matrixfurry.com
The open source OpenXR runtime
1// Copyright 2019-2021, Collabora, Ltd.
2// SPDX-License-Identifier: BSL-1.0
3/*!
4 * @file
5 * @brief A cli program to configure and test Monado.
6 * @author Jakob Bornecrantz <jakob@collabora.com>
7 */
8
9#include "cli_common.h"
10
11#include "xrt/xrt_config_os.h"
12
13#include <string.h>
14#include <stdio.h>
15
16
17#define P(...) fprintf(stderr, __VA_ARGS__)
18
19static int
20cli_print_help(int argc, const char **argv)
21{
22 if (argc >= 2) {
23 P("Unknown command '%s'\n\n", argv[1]);
24 }
25
26 P("Monado-CLI 0.0.1\n");
27 P("Usage: %s command [options] [file]\n", argv[0]);
28 P("\n");
29 P("Commands:\n");
30 P(" info - Print information about Monado and the system, for bug reporting.\n");
31 P(" test - List found devices, for prober testing.\n");
32 P(" probe - Just probe and then exit.\n");
33 P(" lighthouse - Control the power of lighthouses [on|off].\n");
34 P(" calibrate - Calibrate a camera and save config (not implemented yet).\n");
35 P(" calib-dump - Load and dump a calibration to stdout.\n");
36 P(" slambatch - Runs a sequence of EuRoC datasets with the SLAM tracker.\n");
37
38 return 1;
39}
40
41int
42main(int argc, const char **argv)
43{
44 if (argc <= 1) {
45 return cli_print_help(argc, argv);
46 }
47
48 if (strcmp(argv[1], "info") == 0) {
49 return cli_cmd_info(argc, argv);
50 }
51 if (strcmp(argv[1], "test") == 0) {
52 return cli_cmd_test(argc, argv);
53 }
54 if (strcmp(argv[1], "probe") == 0) {
55 return cli_cmd_probe(argc, argv);
56 }
57#ifndef XRT_OS_WINDOWS
58 if (strcmp(argv[1], "calibrate") == 0) {
59 return cli_cmd_calibrate(argc, argv);
60 }
61#endif // !XRT_OS_WINDOWS
62 if (strcmp(argv[1], "calib-dump") == 0) {
63 return cli_cmd_calibration_dump(argc, argv);
64 }
65 if (strcmp(argv[1], "lighthouse") == 0) {
66 return cli_cmd_lighthouse(argc, argv);
67 }
68 if (strcmp(argv[1], "slambatch") == 0) {
69 return cli_cmd_slambatch(argc, argv);
70 }
71 return cli_print_help(argc, argv);
72}