module.cpp
6.23 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
/****************************************************************************
*
* Copyright (C) 2017 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file module.cpp
* Implementation of the API declared in px4_module.h.
*/
#ifndef MODULE_NAME
#define MODULE_NAME "module"
#endif
#include <px4_platform_common/module.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/log.h>
pthread_mutex_t px4_modules_mutex = PTHREAD_MUTEX_INITIALIZER;
#ifndef __PX4_NUTTX
void PRINT_MODULE_DESCRIPTION(const char *description)
{
// TODO: the output could be improved by:
// - mark titles in bold (lines starting with ##)
// - highlight commands (lines starting with $, or `cmd`)
PX4_INFO_RAW("%s\n\n", description);
}
#endif /* __PX4_NUTTX */
void PRINT_MODULE_USAGE_NAME(const char *executable_name, const char *category)
{
PX4_INFO_RAW("Usage: %s <command> [arguments...]\n", executable_name);
PX4_INFO_RAW(" Commands:\n");
}
void PRINT_MODULE_USAGE_SUBCATEGORY(const char *subcategory)
{
(void)subcategory;
}
void PRINT_MODULE_USAGE_NAME_SIMPLE(const char *executable_name, const char *category)
{
PX4_INFO_RAW("Usage: %s [arguments...]\n", executable_name);
}
void PRINT_MODULE_USAGE_COMMAND_DESCR(const char *name, const char *description)
{
if (description) {
PX4_INFO_RAW("\n %-13s %s\n", name, description);
} else {
PX4_INFO_RAW("\n %s\n", name);
}
}
void PRINT_MODULE_USAGE_PARAM_COMMENT(const char *comment)
{
PX4_INFO_RAW("\n %s\n", comment);
}
void PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(bool i2c_support, bool spi_support)
{
// Note: this must be kept in sync with Tools/px4moduledoc/srcparser.py
if (i2c_support) {
PRINT_MODULE_USAGE_PARAM_FLAG('I', "Internal I2C bus(es)", true);
PRINT_MODULE_USAGE_PARAM_FLAG('X', "External I2C bus(es)", true);
}
if (spi_support) {
PRINT_MODULE_USAGE_PARAM_FLAG('s', "Internal SPI bus(es)", true);
PRINT_MODULE_USAGE_PARAM_FLAG('S', "External SPI bus", true);
}
PRINT_MODULE_USAGE_PARAM_INT('b', -1, 0, 16, "board-specific bus (default=all) (external SPI: n-th bus (default=1))",
true);
if (spi_support) {
PRINT_MODULE_USAGE_PARAM_INT('c', 1, 1, 10, "chip-select index (for external SPI)", true);
PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 3, "SPI mode", true);
}
PRINT_MODULE_USAGE_PARAM_INT('f', -1, 0, 100000, "bus frequency in kHz", true);
PRINT_MODULE_USAGE_PARAM_FLAG('q', "quiet startup (no message if no device found)", true);
}
void PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(uint8_t default_address)
{
PRINT_MODULE_USAGE_PARAM_INT('a', default_address, 0, 0xff, "I2C address", true);
}
void PRINT_MODULE_USAGE_PARAMS_I2C_KEEP_RUNNING_FLAG()
{
PRINT_MODULE_USAGE_PARAM_FLAG('k', "if initialization (probing) fails, keep retrying periodically", true);
}
void PRINT_MODULE_USAGE_PARAM_INT(char option_char, int default_val, int min_val, int max_val,
const char *description, bool is_optional)
{
if (is_optional) {
PX4_INFO_RAW(" [-%c <val>] %s\n", option_char, description);
if (default_val != -1) {
PX4_INFO_RAW(" default: %i\n", default_val);
}
} else {
PX4_INFO_RAW(" -%c <val> %s\n", option_char, description);
}
}
void PRINT_MODULE_USAGE_PARAM_FLOAT(char option_char, float default_val, float min_val, float max_val,
const char *description, bool is_optional)
{
if (is_optional) {
PX4_INFO_RAW(" [-%c <val>] %s\n", option_char, description);
if (PX4_ISFINITE(default_val)) {
PX4_INFO_RAW(" default: %.1f\n", (double)default_val);
}
} else {
PX4_INFO_RAW(" -%c <val> %s\n", option_char, description);
}
}
void PRINT_MODULE_USAGE_PARAM_FLAG(char option_char, const char *description, bool is_optional)
{
if (is_optional) {
PX4_INFO_RAW(" [-%c] %s\n", option_char, description);
} else {
PX4_INFO_RAW(" -%c %s\n", option_char, description);
}
}
void PRINT_MODULE_USAGE_PARAM_STRING(char option_char, const char *default_val, const char *values,
const char *description, bool is_optional)
{
if (is_optional) {
PX4_INFO_RAW(" [-%c <val>] %s\n", option_char, description);
} else {
PX4_INFO_RAW(" -%c <val> %s\n", option_char, description);
}
if (values) {
if (default_val) {
PX4_INFO_RAW(" values: %s, default: %s\n", values, default_val);
} else {
PX4_INFO_RAW(" values: %s\n", values);
}
} else {
if (default_val) {
PX4_INFO_RAW(" default: %s\n", default_val);
}
}
}
void PRINT_MODULE_USAGE_ARG(const char *values, const char *description, bool is_optional)
{
if (is_optional) {
PX4_INFO_RAW(" [%-9s] %s\n", values, description);
} else {
PX4_INFO_RAW(" %-11s %s\n", values, description);
}
}