140 lines
6.7 KiB
C++
140 lines
6.7 KiB
C++
#include "fgc/HelpText.h"
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#include <algorithm>
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#include <cctype>
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namespace fgc {
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namespace {
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std::string lower(std::string s) {
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std::transform(s.begin(), s.end(), s.begin(),
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[](unsigned char c) { return static_cast<char>(std::tolower(c)); });
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return s;
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}
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// First whitespace-delimited token of a syntax string (the command verb), lowercased.
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std::string verbOf(const std::string& syntax) {
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auto end = syntax.find_first_of(" \t");
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return lower(syntax.substr(0, end == std::string::npos ? syntax.size() : end));
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}
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} // namespace
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const std::vector<HelpSection>& helpCatalog() {
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// clang-format off
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static const std::vector<HelpSection> catalog = {
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{"Positioning", "Aim the gimbal. 'move' is degrees; 'steps' is raw encoder counts.", {
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{"gimbal move <yaw>,<pitch>",
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"Point the gimbal at an absolute heading/elevation in DEGREES.", {
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"Converts degrees to encoder counts (operator-calibrated) and sends a",
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"two-axis move so both axes start together; soft-clamped to travel limits.",
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"Example: gimbal move 30,-10 (yaw 30 deg, pitch -10 deg)"}},
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{"gimbal steps <yaw>,<pitch>",
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"Move both axes to absolute encoder COUNTS (no degree conversion).", {
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"Example: gimbal steps 100000,250000"}},
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{"gimbal nudge <yaw|pitch> <+/-pct>",
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"Relative step move by a percent of the axis travel.", {
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"Arrow keys do this: Left/Right = yaw -/+5%, Up/Down = pitch +/-10%.",
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"Example: gimbal nudge yaw -5"}},
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{"gimbal home [y|p]",
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"Run the endstop-finding home sequence (both axes, or one).", {
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"Example: gimbal home / gimbal home y"}},
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{"gimbal stop [y|p|all]",
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"Stop motion immediately (also cancels a running calibration).", {}},
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{"gimbal speed <y|p> <vel>",
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"Set the max slew speed (counts/s) for an axis.", {}},
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{"gimbal reset [y|p] / gimbal enable|disable <y|p> / gimbal setpos <y|p> <v>",
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"Other firmware motor controls.", {}},
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}},
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{"Diagnostics", "Inspect, self-test and calibrate the gimbal.", {
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{"gimbal dump",
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"Request a full firmware state dump and show it here.", {
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"Captured DUMP BEGIN..END block (build, uptime, reset cause, per-axis",
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"TMC5160 registers); shown in the gimbal 'g' expanded view.",
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"Equivalent offline tool: ./firmware/dump.sh"}},
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{"gimbal diag [y|p|all]",
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"Run the firmware motor self-test; results stream to the LOG + a logfile.", {
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"Each axis is swept at several speeds/directions (DG lines). A PASS/FAIL",
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"summary is logged and saved to logs/diag_*.log. Axes must be homed first."}},
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{"gimbal calib",
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"Calibrate steps<->degrees using the IMU (auto-homes; ~minutes).", {
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"Needs the IMU. Homes first if needed, calibrates PITCH at the first yaw",
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"position, moves pitch to 0, switches the IMU to a no-mag XKF profile",
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"(persists on the device), runs no-rotation + heading reset to zero yaw",
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"drift, then calibrates YAW. Applies the fit to the session and writes",
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"logs/calib_*.log. 'gimbal stop' cancels."}},
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{"gimbal status",
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"Ask the firmware to emit one telemetry (ST) line now.", {}},
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{"gimbal raw \"<command>\"",
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"Low-level: send the quoted text to the firmware verbatim (a newline is", {
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"added automatically). Bypasses all wrappers/unit conversion for direct",
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"firmware control — use with care; sends exactly what you type.",
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"Example: gimbal raw \"MOVE 100000,250000\" / gimbal raw \"DUMP\""}},
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}},
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{"Capture", "Control image capture and encoding.", {
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{"start", "Begin the capture scan.", {}},
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{"stop", "Halt the capture scan.", {}},
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{"set fps <rate>", "Set capture rate in images/second.", {}},
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{"set camera fps <rate>", "Set the camera sensor frame rate.", {}},
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{"set camera jxlq <dist>", "Set JPEG-XL distance (lower = higher quality).", {}},
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{"set camera jxle <effort>", "Set JPEG-XL encode effort.", {}},
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{"set camera display <0|1>", "Toggle the local display window.", {}},
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}},
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{"Logging", "Control console/log verbosity.", {
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{"debug", "Toggle debug-level logging on/off.", {}},
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{"trace <serial|mqtt|camera|control|all|off> [on|off]",
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"Toggle verbatim wire-trace categories.", {
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"Example: trace serial on / trace off"}},
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}},
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{"Session", "Help and exit.", {
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{"refresh",
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"Re-read live device state (TUI: press 'r').", {
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"Re-queries the IMU configuration (XKF profile, output settings) and",
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"requests a fresh firmware dump, updating the 'i' and 'g' expanded views.",
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"Use after changing the XKF profile externally. Briefly pauses the IMU",
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"stream while it re-enters the device's Config state."}},
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{"help [topic]",
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"Show this reference; 'help <topic>' expands one section.", {
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"Example: help positioning / help dump"}},
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{"exit", "Shut down and quit.", {}},
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}},
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};
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// clang-format on
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return catalog;
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}
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std::vector<std::string> renderHelp(const std::string& topic) {
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std::vector<std::string> out;
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const std::string q = lower(topic);
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if (q.empty()) {
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out.emplace_back("Available commands (type 'help <topic>' for detail, e.g. 'help goto'):");
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for (const auto& sec : helpCatalog()) {
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out.emplace_back("");
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out.emplace_back("== " + sec.title + " == " + sec.blurb);
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for (const auto& e : sec.entries)
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out.emplace_back(" " + e.syntax + " - " + e.summary);
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}
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return out;
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}
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// Topic mode: match a section by title, or an entry by command verb.
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bool matched = false;
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for (const auto& sec : helpCatalog()) {
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const bool sec_match = lower(sec.title).find(q) != std::string::npos;
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for (const auto& e : sec.entries) {
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if (!sec_match && verbOf(e.syntax) != q) continue;
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matched = true;
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out.emplace_back(e.syntax);
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out.emplace_back(" " + e.summary);
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for (const auto& d : e.detail) out.emplace_back(" " + d);
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out.emplace_back("");
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}
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}
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if (!matched) out.emplace_back("No help topic matching '" + topic + "'. Try 'help'.");
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return out;
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}
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} // namespace fgc
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