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 * modification, are permitted provided that the following conditions
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 * 1. Redistributions of source code must retain the above copyright
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#include <string.h>

#include <uORB/uORB.h>

#include <px4_platform_common/log.h>
#include <px4_platform_common/module.h>

extern "C" { __EXPORT int uorb_main(int argc, char *argv[]); }

static void usage();

int uorb_main(int argc, char *argv[])
{
	if (argc < 2) {
		usage();
		return -1;
	}

	if (!strcmp(argv[1], "start")) {
		return uorb_start();

	} else if (!strcmp(argv[1], "status")) {
		return uorb_status();

	} else if (!strcmp(argv[1], "top")) {
		return uorb_top(argv + 2, argc - 2);
	}

	usage();
	return 0;
}

void usage()
{
	PRINT_MODULE_DESCRIPTION(
		R"DESCR_STR(
### Description
uORB is the internal pub-sub messaging system, used for communication between modules.

### Implementation
The implementation is asynchronous and lock-free, ie. a publisher does not wait for a subscriber and vice versa.
This is achieved by having a separate buffer between a publisher and a subscriber.

The code is optimized to minimize the memory footprint and the latency to exchange messages.

Messages are defined in the `/msg` directory. They are converted into C/C++ code at build-time.

If compiled with ORB_USE_PUBLISHER_RULES, a file with uORB publication rules can be used to configure which
modules are allowed to publish which topics. This is used for system-wide replay.

### Examples
Monitor topic publication rates. Besides `top`, this is an important command for general system inspection:
$ uorb top
)DESCR_STR");

	PRINT_MODULE_USAGE_NAME("uorb", "communication");
	PRINT_MODULE_USAGE_COMMAND_DESCR("status", "Print topic statistics");
	PRINT_MODULE_USAGE_COMMAND_DESCR("top", "Monitor topic publication rates");
	PRINT_MODULE_USAGE_PARAM_FLAG('a', "print all instead of only currently publishing topics with subscribers", true);
	PRINT_MODULE_USAGE_PARAM_FLAG('1', "run only once, then exit", true);
	PRINT_MODULE_USAGE_ARG("<filter1> [<filter2>]", "topic(s) to match (implies -a)", true);
}