quad: add help instructions to virtual quad

quad/executable.mk

@@ -22,9 +22,6 @@ CLEANUP = $(TARGET) $(OBJDIR)
 
 default: $(TARGET)
 
-run: $(TARGET)
-	$(EXEDIR)/$(NAME)
-
 clean:
 	rm -rf $(CLEANUP)
 
@@ -34,6 +31,7 @@ clean:
 
 $(TARGET): $(OBJECTS) | $(EXEDIR)
 	$(GCC) -g -o $(TARGET) $^ -I$(INCDIR) -L$(LIBDIR) $(REQLIBS)
+	cp $(TARGET) ./
 
 $(OBJDIR)/%.o : %.c | $(OBJDIR) $(INCDIR)
 	$(GCC) -c -g -o $@ $< -I$(INCDIR) -Wall

quad/src/virt_quad/.gitignore

+virt-quad
+virt-quad-fifos/
\ No newline at end of file

quad/src/virt_quad/main.c

@@ -7,10 +7,14 @@
 int handle_io_output(const char *name);
 int handle_io_input(const char *name, const char *value_str);
 void set_shm(float value, float *dest, pthread_mutex_t *lock);
+void usage(char *executable_name);
 
 struct VirtQuadIO *virt_quad_io;
 int virt_quad_io_file_descriptor;
 
+/**
+ * Implement each of the hardware interfaces.
+ */
 int setup_hardware(hardware_t *hardware) {
   hardware->i2c = create_unix_i2c();
   hardware->rc_receiver = create_unix_rc_receiver();
@@ -25,18 +29,25 @@ int setup_hardware(hardware_t *hardware) {
 
 int main(int argc, char *argv[]) {
   int fd, opt;
-  while ((opt = getopt(argc, argv, "q")) != -1) {
+  while ((opt = getopt(argc, argv, "qh")) != -1) {
     switch (opt) {
     case 'q':
       fd = open("/dev/null", O_WRONLY);
       close(STDOUT_FILENO);
       dup2(STDOUT_FILENO, fd);
       break;
+    case 'h':
     default: /* '?' */
-      fprintf(stderr, "Usage: %s [-q]\n", argv[0]);
+      puts("from flags");
+      usage(argv[0]);
       exit(EXIT_FAILURE);
     }
   }
+  if (argv[1] != NULL && strcmp(argv[1], "--help") == 0) {
+    puts("from if");
+    usage(argv[0]);
+    exit(EXIT_FAILURE);
+  }
   argc -= optind;
   argv += optind;
 
@@ -151,3 +162,27 @@ void set_shm(float value, float *dest, pthread_mutex_t *lock) {
   *dest = value;
   pthread_mutex_unlock(lock);
 }
+
+void usage(char *executable_name) {
+  printf("Usage: %s [ -h | --help | -q ] [ command ]\n", executable_name);
+  puts("Overview:");
+  puts("  The virtual quad emulates the behavior of the real quad in the Unix");
+  puts("  environment. Start the virtual quad in one tab (no arguments), and");
+  puts("  then control the I/O of the quad through commands.");
+  puts("Commands:");
+  puts("  get output");
+  puts("  set input value");
+  puts("Outpus:");
+  puts("  led");
+  puts("  motors");
+  puts("Inputs:");
+  puts("  rc_gear");
+  puts("  rc_flap");
+  puts("  rc_throttle");
+  puts("  rc_pitch");
+  puts("  rc_roll");
+  puts("  rc_yaw");
+  puts("Examples:");
+  printf("  %s get led    # prints 0 or 1 to stdout\n", executable_name);
+  printf("  in%s set rc_gear 1    # sets gear to \"on\" \n", executable_name);
+}