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90 lines
3.3 KiB
Markdown
90 lines
3.3 KiB
Markdown
# PX4 控制台/Shell
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PX4 enables terminal access to the system through the [MAVLink Shell](../debug/mavlink_shell.md) and the [System Console](../debug/system_console.md).
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这里将说明它们的主要区别，以及如何使用。
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<a id="console_vs_shell"></a>
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## System Console vs. Shells
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The PX4 _System Console_ provides low-level access to the system, debug output and analysis of the system boot process.
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There is just one _System Console_, which runs on one specific UART (the debug port, as configured in NuttX), and is commonly attached to a computer via an FTDI cable (or some other debug adapter like a [Zubax BugFace BF1](https://github.com/Zubax/bugface_bf1)).
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- Used for _low-level debugging/development_: bootup, NuttX, startup scripts, board bringup, development on central parts of PX4 (e.g. uORB).
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- 更具体一点，这里是包括自启动的用户应用在内的整个PX4系统下所有启动过程唯一的输出位置。
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Shell 提供对系统的上层访问能力：
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- 用于执行基础的模块调试运行命令。
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- Only _directly_ display the output of modules you start.
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- Cannot _directly_ display the output of tasks running on the work queue.
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- 在 PX4 系统无法启动时无助于调试（它并没有运行）。
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:::info
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The `dmesg` command is now available through the shell on some boards, enabling much lower level debugging than previously possible.
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For example, with `dmesg -f &` you also see the output of background tasks.
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:::
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<a href="../debug/system_console.md">系统控制台（System Console）</a>在调试系统无法启动时十分必要，它会在飞控板上电后输出启动日志。
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Since MAVLink provides more flexibility, currently only the [MAVLink Shell](../debug/mavlink_shell.md) is used.
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The [System Console](../debug/system_console.md) is essential when the system does not boot (it displays the system boot log when power-cycling the board).
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The [MAVLink Shell](../debug/mavlink_shell.md) is much easier to setup, and so is more generally recommended for most debugging.
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<a id="using_the_console"></a>
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## 使用控制台/Shell
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The MAVLink shell/console and the [System Console](../debug/system_console.md) are used in much the same way.
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For example, type `ls` to view the local file system, `free` to see the remaining free RAM, `dmesg` to look at boot output.
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```sh
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nsh> ls
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nsh> free
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nsh> dmesg
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```
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Below are a couple of commands which can be used in the [NuttShell](https://cwiki.apache.org/confluence/pages/viewpage.action?pageId=139629410) to get insights of the system.
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此 NSH 命令提供剩余的可用内存：
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```sh
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free
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```
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top命令显示每个应用成虚使用的堆栈情况：
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```sh
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top
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```
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注意堆栈使用量是通过堆栈着色计算的，并且是任务开始以来的最大值（不是当前使用量）。
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要查看工作队列的运行抢空以及运行速度，使用：
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```sh
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work_queue status
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```
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调试 uORB 主题：
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```sh
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uorb top
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```
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检查特定的 uORB 主题：
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```sh
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listener <topic_name>
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```
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Many other system commands and modules are listed in the [Modules and Command Reference](../modules/modules_main.md) (e.g. `top`, `listener`, etc.).
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:::tip
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Some commands may be disabled on some boards (i.e. the some modules are not included in firmware for boards with RAM or FLASH constraints).
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In this case you will see the response: `command not found`
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:::
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