NOX 命令参考手册V0.81

NOX

1. noxapk

1.1 简介

将整个NOX工作空间打包，方便异地部署工程。

1.2 帮助

1.3 补充说明

TODO

2. noxcreate

2.1 简介

用于 NOX 工程的创建，NOX 工程的创建、更新和删除等操作。

帮助

2.2 补充说明

TODO

3. noxmake

3.1 简介

编译NOX工作区，作用相当于catkin_make。

3.2 帮助

4. noxmonitor

4.1 帮助

详细信息在其他文档中给出。

5. noxparam

5.1 简介

NOX工程中参数模块的操作接口。

5.2 帮助

5.3 补充说明

TODO

6. noxrun

6.1 简介

运行nox项目。

6.2 帮助

6.3 补充说明

TODO

7. nox-sh-gen

7.1 简介

根据xml配置文件生成批量启动可执行程序的bash脚本。

7.2 帮助

第二个参数[out_bash]可选，缺省为[xml_file].bash

7.3 补充说明

xml配置文件说明：

<!-- [meta] allows you to set a super user password and
     will sudo the script if <sudo> set. -->
<meta sudo="you su pwd">
    your first commands
</meta>
<!-- Every group will open a terminal.
     There are two option:
     1. geometry: specify size and position of the terminal.(COLSxROWS+X+Y, or COLSxROWS);
     2. hide-menu: turn off the terminal's menubar. -->
<group geometry="80x24+0+0" hide-menu>
    <!-- Every executable will open a tab -->
    <!-- [program] requires to set <exe>, which is a executable.
         [program] allows you to set <name>, which is the name of the tab. -->
    <program name="xxx" exe="yyy" />
    <!-- [rosprogram] is very like [program], but it will append a
         'source devel/setup.sh' before your <exe> commands. -->
    <rosprogram name="xxx" exe="yyy" />
    <!-- [path] will append a 'cd' command before your commands.
         <dir> is needed. -->
    <path dir="directory to cd at this stage">
        <program name="xxx" exe="rosrun xxx yyy" />
    </path>
</group>

CAN 驱动部分

8. nox-can-driver-gen

8.1 简介

根据yaml格式的配置文件，生成CAN分析程序。

8.2 帮助

output [out_path] 为可选输入，缺省在当前目录。

8.3 补充说明

yaml文件格式说明：

devices:
  - name: device_name
    interface: can_name | [can0, can1, ...] # nullable, will not filter interface
    frames:
      - name: frame_name
        # id to receive or send, could be a number or a number array.
        # expression is not supported, please use [id-recv] and [id-send] instead.
        id: 123 | [123, 124, ...]
        # id to receive, could be a number or a boolean expression.
        # array is also supported.
        id-recv: 123 | [123, 124, 'id > 0', ...] | '(id - 738) % 3 == 0'
        # id to send, could be a number or a computational expression.
        # nullable, default is same as <id>'s first number(or zero).
        id-send: 123 | 123 + id
        # nullable, default is standard
        type: standard | extended | remote | error
        fields:
          - name: field_name
            type: float | double | int | unsigned | ...
            start: 12       # data segment's start bit
            length: 5       # number of data segment's bits
            format: intel | motorola
            resolution: 1.0 # nullable, default is 1.0
            offset: 13.0    # data offset(unit: same as data's), nullable, default is 0
            min: -5.0       # data minimal value, nullable, default is 0
            max: 10.0       # data maximal value, nullable, default is the maximal hex
            signed: true    # signed or unsigned, nullable, default is false

9. noxdriver

9.1 简介

启动CAN接口node。

9.2 帮助

9.3 补充说明

TODO