forked from Archive/PX4-Autopilot
242 lines
6.8 KiB
C++
242 lines
6.8 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file module.cpp
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* Implementation of the API declared in px4_module.h.
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*/
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#ifndef MODULE_NAME
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#define MODULE_NAME "module"
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#endif
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/log.h>
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pthread_mutex_t px4_modules_mutex = PTHREAD_MUTEX_INITIALIZER;
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#ifndef __PX4_NUTTX
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void PRINT_MODULE_DESCRIPTION(const char *description)
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{
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// TODO: the output could be improved by:
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// - mark titles in bold (lines starting with ##)
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// - highlight commands (lines starting with $, or `cmd`)
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PX4_INFO_RAW("%s\n\n", description);
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}
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#endif /* __PX4_NUTTX */
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void PRINT_MODULE_USAGE_NAME(const char *executable_name, const char *category)
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{
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#ifndef CONSTRAINED_FLASH_NO_HELP
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PX4_INFO_RAW("Usage: %s <command> [arguments...]\n", executable_name);
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PX4_INFO_RAW(" Commands:\n");
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#else
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PX4_INFO_RAW("Usage: %s See:" CONSTRAINED_FLASH_NO_HELP "\n", executable_name);
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#endif
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}
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void PRINT_MODULE_USAGE_SUBCATEGORY(const char *subcategory)
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{
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(void)subcategory;
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}
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void PRINT_MODULE_USAGE_NAME_SIMPLE(const char *executable_name, const char *category)
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{
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#ifndef CONSTRAINED_FLASH_NO_HELP
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PX4_INFO_RAW("Usage: %s [arguments...]\n", executable_name);
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#endif
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}
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void PRINT_MODULE_USAGE_COMMAND_DESCR(const char *name, const char *description)
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{
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#ifndef CONSTRAINED_FLASH_NO_HELP
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if (description) {
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PX4_INFO_RAW("\n %-13s %s\n", name, description);
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} else {
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PX4_INFO_RAW("\n %s\n", name);
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}
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#endif
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}
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void PRINT_MODULE_USAGE_PARAM_COMMENT(const char *comment)
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{
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#ifndef CONSTRAINED_FLASH_NO_HELP
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PX4_INFO_RAW("\n %s\n", comment);
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#endif
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}
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void PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(bool i2c_support, bool spi_support)
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{
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#ifndef CONSTRAINED_FLASH_NO_HELP
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// Note: this must be kept in sync with Tools/px4moduledoc/srcparser.py
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if (i2c_support) {
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PRINT_MODULE_USAGE_PARAM_FLAG('I', "Internal I2C bus(es)", true);
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PRINT_MODULE_USAGE_PARAM_FLAG('X', "External I2C bus(es)", true);
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}
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if (spi_support) {
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PRINT_MODULE_USAGE_PARAM_FLAG('s', "Internal SPI bus(es)", true);
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PRINT_MODULE_USAGE_PARAM_FLAG('S', "External SPI bus", true);
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}
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PRINT_MODULE_USAGE_PARAM_INT('b', -1, 0, 16, "board-specific bus (default=all) (external SPI: n-th bus (default=1))",
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true);
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if (spi_support) {
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PRINT_MODULE_USAGE_PARAM_INT('c', -1, 0, 31, "chip-select pin (for internal SPI) or index (for external SPI)", true);
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PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 3, "SPI mode", true);
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}
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PRINT_MODULE_USAGE_PARAM_INT('f', -1, 0, 100000, "bus frequency in kHz", true);
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PRINT_MODULE_USAGE_PARAM_FLAG('q', "quiet startup (no message if no device found)", true);
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#endif
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}
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void PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(uint8_t default_address)
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{
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#ifndef CONSTRAINED_FLASH_NO_HELP
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PRINT_MODULE_USAGE_PARAM_INT('a', default_address, 0, 0xff, "I2C address", true);
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#endif
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}
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void PRINT_MODULE_USAGE_PARAMS_I2C_KEEP_RUNNING_FLAG()
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{
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#ifndef CONSTRAINED_FLASH_NO_HELP
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PRINT_MODULE_USAGE_PARAM_FLAG('k', "if initialization (probing) fails, keep retrying periodically", true);
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#endif
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}
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void PRINT_MODULE_USAGE_PARAM_INT(char option_char, int default_val, int min_val, int max_val,
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const char *description, bool is_optional)
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{
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#ifndef CONSTRAINED_FLASH_NO_HELP
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if (is_optional) {
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PX4_INFO_RAW(" [-%c <val>] %s\n", option_char, description);
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if (default_val != -1) {
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PX4_INFO_RAW(" default: %i\n", default_val);
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}
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} else {
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PX4_INFO_RAW(" -%c <val> %s\n", option_char, description);
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}
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#endif
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}
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void PRINT_MODULE_USAGE_PARAM_FLOAT(char option_char, float default_val, float min_val, float max_val,
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const char *description, bool is_optional)
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{
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#ifndef CONSTRAINED_FLASH_NO_HELP
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if (is_optional) {
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PX4_INFO_RAW(" [-%c <val>] %s\n", option_char, description);
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if (PX4_ISFINITE(default_val)) {
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PX4_INFO_RAW(" default: %.1f\n", (double)default_val);
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}
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} else {
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PX4_INFO_RAW(" -%c <val> %s\n", option_char, description);
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}
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#endif
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}
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void PRINT_MODULE_USAGE_PARAM_FLAG(char option_char, const char *description, bool is_optional)
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{
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#ifndef CONSTRAINED_FLASH_NO_HELP
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if (is_optional) {
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PX4_INFO_RAW(" [-%c] %s\n", option_char, description);
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} else {
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PX4_INFO_RAW(" -%c %s\n", option_char, description);
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}
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#endif
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}
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void PRINT_MODULE_USAGE_PARAM_STRING(char option_char, const char *default_val, const char *values,
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const char *description, bool is_optional)
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{
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#ifndef CONSTRAINED_FLASH_NO_HELP
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if (is_optional) {
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PX4_INFO_RAW(" [-%c <val>] %s\n", option_char, description);
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} else {
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PX4_INFO_RAW(" -%c <val> %s\n", option_char, description);
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}
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if (values) {
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if (default_val) {
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PX4_INFO_RAW(" values: %s, default: %s\n", values, default_val);
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} else {
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PX4_INFO_RAW(" values: %s\n", values);
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}
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} else {
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if (default_val) {
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PX4_INFO_RAW(" default: %s\n", default_val);
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}
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}
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#endif
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}
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void PRINT_MODULE_USAGE_ARG(const char *values, const char *description, bool is_optional)
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{
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#ifndef CONSTRAINED_FLASH_NO_HELP
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if (is_optional) {
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PX4_INFO_RAW(" [%-9s] %s\n", values, description);
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} else {
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PX4_INFO_RAW(" %-11s %s\n", values, description);
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}
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#endif
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}
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