From 9a3be455dc42c47c8824dbd564292d48fe2f2cb4 Mon Sep 17 00:00:00 2001
From: Brendan Bartels <bbartels@iastate.edu>
Date: Mon, 17 Apr 2017 09:08:29 -0500
Subject: [PATCH] quad: add help instructions to virtual quad
---
quad/executable.mk | 4 +---
quad/src/virt_quad/.gitignore | 2 ++
quad/src/virt_quad/main.c | 39 +++++++++++++++++++++++++++++++++--
3 files changed, 40 insertions(+), 5 deletions(-)
create mode 100644 quad/src/virt_quad/.gitignore
diff --git a/quad/executable.mk b/quad/executable.mk
index 0666c88a7..b7ddc1481 100644
--- a/quad/executable.mk
+++ b/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
diff --git a/quad/src/virt_quad/.gitignore b/quad/src/virt_quad/.gitignore
new file mode 100644
index 000000000..a72889f17
--- /dev/null
+++ b/quad/src/virt_quad/.gitignore
@@ -0,0 +1,2 @@
+virt-quad
+virt-quad-fifos/
\ No newline at end of file
diff --git a/quad/src/virt_quad/main.c b/quad/src/virt_quad/main.c
index 7f9e4447e..d1c8c1e0a 100644
--- a/quad/src/virt_quad/main.c
+++ b/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);
+}
--
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