dynashell_main.cxx File Reference

RoadNarrows simple Dynamixel shell using the RoadNarrows Dynamixel library. More...

#include <sys/select.h>
#include <stdio.h>
#include <unistd.h>
#include <string.h>
#include <stdlib.h>
#include <libgen.h>
#include <ctype.h>
#include <errno.h>
#include "rnr/rnrconfig.h"
#include "rnr/opts.h"
#include "rnr/log.h"
#include "Dynamixel/Dynamixel.h"
#include "version.h"
#include "dynashell.h"
#include "dynashell_cmd.h"
#include "dynashell_util.h"

Go to the source code of this file.

Functions
static void	MainInitArgs (DynaShell &shell, int argc, char *argv[])
	Main command-line argument initialization. More...
static void	MainInit (DynaShell &shell, int argc, char *argv[])
	Main initialization. More...
static void	MainFini (DynaShell &shell)
	Main clean-up on exiting. More...
int	main (int argc, char *argv[])
	Example main. More...

Variables
static char *	Argv0
	the command
static char *	OptsSerDevUri = NULL
	the serial device URI
static int	OptsBaudRate = 1000000
	serial baudrate
static char *	OptsScript = NULL
	script file
static bool	OptsXTrace = false
	trace script
static bool	OptsSilent = false
	silence output
static OptsPgmInfo_T	AppPgmInfo
	Program information. More...
static OptsInfo_T	AppOptsInfo []
	Command line options information.

Detailed Description

RoadNarrows simple Dynamixel shell using the RoadNarrows Dynamixel library.

LastChangedDate

2015-01-12 10:56:06 -0700 (Mon, 12 Jan 2015)

Rev

3845

Author

Robin Knight (robin.nosp@m..kni.nosp@m.ght@r.nosp@m.oadn.nosp@m.arrow.nosp@m.s.co.nosp@m.m)

Copyright

© 2011-2017. RoadNarrows LLC.
http://www.roadnarrows.com
All Rights Reserved

Definition in file dynashell_main.cxx.

Function Documentation

int main	(	int	argc,
		char *	argv[]
	)

Example main.

Parameters

argc	Command-line argument count.
argv	Command-line argument list.

Exit Status:

Program exits with 0 success, > 0 on failure.

Definition at line 291 of file dynashell_main.cxx.

References DYNA_OK, MainFini(), MainInit(), and DynaShell::Run().

{
  DynaShell   shell;
  int         rc;

  MainInit(shell, argc, argv);

  rc = shell.Run();

  MainFini(shell);

  return rc == DYNA_OK? 0: 8;
}

static void MainFini ( DynaShell &  shell )

static

Main clean-up on exiting.

Parameters

shell

Dynamixel shell.

Definition at line 278 of file dynashell_main.cxx.

Referenced by main().

{
}

static void MainInit ( DynaShell &  shell, int  argc, char *  argv[]  )

static

Main initialization.

Parameters

shell	Dynamixel shell.
argc	Command-line argument count.
argv	Command-line argument list.

Exits:

Program terminates on conversion error.

Definition at line 252 of file dynashell_main.cxx.

References MainInitArgs(), DynaShell::PublishMap(), PublishShellCoreCommands(), PublishShellInterfaceCommands(), and PublishShellServoCommands().

Referenced by main().

{
  MainInitArgs(shell, argc, argv);

  shell.PublishMap("bg", "Commands to control the vServo background thread.");
  shell.PublishMap("clear", "Commands to clear run-time state.");
  shell.PublishMap("dump", "Dump memory contents.");
  shell.PublishMap("get", "Commands to get servo class object parameters.");
  shell.PublishMap("load", "Commands to load files.");
  shell.PublishMap("read", "Commands to read from the physical servos.");
  shell.PublishMap("run", "Commands to run scripts.");
  shell.PublishMap("save", "Commands to save files.");
  shell.PublishMap("set", "Commands to set servo class object parameters.");
  shell.PublishMap("write", "Commands to write to the physical servos.");

  PublishShellCoreCommands(shell);
  PublishShellInterfaceCommands(shell);
  PublishShellServoCommands(shell);
  //PublishShellTrainCommands(shell);
}

static void MainInitArgs ( DynaShell &  shell, int  argc, char *  argv[]  )

static

Main command-line argument initialization.

Parameters

shell	Dynamixel shell.
argc	Command-line argument count.
argv	Command-line argument list.

Exits:

Program terminates on conversion error.

Definition at line 190 of file dynashell_main.cxx.

References AppOptsInfo, AppPgmInfo, Argv0, DynaShell::m_bIsInteractive, DynaShell::m_bSilent, DynaShell::m_bXTrace, DynaShell::m_pDynaBgThread, DynaShell::m_pDynaChain, DynaShell::m_pDynaComm, DynaComm::New(), OptsBaudRate, OptsScript, OptsSerDevUri, OptsSilent, OptsXTrace, PkgInfo, DynaBgThread::RegisterChainAgent(), and DynaShell::ScriptPush().

Referenced by MainInit().

{
  FILE  *fp;

  // name of this process
  Argv0 = basename(argv[0]);

  // parse input options
  argv = OptsGet(Argv0, &PkgInfo, &AppPgmInfo, AppOptsInfo, true,
                 &argc, argv);

  if( OptsSerDevUri != NULL )
  {
    shell.m_pDynaComm = DynaComm::New(OptsSerDevUri, OptsBaudRate);

    if( shell.m_pDynaComm == NULL )
    {
      OptsInvalid(Argv0, "Failed to create interface on %s@%d.",
          OptsSerDevUri, OptsBaudRate);
    }

    shell.m_pDynaChain = new DynaChain(*shell.m_pDynaComm);

    // create background thread and register chain - leave in ready state
    if( shell.m_pDynaBgThread == NULL )
    {
      shell.m_pDynaBgThread = new DynaBgThread();
      shell.m_pDynaBgThread->RegisterChainAgent(shell.m_pDynaChain);
    }
  }

  if( OptsScript != NULL )
  { 
    if( access(OptsScript, F_OK|R_OK) != 0 )
    {
      OptsInvalid(Argv0, "%s: %s.", OptsScript, strerror(errno));
    }
    else if( (fp = fopen(OptsScript, "r")) == NULL )
    {
      OptsInvalid(Argv0, "%s: %s.", OptsScript, strerror(errno));
    }
    else
    {
      shell.ScriptPush(OptsScript, fp);
      shell.m_bIsInteractive = false;
    }
  }

  shell.m_bXTrace = OptsXTrace;
  shell.m_bSilent = OptsSilent;
}

Variable Documentation

OptsPgmInfo_T AppPgmInfo

static

Initial value:

=
{
  
  NULL,

  
  "Dynamixel simple shell.",

  
  "The %P provides a simple command-line shell to the Dynamixel interface "
  "provided by the library libDynamixel.",

  
  NULL
}

Program information.

Definition at line 86 of file dynashell_main.cxx.

Referenced by MainInitArgs().