note: PASS multi-topic reversed
uORB note: Testing unadvertise
uORB note: Testing multi-topic 2 test (queue simulation)
uORB note: PASS multi-topic 2 test (queue simulation)
uORB note: Testing orb queuing
uORB note:   Testing to write some elements...
uORB note:   Testing overflow...
uORB note:   Testing underflow...
uORB note: PASS orb queuing
uORB note: Testing orb queuing (poll & notify)
TEST PASS

[jerpelea]

please add "drivers/sensors:" in front of commit title

[Otpvondoiats]

wait for #17837 and apache/nuttx-apps#3312

[linguini1]

Ideally this could be three separate PRs since the commits seem unrelated.

We have conducted tests on the following platforms

Can you please provide more information about your testing? What did you test on the platforms, how do you know the behaviour is correct, etc.

[Otpvondoiats]

depend on apache/nuttx-apps#3332

[Otpvondoiats]

please add "drivers/sensors:" in front of commit title

done

fixed

[linguini1]

Can you please provide more information about your testing? What did you test on the platforms, how do you know the behaviour is correct, etc.

@xiaoxiang781216 as we voted in the mailing list, do not dismiss other reviewers comments please. I am always happy to re review.

[Otpvondoiats]

Can you please provide more information about your testing? What did you test on the platforms, how do you know the behaviour is correct, etc.

@xiaoxiang781216 as we voted in the mailing list, do not dismiss other reviewers comments please. I am always happy to re review.

Updated，You don't need to xiaoxiang781216， just contact me and I'll see your comments.

[Otpvondoiats]

This patch depends on apache/nuttx-apps#3332. I'll try modifying build.yaml to see if it can build successfully.

[xiaoxiang781216]

@Otpvondoiats please rebase your patch to the last master which conatain patch to fix the build break.

[linguini1]

Is this considered a breaking change?

[xiaoxiang781216]

this ioctl is normally used with Android sensor HAL to report the additional sensor info required by Android, since both side is modified, the impact is minimal.

[linguini1]

Looks good! Also, is the Unity test an internal tool?

[xiaoxiang781216]

@Otpvondoiats please rebase your patch to the last master which fix the ci build break.

[Otpvondoiats]

Looks good! Also, is the Unity test an internal tool?

yes，This includes basic functional tests for the sensor framework;

[Otpvondoiats]

@Otpvondoiats please rebase your patch to the last master which fix the ci build break.

Done

[Otpvondoiats]

I pushed it again, and then a case failed. I built it locally, posted the logs, and then merged it.