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motor_test: add documentation & do cleanup (remove err(), ...)

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This commit is contained in:
Beat Küng
2017-07-14 11:57:11 +02:00
parent 4839ed8498
commit e362f760c4
1 changed files with 31 additions and 13 deletions
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src/systemcmds/motor_test/motor_test.c
+31 -13
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@@ -40,6 +40,8 @@
#include <px4_config.h>
#include <px4_getopt.h>
#include <px4_log.h>
#include <px4_module.h>
#include <stdio.h>
#include <stdlib.h>
@@ -52,7 +54,6 @@
#include "systemlib/systemlib.h"
#include "systemlib/err.h"
__EXPORT int motor_test_main(int argc, char *argv[]);
@@ -85,16 +86,21 @@ void motor_test(unsigned channel, float value)
static void usage(const char *reason)
{
if (reason != NULL) {
warnx("%s", reason);
PX4_WARN("%s", reason);
}
errx(1,
"usage:\n"
"motor_test\n"
" -m <channel> Motor to test (0..7), all if -m not given\n"
" -p <power> Power (0..100), 0 if -p not given\n"
"motor_test stop Stop all motors\n"
"motor_test iterate Iterate all motors starting and stopping one after the other\n");
PRINT_MODULE_DESCRIPTION("Utility to test motors.\n"
"\n"
"Note: this can only be used for drivers which support the motor_test uorb topic (currently uavcan and tap_esc)\n"
);
PRINT_MODULE_USAGE_NAME("motor_test", "command");
PRINT_MODULE_USAGE_COMMAND_DESCR("test", "Set motor(s) to a specific output value");
PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 7, "Motor to test (0...7, all if not specified)", true);
PRINT_MODULE_USAGE_PARAM_INT('p', 0, 0, 100, "Power (0...100)", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("stop", "Stop all motors");
PRINT_MODULE_USAGE_COMMAND_DESCR("iterate", "Iterate all motors starting and stopping one after the other");
}
int motor_test_main(int argc, char *argv[])
@@ -121,6 +127,7 @@ int motor_test_main(int argc, char *argv[])
if (lval > 100) {
usage("value invalid");
return 1;
}
value = ((float)lval) / 100.f;
@@ -128,17 +135,18 @@ int motor_test_main(int argc, char *argv[])
default:
usage(NULL);
return 1;
}
}
bool run_test = true;
if (argc > 1) {
if (strcmp("stop", argv[1]) == 0) {
if (myoptind >= 0 && myoptind < argc) {
if (strcmp("stop", argv[myoptind]) == 0) {
channel = -1;
value = 0.f;
} else if (strcmp("iterate", argv[1]) == 0) {
} else if (strcmp("iterate", argv[myoptind]) == 0) {
value = 0.3f;
for (int i = 0; i < 8; ++i) {
@@ -149,7 +157,17 @@ int motor_test_main(int argc, char *argv[])
}
run_test = false;
} else if (strcmp("test", argv[myoptind]) == 0) {
// nothing to do
} else {
usage(NULL);
return 0;
}
} else {
usage(NULL);
return 0;
}
if (run_test) {
@@ -164,5 +182,5 @@ int motor_test_main(int argc, char *argv[])
}
}
exit(0);
return 0;
}