added cli tool post

Author: sxy-sun

_data/navigation.yml

@@ -91,7 +91,8 @@ docs:
         url: /docs/tutorials/bridge/
       - title: "Mapping & Localization"
         url: /docs/tutorials/mapping/
-
+      - title: "MBot Command Line Tool"
+        url: /docs/tutorials/mbot-cli-tool/
   # - title: Tutorials
   #   children:
   #     - title: "MBot Tutorials"

docs/tutorials/mbot-cli-tool.md

@@ -0,0 +1,137 @@
+---
+layout: single
+title: MBot Command Line Tool
+toc: true
+---
+
+> This guide provides an overview of all command line tools in the MBot ecosystem.
+
+Currently, there are 3 tools available:
+- mbot-lcm-spy: Monitors all LCM traffic on the MBot.
+- mbot-service: Manages and monitors MBot system services.
+- mbot-lcm-msg: Inspects the data structure of MBot LCM messages.
+
+The codebase for these tools is located in `mbot_lcm_base/mbot_sys_cli`.
+
+## Installation
+If `mbot_lcm_base` is installed correctly, all MBot CLI tools are already installed.
+
+To find them:
+- Enter `mbot` in the terminal and hit "Enter" key. The available tools will be printed out:
+    ```bash
+    mbot@mbot-pi5base-test1:~ $ mbot
+    Usage: mbot {service|lcm-spy|lcm-msg} [args]
+    ```
+- Auto-completion is also available: type `mbot ` (with a space) and hit the "Tab" key to list available tools.
+    ```bash
+    mbot@mbot-pi5base-test1:~ $ mbot
+    lcm-msg  lcm-spy  service
+    ```
+- If the above command doesn't work, close current terminal and open a new one. (Although this shouldn't be necessary)
+
+Demo:
+<iframe width="560" height="315" src="https://www.youtube.com/embed/B150ZqKUrf4?si=LJhwXcSYsiszmjU7" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" referrerpolicy="strict-origin-when-cross-origin" allowfullscreen></iframe>
+
+## mbot-lcm-spy
+### Usage
+```shell
+mbot lcm-spy [-h] [--channels CHANNELS] [--rate RATE] [--module MODULE]
+```
+
+**Options**
+- `-h, --help`: Show this help message and exit
+- `--channels CHANNELS`: Comma-separated list of channel names to print decoded messages
+- `--rate RATE`: Rate at which data is printed in Hz (default: 1 Hz)
+- `--module MODULE`: Module to use for decoding messages (default: "mbot_lcm_msgs")
+
+**Press CTRL+C to quit**
+
+### When to use?
+When you are looking for the answers to:
+- Is the MBot velocity message being sent out?
+  - `mbot lcm-spy`
+- What is current odometry value?
+  - `mbot lcm-spy --channels MBOT_ODOMETRY`
+- Are both the MBot velocity and odometry being updated?
+  - `mbot lcm-spy --channels MBOT_ODOMETRY,MBOT_VEL`
+
+
+### Demo
+<iframe width="560" height="315" src="https://www.youtube.com/embed/9egBSuIqhUo?si=1FX_YsQl0J3ePfa-" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" referrerpolicy="strict-origin-when-cross-origin" allowfullscreen></iframe>
+
+## mbot-service
+### Usage
+
+```bash
+mbot service {list|status|log|start|stop|restart|enable|disable} [service_name]
+```
+```
+Actions:
+  list       List all mbot- services
+  status     Status of all mbot- services or a specific service
+  log        Show log for the service
+  start      Start the service
+  stop       Stop the service
+  restart    Restart the service
+  enable     Enable the service (not immediate start)
+  disable    Disable the service (not immediate stop)
+
+Examples:
+  mbot service list
+  mbot service status
+  mbot service status mbot-xxx.service
+  mbot service log mbot-xxx.service
+  mbot service start mbot-xxx.service
+  mbot service stop mbot-xxx.service
+  mbot service restart mbot-xxx.service
+  mbot service enable mbot-xxx.service
+  mbot service disable mbot-xxx.service
+```
+### When to use?
+When you are looking for the answers to:
+- What services are installed?
+  - `mbot service list`
+- What was the name of that service... motion controller something?
+  - `mbot service list`
+- Is mbot-motion-controller.service running?
+  - `mbot service status mbot-motion-controller.service`
+- Why did mbot-start-network.service failed?
+  - `mbot service log mbot-start-network.service`
+- I need to stop mbot-motion-controller.service for now
+  - `mbot service stop mbot-motion-controller.service`
+- I'm in development and want to disable mbot-motion-controller.service
+  - `mbot service disable mbot-motion-controller.service`
+- Did I stop mbot-slam.service? Was it still running?
+  - `mbot service status mbot-slam.service`
+  - `mbot service log mbot-slam.service`
+
+### Demo
+<iframe width="560" height="315" src="https://www.youtube.com/embed/KTV3hlaVQY4?si=uVJxBW5Q7-K6N-rk" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" referrerpolicy="strict-origin-when-cross-origin" allowfullscreen></iframe>
+
+## mbot-lcm-msg
+### Usage
+```
+mbot lcm-msg [-h] [--module MODULE] {show,list} ...
+
+positional arguments:
+  {show,list}      sub-command help
+    show           Output the message definition
+    list           List all available LCM messages
+
+options:
+  -h, --help       show this help message and exit
+  --module MODULE  Module to use for decoding messages
+```
+
+### When to use?
+When you are looking for the answers to:
+- What LCM message types are available?
+  - `mbot lcm-msg list`
+- What is pose3D_t? How about pose2D_t?
+  - `mbot lcm-msg show pose3D_t`
+  - `mbot lcm-msg show pose3D_t,pose2D_t` (this will print both pose3D_t and pose2D_t data structure)
+- I just added a new message type, is it installed?
+  - `mbot lcm-msg list`
+
+### Demo
+<iframe width="560" height="315" src="https://www.youtube.com/embed/zSHahiZNv_A?si=GBOBaFaTz3UKvp6r" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" referrerpolicy="strict-origin-when-cross-origin" allowfullscreen></iframe>