generate man page and install it

Makefile

@@ -13,6 +13,7 @@ PREFIX              ?=
 INSTALL_BIN_DIR     ?= $(PREFIX)/usr/bin
 BASH_COMPLETION_DIR ?= $(PREFIX)/usr/share/bash-completion/completions/
 ZSH_COMPLETION_DIR  ?= $(PREFIX)/usr/share/zsh-completion/completions/
+MAN_DIR             ?= $(PREFIX)/usr/share/man/man1/
 
 SRC_FOLDERS = src/
 LIBS = c pthread stdc++fs
@@ -100,6 +101,8 @@ install: $(TARGET)
 	$(SILENT) cp scripts/bash_completion $(BASH_COMPLETION_DIR)/$<
 	$(SILENT) mkdir -p $(ZSH_COMPLETION_DIR)
 	$(SILENT) cp scripts/zsh_completion $(ZSH_COMPLETION_DIR)/$<
+	$(SILENT) mkdir -p $(MAN_DIR)
+	$(SILENT) scripts/generateMan.sh | gzip > $(MAN_DIR)/$<.1.gz
 
 $(TARGET): $(CPP_OBJ_FILES) $(C_OBJ_FILES)
 	@echo linking $(TARGET)

scripts/generateMan.sh

@@ -0,0 +1,59 @@
+#!/bin/bash
+
+echo "
+.\" Manpage for inspexel
+.\" Contact info@gottliebtfreitag.de
+"
+
+./inspexel --groff | head -n 1
+
+echo "
+.SH NAME
+inspexel - inspecting motors using the dynamixel protocol
+
+.SH SYNOPSIS
+inspexel <COMMAND> [OPTION]... 
+
+.SH DESCRIPTION
+inspexel is a program to inspect connected motors that uses the dynamixel protocol. It supports protocol v1 and v2.
+"
+./inspexel --groff | tail -n +2
+
+echo ".SH EXAMPLE
+.SH
+	$ inspexel
+.TP
+	detects all connected motors
+
+.SH
+	$ inspexel detect --read_all
+.TP
+	detects all connected motors and gives verbose information about them
+
+.SH
+	$ inspexel meta
+.TP
+	list all supported motor types
+
+.SH
+	$ inspexel reboot --id 3
+.TP
+	reboots motor with id 3
+
+.SH
+	$ inspexel set_register --register 0x44 --values 1 --id 0x03
+.TP
+	set register 0x44 of motor 3 to value 1
+
+"
+
+echo "
+.SH BUGS
+No known bugs.
+
+.SH AUTHOR
+Developed by Lutz Freitag <lutz@gottliebtfreitag.de> and Simon Gene Gottlieb <simon@gottliebtfreitag.de>
+"
+
+echo ".SH LICENSE"
+cat LICENSE

src/globalOptions.h

@@ -8,8 +8,8 @@ auto listTypicalBaudrates(std::vector<std::string> const& _str) -> std::pair<boo
 
 auto getDefaultSerialPort() -> std::string;
 
-inline auto g_device          = parameter::Parameter<std::string>(getDefaultSerialPort(), "device", "the usb2dynamixel device", {}, &listDeviceFiles);
-inline auto g_id              = parameter::Parameter<int>(0, "id", "the target Id");
-inline auto g_baudrate        = parameter::Parameter<int>(1000000, "baudrate", "baudrate to use", {}, &listTypicalBaudrates);
+inline auto g_device          = parameter::Parameter<std::string>(getDefaultSerialPort(), "device", "the usb2dynamixel device (e.g.: /dev/ttyUSB0)", {}, &listDeviceFiles);
+inline auto g_id              = parameter::Parameter<int>(0, "id", "the target Id (values: 0x00 - 0xfd)");
+inline auto g_baudrate        = parameter::Parameter<int>(1000000, "baudrate", "baudrate to use (e.g.: 1m)", {}, &listTypicalBaudrates);
 inline auto g_timeout         = parameter::Parameter<int>(10000, "timeout", "timeout in us");
-inline auto g_protocolVersion = parameter::Parameter<int>(1, "protocol_version", "the dynamixel protocol version");
+inline auto g_protocolVersion = parameter::Parameter<int>(1, "protocol_version", "the dynamixel protocol version (values: 1, 2)");

src/main.cpp

@@ -4,10 +4,13 @@
 
 namespace {
 
-auto printHelp = parameter::Parameter<std::optional<std::string>>{{}, "help", "print this help add a string which will be used in a grep-like search through the parameters"};
+auto printHelp  = parameter::Parameter<std::optional<std::string>>{{}, "help", "print this help add a string which will be used in a grep-like search through the parameters"};
 
