px4_module.h File Reference

#include <pthread.h>
#include <unistd.h>
#include <stdbool.h>
#include <px4_atomic.h>
#include <px4_time.h>
#include <px4_log.h>
#include <px4_tasks.h>
#include <systemlib/px4_macros.h>

Go to the source code of this file.

Macros
#define	PRINT_MODULE_USAGE_COMMAND(name)   PRINT_MODULE_USAGE_COMMAND_DESCR(name, NULL);
#define	PRINT_MODULE_USAGE_DEFAULT_COMMANDS()
	Prints the default commands: stop & status. More...

Functions
__BEGIN_DECLS __EXPORT void	PRINT_MODULE_DESCRIPTION (const char *description)
	Module documentation and command usage help methods. More...
__EXPORT void	PRINT_MODULE_USAGE_NAME (const char *executable_name, const char *category)
	Prints the command name. More...
__EXPORT void	PRINT_MODULE_USAGE_SUBCATEGORY (const char *subcategory)
	Specify a subcategory (optional). More...
__EXPORT void	PRINT_MODULE_USAGE_NAME_SIMPLE (const char *executable_name, const char *category)
	Prints the name for a command without any sub-commands (. More...
__EXPORT void	PRINT_MODULE_USAGE_COMMAND_DESCR (const char *name, const char *description)
	Prints a command with a short description what it does.
__EXPORT void	PRINT_MODULE_USAGE_PARAM_INT (char option_char, int default_val, int min_val, int max_val, const char *description, bool is_optional)
	Prints an integer parameter. More...
__EXPORT void	PRINT_MODULE_USAGE_PARAM_FLOAT (char option_char, float default_val, float min_val, float max_val, const char *description, bool is_optional)
	Prints a float parameter. More...
__EXPORT void	PRINT_MODULE_USAGE_PARAM_FLAG (char option_char, const char *description, bool is_optional)
	Prints a flag parameter, without any value. More...
__EXPORT void	PRINT_MODULE_USAGE_PARAM_STRING (char option_char, const char *default_val, const char *values, const char *description, bool is_optional)
	Prints a string parameter. More...
__EXPORT void	PRINT_MODULE_USAGE_PARAM_COMMENT (const char *comment)
	Prints a comment, that applies to the next arguments or parameters. More...
__EXPORT void	PRINT_MODULE_USAGE_ARG (const char *values, const char *description, bool is_optional)
	Prints the definition for an argument, which does not have the typical -p <val> form, but for example 'param set '. More...

Macro Definition Documentation

PRINT_MODULE_USAGE_DEFAULT_COMMANDS

#define PRINT_MODULE_USAGE_DEFAULT_COMMANDS

(

)

Value:

PRINT_MODULE_USAGE_COMMAND("stop"); \
    PRINT_MODULE_USAGE_COMMAND_DESCR("status", "print status info");

Prints the default commands: stop & status.

Function Documentation

PRINT_MODULE_DESCRIPTION()

__BEGIN_DECLS __EXPORT void PRINT_MODULE_DESCRIPTION

(

const char *

description

)

Module documentation and command usage help methods.

These are extracted with the Tools/px_process_module_doc.py script and must be kept in sync. Prints module documentation (will also be used for online documentation). It uses Markdown syntax and should include these sections:

• ### Description Provided functionality of the module and potentially the most important parameters.
• ### Implementation High-level implementation overview
• ### Examples Examples how to use the CLI interface (if it's non-trivial)

In addition to the Markdown syntax, a line beginning with '$ ' can be used to mark a command: $ module start -p param

PRINT_MODULE_USAGE_ARG()

__EXPORT void PRINT_MODULE_USAGE_ARG	(	const char *	values,
		const char *	description,
		bool	is_optional
	)

Prints the definition for an argument, which does not have the typical -p <val> form, but for example 'param set '.

Parameters

values	eg. "<file>", "<param> <value>" or "<value1> [<value2>]"
description	Pointer to the usage description.
is_optional	true if this parameter is optional

PRINT_MODULE_USAGE_NAME()

__EXPORT void PRINT_MODULE_USAGE_NAME	(	const char *	executable_name,
		const char *	category
	)

Prints the command name.

Parameters

executable_name	command name used in scripts & CLI
category	one of: driver, estimator, controller, system, communication, command, template

PRINT_MODULE_USAGE_NAME_SIMPLE()

__EXPORT void PRINT_MODULE_USAGE_NAME_SIMPLE	(	const char *	executable_name,
		const char *	category
	)

Prints the name for a command without any sub-commands (.

See also

PRINT_MODULE_USAGE_NAME()).

PRINT_MODULE_USAGE_PARAM_COMMENT()

__EXPORT void PRINT_MODULE_USAGE_PARAM_COMMENT

(

const char *

comment

)

Prints a comment, that applies to the next arguments or parameters.

For example to indicate that a parameter applies to several or all commands.

Parameters

comment

PRINT_MODULE_USAGE_PARAM_FLAG()

__EXPORT void PRINT_MODULE_USAGE_PARAM_FLAG	(	char	option_char,
		const char *	description,
		bool	is_optional
	)

Prints a flag parameter, without any value.

Note

See PRINT_MODULE_USAGE_PARAM_INT().

Parameters

option_char	The option character.
description	Pointer to the usage description.
is_optional	true if this parameter is optional

PRINT_MODULE_USAGE_PARAM_FLOAT()

__EXPORT void PRINT_MODULE_USAGE_PARAM_FLOAT	(	char	option_char,
		float	default_val,
		float	min_val,
		float	max_val,
		const char *	description,
		bool	is_optional
	)

Prints a float parameter.

Note

See PRINT_MODULE_USAGE_PARAM_INT().

Parameters

default_val	The parameter default value (set to NaN if not applicable).
min_val	The parameter minimum value.
max_val	The parameter maximum value.
description	Pointer to the usage description. Pointer to the usage description.
is_optional	true if this parameter is optional

PRINT_MODULE_USAGE_PARAM_INT()

__EXPORT void PRINT_MODULE_USAGE_PARAM_INT	(	char	option_char,
		int	default_val,
		int	min_val,
		int	max_val,
		const char *	description,
		bool	is_optional
	)

Prints an integer parameter.

Note

Each of the PRINT_MODULE_USAGE_PARAM_* methods apply to the previous PRINT_MODULE_USAGE_COMMAND_DESCR().

Parameters

option_char	The option character.
default_val	The parameter default value (set to -1 if not applicable).
min_val	The parameter minimum value.
max_val	The parameter value.
description	Pointer to the usage description.
is_optional	true if this parameter is optional

PRINT_MODULE_USAGE_PARAM_STRING()

__EXPORT void PRINT_MODULE_USAGE_PARAM_STRING	(	char	option_char,
		const char *	default_val,
		const char *	values,
		const char *	description,
		bool	is_optional
	)

Prints a string parameter.

Parameters

option_char	The option character.
default_val	The default value, can be nullptr.
values	The valid values, it has one of the following forms: nullptr: leave unspecified, or any value is valid "<file>" or "<file:dev>": a file or more specifically a device file (eg. serial device) "<topic_name>": uORB topic name "<value1> [<value2>]": a list of values "on|off": a concrete set of valid strings separated by "|".
description	Pointer to the usage description.
is_optional	True iff this parameter is optional.

PRINT_MODULE_USAGE_SUBCATEGORY()

__EXPORT void PRINT_MODULE_USAGE_SUBCATEGORY

(

const char *

subcategory

)

Specify a subcategory (optional).

Parameters

subcategory

e.g. if the category is 'driver', subcategory can be 'distance_sensor'