Add: Add a bin to reset all joints

Author: coord-e

src/bin/CMakeLists.txt

@@ -16,7 +16,7 @@
 cmake_minimum_required(VERSION 2.7)
 
 sa_add_bin(servo_array INSTALL)
-
 sa_add_bin(servo_map INSTALL)
+sa_add_bin(reset INSTALL)
 
 sa_add_bin(bench)

src/bin/reset.cpp

@@ -0,0 +1,46 @@
+// This file is part of servoarray.
+//
+// servoarray is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// servoarray is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with servoarray.  If not, see <http://www.gnu.org/licenses/>.
+
+#include "servoarray/servoarray.h"
+
+#include <args.hxx>
+
+#include <iostream>
+#include <cstdint>
+
+int main(int argc, char **argv) {
+  args::ArgumentParser argparser("Reset all joints");
+  args::HelpFlag help(argparser, "help", "Print this help", {'h', "help"});
+  args::Positional<std::string> arg_driver(argparser, "driver", "Driver name");
+
+  try {
+    argparser.ParseCLI(argc, argv);
+  } catch (const args::Help&){
+    std::cout << argparser;
+    return 0;
+  } catch (const args::ParseError& e){
+    std::cerr << e.what() << std::endl;
+    std::cerr << argparser;
+    return -1;
+  }
+
+  const std::string driver {arg_driver ? args::get(arg_driver) : ""};
+
+  auto sa = ServoArray::ServoArray(driver);
+
+  for (std::size_t i = 0; i < sa.size(); i++) {
+    sa[i] = 0;
+  }
+}