laelaps_diag

Macros
#define	APP_EC_OK   0
	success exit code
#define	APP_EC_ARGS   2
	command-line options/arguments error exit code
#define	APP_EC_EXEC   4
	execution exit code

Functions
static DiagStats	prelims ()
static void	mainInit (int argc, char *argv[])
	Main initialization. More...
int	main (int argc, char *argv[])
	Main. More...

Variables
static char *	Argv0
	the command
static bool_t	OptsMotion = false
	motion option
static bool_t	OptsAnyKey = false
	user presses anykey to stop option
static const char *	DiagnosticsAvail []
	Available diagnostics. More...
static vector< string >	DiagnosticsToRun
	diagnostics to run
static OptsPgmInfo_T	PgmInfo
	Program information. More...
static OptsInfo_T	OptsInfo []
	Command line options information.
LaeDesc	RobotDesc
LaeI2C	I2CBus
LaeI2CMux	I2CMux (I2CBus)
LaeWd	WatchDog (I2CBus)

Detailed Description

Function Documentation

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

Main.

Parameters

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

Returns

Returns 0 on succes, non-zero on failure.

Definition at line 380 of file laelaps_diag.cxx.

References APP_EC_OK, DiagnosticsToRun, mainInit(), OptsAnyKey, and OptsMotion.

{
  string    strDiag;
  DiagStats statsGrandTotal;

  mainInit(argc, argv);

  setTags(LOG_IN_COLOR());

  statsGrandTotal = prelims();

  for(size_t i = 0; i < DiagnosticsToRun.size(); ++i)
  {
    if( statsGrandTotal.fatal )
    {
      break;
    }

    strDiag = DiagnosticsToRun[i];

    if( strDiag == "product" )
    {
      statsGrandTotal += runProductDiagnostics();
    }
    else if( strDiag == "cpu" )
    {
      statsGrandTotal += runCpuDiagnostics();
    }
    else if( strDiag == "motors" )
    {
      statsGrandTotal += runMotorsDiagnostics(OptsMotion);
    }
    else if( strDiag == "cam" )
    {
      statsGrandTotal += runCamDiagnostics();
    }
    else if( strDiag == "tof" )
    {
      statsGrandTotal += runToFDiagnostics(OptsAnyKey);
    }
    else if( strDiag == "imu" )
    {
      statsGrandTotal += runImuDiagnostics(OptsAnyKey);
    }
    else if( strDiag == "watchdog" )
    {
      statsGrandTotal += runWatchDogDiagnostics();
    }
    else if( strDiag == "batt" )
    {
      statsGrandTotal += runBatteryDiagnostics(OptsAnyKey);
    }
  }

  printGrandTotals(statsGrandTotal);

  return APP_EC_OK;
}

static void mainInit ( int  argc, char *  argv[]  )

static

Main initialization.

Parameters

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

Exits:

Program terminates on conversion error.

Definition at line 299 of file laelaps_diag.cxx.

References APP_EC_ARGS, Argv0, DiagnosticsAvail, DiagnosticsToRun, OptsInfo, PgmInfo, and PkgInfo.

Referenced by main().

{
  string  strArg;
  bool    bFound;

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

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

  if( argc == 0 )
  {
    fprintf(stderr, "%s: Error: No diagnostics specified.\n", Argv0);
    fprintf(stderr, "Try '%s --help' for more information.\n", Argv0);
    exit(APP_EC_ARGS);
  }

  for(int i = 0;  i < argc; ++i)
  {

    strArg = argv[i];

    if( strArg == "all" )
    {
      DiagnosticsToRun.clear();
      for(size_t j = 0; j < arraysize(DiagnosticsAvail); ++j)
      {
        DiagnosticsToRun.push_back(DiagnosticsAvail[j]);
      }
      break;
    }

    bFound = false;

    for(size_t j = 0; j < arraysize(DiagnosticsAvail); ++j)
    {
      if( strArg == DiagnosticsAvail[j] )
      {
        DiagnosticsToRun.push_back(DiagnosticsAvail[j]);
        bFound = true;
        break;
      }
    }

    if( !bFound )
    {
      fprintf(stderr, "%s: Warning: Unknown diganostic %s - ignoring.\n",
            Argv0, strArg.c_str());
    }
  }

  if( DiagnosticsToRun.empty() )
  {
    fprintf(stderr, "%s: Error: No valid diagnostics to run.\n", Argv0);
    fprintf(stderr, "Try '%s --help' for more information.\n", Argv0);
    exit(APP_EC_ARGS);
  }
}

Variable Documentation

const char* DiagnosticsAvail[]

static

Initial value:

=
{
  "product", "cpu", "motors", "watchdog", "tof", "imu", "cam", "batt"
}

Available diagnostics.

Definition at line 103 of file laelaps_diag.cxx.

Referenced by mainInit().

OptsPgmInfo_T PgmInfo

static

Initial value:

=
{
  
  "DIAG [DIAG ...]",

  
  "Run Laelaps diagnostics.",

  
  "The %P command executes Laelaps subsystem diagnostics. "
  "The Laelaps embedded software interfaces are used to test the subsystems."
  "\n\n"
  "DIAG: Diagnostic to run. One of:\n"
  "  all       - Run all dignostics.\n"
  "  batt      - Run battery dignostics.\n"
  "  cam       - Run camera diagnotics.\n"
  "  cpu       - Run main CPU diagnotics.\n"
  "  imu       - Run Inertia Measurement Unit diagnostics.\n"
  "  motors    - Run motors diagnotics.\n"
  "  product   - Run Laelaps product diagnotics.\n"
  "  tof       - Run time-of-flight sensors diagnostics.\n"
  "  watchdog  - Run Arduino watchdog sub-processor diagnostics.\n\n"
  "The ROS node laelaps_control cannot be running while using this tool.",

  
  NULL
}

Program information.

Definition at line 113 of file laelaps_diag.cxx.

Referenced by mainInit().