UAVCAN: Printing all known sensor bridge names with usage info

3 files changed, 20 insertions, 0 deletions

diff --git a/src/modules/uavcan/sensors/sensor_bridge.cpp b/src/modules/uavcan/sensors/sensor_bridge.cpp
index f826c8fd2..5752d5524 100644
--- a/src/modules/uavcan/sensors/sensor_bridge.cpp
+++ b/src/modules/uavcan/sensors/sensor_bridge.cpp
@@ -36,12 +36,17 @@
  */
 
 #include "sensor_bridge.hpp"
+#include <systemlib/err.h>
+
 #include "gnss.hpp"
 #include "mag.hpp"
 #include "baro.hpp"
 
 IUavcanSensorBridge* IUavcanSensorBridge::make(uavcan::INode &node, const char *bridge_name)
 {
+	/*
+	 * TODO: make a linked list of known implementations at startup?
+	 */
 	if (!std::strncmp(UavcanGnssBridge::NAME, bridge_name, MAX_NAME_LEN)) {
 		return new UavcanGnssBridge(node);
 	} else if (!std::strncmp(UavcanMagnetometerBridge::NAME, bridge_name, MAX_NAME_LEN)) {
@@ -52,3 +57,10 @@ IUavcanSensorBridge* IUavcanSensorBridge::make(uavcan::INode &node, const char *
 		return nullptr;
 	}
 }
+
+void IUavcanSensorBridge::print_known_names(const char *prefix)
+{
+	printf("%s%s\n", prefix, UavcanGnssBridge::NAME);
+	printf("%s%s\n", prefix, UavcanMagnetometerBridge::NAME);
+	printf("%s%s\n", prefix, UavcanBarometerBridge::NAME);
+}
diff --git a/src/modules/uavcan/sensors/sensor_bridge.hpp b/src/modules/uavcan/sensors/sensor_bridge.hpp
index 7bd811813..976d9a03d 100644
--- a/src/modules/uavcan/sensors/sensor_bridge.hpp
+++ b/src/modules/uavcan/sensors/sensor_bridge.hpp
@@ -67,4 +67,9 @@ public:
 	 * @return nullptr if such bridge can't be created.
 	 */
 	static IUavcanSensorBridge* make(uavcan::INode &node, const char *bridge_name);
+
+	/**
+	 * Prints all valid bridge names into stdout via printf(), one name per line with prefix.
+	 */
+	static void print_known_names(const char *prefix);
 };
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp
index aca4587ff..8607af145 100644
--- a/src/modules/uavcan/uavcan_main.cpp
+++ b/src/modules/uavcan/uavcan_main.cpp
@@ -590,6 +590,9 @@ static void print_usage()
 	      "\tuavcan start <node_id> [can_bitrate]\n"
 	      "\tuavcan sensor enable <sensor name>\n"
 	      "\tuavcan sensor list");
+
+	warnx("known sensor bridges:");
+	IUavcanSensorBridge::print_known_names("\t");
 }
 
 extern "C" __EXPORT int uavcan_main(int argc, char *argv[]);