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 *
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 * modification, are permitted provided that the following conditions
 * are met:
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 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
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 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
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 *    used to endorse or promote products derived from this software
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#include "TERARANGER.hpp"

#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>

void
TERARANGER::print_usage()
{
	PRINT_MODULE_DESCRIPTION(
		R"DESCR_STR(
### Description

I2C bus driver for TeraRanger rangefinders.

The sensor/driver must be enabled using the parameter SENS_EN_TRANGER.

Setup/usage information: https://docs.px4.io/master/en/sensor/rangefinders.html#teraranger-rangefinders
)DESCR_STR");
	PRINT_MODULE_USAGE_NAME("teraranger", "driver");
	PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
	PRINT_MODULE_USAGE_COMMAND("start");
	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
	PRINT_MODULE_USAGE_PARAM_INT('R', 25, 0, 25, "Sensor rotation - downward facing by default", true);
	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}

I2CSPIDriverBase *TERARANGER::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
				     int runtime_instance)
{
	TERARANGER *instance = new TERARANGER(iterator.configuredBusOption(), iterator.bus(), cli.orientation, cli.bus_frequency);

	if (instance == nullptr) {
		PX4_ERR("alloc failed");
		return nullptr;
	}

	if (instance->init() != PX4_OK) {
		delete instance;
		return nullptr;
	}

	instance->start();
	return instance;
}

extern "C" __EXPORT int teraranger_main(int argc, char *argv[])
{
	int ch;
	using ThisDriver = TERARANGER;
	BusCLIArguments cli{true, false};
	cli.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
	cli.default_i2c_frequency = 100000;

	while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
		switch (ch) {
		case 'R':
			cli.orientation = atoi(cli.optArg());
			break;
		}
	}

	const char *verb = cli.optArg();

	if (!verb) {
		ThisDriver::print_usage();
		return -1;
	}

	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_DIST_DEVTYPE_TERARANGER);

	if (!strcmp(verb, "start")) {
		return ThisDriver::module_start(cli, iterator);
	}

	if (!strcmp(verb, "stop")) {
		return ThisDriver::module_stop(iterator);
	}

	if (!strcmp(verb, "status")) {
		return ThisDriver::module_status(iterator);
	}

	ThisDriver::print_usage();
	return -1;
}