 }
 
+#define VERSION "1.1.0"
+#define DATE    "28 September 2018"
+
 #define TERM_RED                        "\033[31m"
 #define TERM_RESET                      "\033[0m"
 
@@ -20,16 +23,21 @@ int main(int argc, char** argv)
 		}
 		return 0;
 	}
+	if (argc == 2 and std::string(argv[1]) == "--groff") {
+		std::cout << ".TH man 1 \"" << DATE << "\" \"" << VERSION << "\" inspexel man page\"\n";
+		std::cout << parameter::generateGroffString();
+		return 0;
+	}
+
 	try {
 		// pass everything except the name of the application
 		parameter::parseArguments(argc-1, argv+1);
 
 		if (printHelp.isSpecified()) {
-			std::cout << "inspexel version 1.1.0\n";
+			std::cout << "inspexel version " << VERSION << " - " << DATE << "\n";
 			std::cout << parameter::generateHelpString(std::regex{".*" + printHelp.get().value_or("") + ".*"});
 			return 0;
 		}
-
 		parameter::callCommands();
 	} catch (std::exception const& e) {
 		std::cerr << "exception: " << TERM_RED << e.what() << TERM_RESET "\n";

src/parameter/ArgumentParsing.cpp

@@ -163,6 +163,51 @@ std::string generateHelpString(std::regex const& filter) {
 	return helpString;
 }
 
+std::string generateGroffString() {
+	std::string helpString;
+
+	auto const & commands = detail::CommandRegistry::getInstance().getCommands();
+
+	if (commands.size() != 1) { // if there is more than just the default command
+
+		helpString += ".SH COMMANDS\n";
+
+		for (auto it = commands.begin(); it != commands.end(); it = commands.upper_bound(it->first)) {
+			if (it->second != &Command::getDefaultCommand()) {
+				helpString += ".TP\n\\fB" + it->first + "\\fR\n" + it->second->getDescription() + "\n";
+			}
+		}
+		helpString += "\n";
+	}
+	bool lastLocal{false};
+	for (auto it = commands.begin(); it != commands.end();) {
+		bool globalOptions = it->second == &Command::getDefaultCommand();
+		if (globalOptions) {
+			helpString += ".SH GLOBAL OPTIONS\n";
+		}
+		if (not lastLocal and not globalOptions) {
+			lastLocal = true;
+			helpString += ".SH SPECIFIC OPTIONS\n";
+		}
+
+		auto end = commands.upper_bound(it->first);
+		for (auto command = it; command != end; ++command) {
+			if (not globalOptions) {
+				helpString += ".SS\n\\fB" + it->first + "\\fR\n";
+			}
+
+			auto const& params = command->second->getParameters();
+			for (auto paramIt = params.begin(); paramIt != params.end(); paramIt = params.upper_bound(paramIt->first)) {
+				helpString += ".TP\n";
+				helpString += std::string{"\\fB--"} + paramIt->second->getArgName() + "\\fR\n";
+				helpString += paramIt->second->describe() + "\n";
+			}
+		}
+		it = end;
+	}
+	return helpString;
+}
+
 std::set<std::string> getNextArgHint(int argc, char const* const* argv) {
 	std::vector<Command*> argProviders = {&Command::getDefaultCommand()};
 	std::string lastArgName;

src/parameter/ArgumentParsing.h

@@ -19,6 +19,7 @@ void parseArguments(int argc, char const* const* argv);
 void parseArguments(int argc, char const* const* argv, std::set<ParameterBase*> const& targetParameters);
 
 std::string generateHelpString(std::regex const& filter=std::regex{".*"});
+std::string generateGroffString();
 
 std::set<std::string> getNextArgHint(int argc, char const* const* argv);