static void usage(const char *name)
{
PRINT_MODULE_USAGE_NAME("micrortps_client", "communication");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAM_STRING('t', "UART", "UART|UDP", "Transport protocol", true);
PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyACM0", "<file:dev>", "Select Serial Device", true);
PRINT_MODULE_USAGE_PARAM_INT('b', 460800, 9600, 3000000, "Baudrate", true);
PRINT_MODULE_USAGE_PARAM_INT('p', 1, 1, 1000, "Poll timeout for UART in ms", true);
PRINT_MODULE_USAGE_PARAM_INT('u', 0, 0, 10000,
"Interval in ms to limit the update rate of all sent topics (0=unlimited)", true);
PRINT_MODULE_USAGE_PARAM_INT('l', 10000, -1, 100000, "Limit number of iterations until the program exits (-1=infinite)",
true);
PRINT_MODULE_USAGE_PARAM_INT('w', 1, 1, 1000, "Time in ms for which each iteration sleeps", true);
PRINT_MODULE_USAGE_PARAM_INT('r', 2019, 0, 65536, "Select UDP Network Port for receiving (local)", true);
PRINT_MODULE_USAGE_PARAM_INT('s', 2020, 0, 65536, "Select UDP Network Port for sending (remote)", true);
PRINT_MODULE_USAGE_COMMAND("stop");
PRINT_MODULE_USAGE_COMMAND("status");
}
static void
print_usage(void)
{
PRINT_MODULE_DESCRIPTION("Configure a sensor driver (sampling & publication rate, range, etc.)");
PRINT_MODULE_USAGE_NAME("config", "command");
PRINT_MODULE_USAGE_PARAM_COMMENT("The <file:dev> argument is typically one of /dev/{gyro,accel,mag}i");
PRINT_MODULE_USAGE_COMMAND_DESCR("block", "Block sensor topic publication");
PRINT_MODULE_USAGE_ARG("<file:dev>", "Sensor device file", false);
PRINT_MODULE_USAGE_COMMAND_DESCR("unblock", "Unblock sensor topic publication");
PRINT_MODULE_USAGE_ARG("<file:dev>", "Sensor device file", false);
PRINT_MODULE_USAGE_COMMAND_DESCR("sampling", "Set sensor sampling rate");
PRINT_MODULE_USAGE_ARG("<file:dev> <rate>", "Sensor device file and sampling rate in Hz", false);
PRINT_MODULE_USAGE_COMMAND_DESCR("rate", "Set sensor publication rate");
PRINT_MODULE_USAGE_ARG("<file:dev> <rate>", "Sensor device file and publication rate in Hz", false);
PRINT_MODULE_USAGE_COMMAND_DESCR("range", "Set sensor measurement range");
PRINT_MODULE_USAGE_ARG("<file:dev> <rate>", "Sensor device file and range", false);
PRINT_MODULE_USAGE_COMMAND_DESCR("check", "Perform sensor self-test (and print info)");
PRINT_MODULE_USAGE_ARG("<file:dev>", "Sensor device file", false);
}
