| 64 | } |
| 65 | |
| 66 | void usage() |
| 67 | { |
| 68 | PRINT_MODULE_DESCRIPTION( |
| 69 | R"DESCR_STR( |
| 70 | ### Description |
| 71 | uORB is the internal pub-sub messaging system, used for communication between modules. |
| 72 | |
| 73 | ### Implementation |
| 74 | The implementation is asynchronous and lock-free, ie. a publisher does not wait for a subscriber and vice versa. |
| 75 | This is achieved by having a separate buffer between a publisher and a subscriber. |
| 76 | |
| 77 | The code is optimized to minimize the memory footprint and the latency to exchange messages. |
| 78 | |
| 79 | Messages are defined in the `/msg` directory. They are converted into C/C++ code at build-time. |
| 80 | |
| 81 | If compiled with ORB_USE_PUBLISHER_RULES, a file with uORB publication rules can be used to configure which |
| 82 | modules are allowed to publish which topics. This is used for system-wide replay. |
| 83 | |
| 84 | ### Examples |
| 85 | Monitor topic publication rates. Besides `top`, this is an important command for general system inspection: |
| 86 | $ uorb top |
| 87 | )DESCR_STR"); |
| 88 | |
| 89 | PRINT_MODULE_USAGE_NAME("uorb", "communication"); |
| 90 | PRINT_MODULE_USAGE_COMMAND_DESCR("status", "Print topic statistics"); |
| 91 | PRINT_MODULE_USAGE_COMMAND_DESCR("top", "Monitor topic publication rates"); |
| 92 | PRINT_MODULE_USAGE_PARAM_FLAG('a', "print all instead of only currently publishing topics with subscribers", true); |
| 93 | PRINT_MODULE_USAGE_PARAM_FLAG('1', "run only once, then exit", true); |
| 94 | PRINT_MODULE_USAGE_ARG("<filter1> [<filter2>]", "topic(s) to match (implies -a)", true); |
| 95 | } |
no test coverage detected