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nqc-man-2.1r1-0.man
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.de Y
.ft CW
.in +4n
.nf
\&\\$1
.ft
.in
.fi
..
.TH nqc 1 "Version 2.1 r1: 19 Feb 2000"
.SH NAME
nqc - A simple C-like language for Lego's RCX programmable brick
.SH SYNOPSIS
.B nqc
.RI "[ " options " ] [ " actions " ] [ \fB\-\fR | " filename " ] [ " actions " ]"
.SH DESCRIPTION
NQC stands for Not Quite C, and is a simple language for programming
the LEGO RCX. The preprocessor and control structures of NQC are
very similar to C. NQC is not a general purpose language -- there are many
restrictions that stem from limitations of the standard RCX firmware.
.PP
This man page does not attempt to describe the NQC programming language or
the RCX API, merely the options of the nqc command-line program. References
to more complete documentation are given at the end of this man page.
.PP
nqc is normally used to process a single source file given as
\fIfilename\fP. You can also read from stdin by using \fB\-\fR
instead. If the filename ends in \fI.rcx\fR, it is assumed to be a RCX image
file from a previous compile, and will be used as is (for downloading or
listing).
.SH OPTIONS
.TP
.B \-1
use NQC 1.x compatibility mode. The RCX API changed significantly with
version 2.0. This flag makes the compiler grok old code.
.TP
\fB\-T\fItarget\fP
generate code and use communications methods for "smart
bricks" other than the RCX. Currently, can be either \fBCM\fR or
\fBScout\fR.
.TP
.B \-d
download program to the RCX. When this option is given, code is sent
directly over the serial port to the brick and no output file is generated
by default.
.TP
.B \-n
prevent the standard \fInqc.h\fR file from being automatically included.
.TP
\fB\-D\fR\fIsym\fR[=\fIvalue\fR]
define macro \fIsym\fR as \fIvalue\fR.
.TP
\fB\-E\fR[\fIfilename\fR]
write compiler errors to \fIfilename\fR (or to stdout, if no name specified)
instead of to stderr.
.TP
\fB\-I\fR\fIpath\fR
search \fIpath\fR for include files. Multiple directories should be
seperated as normal for the platform (under Linux / Unix, that'd be "\fB\:\fR").
Can also be set with the NQC_INCLUDE environment variable.
.TP
\fB\-L\fR[\fIfilename\fR]
generate a human-readable bytecode listing to \fIfilename\fR (or to stdout)
instead of generating a binary file.
.TP
\fB\-O\fR\fIoutfile\fR
output code to \fIoutfile\fR. This option causes a file to be written even
if \fB\-d\fR or \fB-L\fR is also given. If no filename is specified, the
output file will have the same basename as the input file but an
extension of \fI\.rcx\fR instead of \fI\.nqc\fR.
.TP
\fB\-S\fR\fIportname\fR
use serial port \fIportname\fR. Under Linux, \fI/dev/ttyS0\fR is the
default. (This will differ on other platforms.) The port can also be specified
via the RCX_PORT environment variable, but the command line option takes
precedence.
.TP
\fB\-U\fR\fIsym\fR
undefine macro \fIsym\fR.
.SH
ACTIONS
Actions look similar to options, but they have some subtle differences. In
general, options set up things (such as a serial port) for later use, while
actions cause something to happen. Actions are executed in the order that
they appear on the command line. In addition, actions appearing before the
source file happen before compilation, while actions after the source file
happen after compilation. For historical reasons, downloading the compiled
file (\fB\-d\fR) works as an option and not an action.
.TP
.B \-run
run the current program. This causes the program selected on the RCX to
execute.
.TP
\fB\-pgm\fR \fInumber\fR
select program number. This changes the program slot on the RCX.
.TP
.B \-datalog
get the datalog from the RCX and print it to stdout.
.TP
.B \-datalog\-full
same as \fB\-datalog\fR but with more verbose output.
.TP
.B \-near
set the IR port to short-range mode.
.TP
.B \-far
set the IR port to long-range mode.
.TP
\fB\-watch\fR \fItime\fR
set the RCX's clock to the specified time. If you use \fBnow\fR, then the host's
current time is used.
.TP
\fB\-firmware\fR \fIfilename\fR
downloads the firmware to the RCX. You'll need the official Lego RCX
firmware from the CD-ROM -- the current (and so far only) file is called
\fIfirm0309.lgo\fR. This will probably be necessary the first time you use
your RCX, and whenever it's been without batteries for more than a few
minutes.
.TP
\fB\-firmfast\fR \fIfilename\fR
same as \fB\-firmware\fR, but at quad speed. Requires the tower to be in
near mode (see \fB\-near\fR). If you have trouble getting the fast
download to work, please revert to the older (and slower) method.
.TP
\fB\-sleep\fR \fItimeout\fR
set RCX auto-shutoff timeout, in minutes.
.TP
\fB\-msg\fR \fInumber\fR
send IR message to RCX. The brick will respond to this just as it would a
communication from another RCX.
.TP
\fB\-raw\fR \fIdata\fR
send an arbitrary packet to the RCX and print the reply (if any) to stdout.
The data should be a hexadecimal string, with no spaces, zero-padded so that
it is an even number of characters (although it may be an odd number of
bytes). For example, to read the contents of variable 1, you could use
\fB\-raw 120001\fR. The bytecodes for raw messages can be found on web sites
that document the RCX protocol.
.TP
\fB\-remote\fR \fIvalue\fR \fIrepeat\fR
send a repeating remote command to the RCX.
.TP
.B \-clear
erase all programs and datalog from the RCX.
.SH "ENVIRONMENT VARIABLES"
.TP
RCX_PORT
sets the default serial port. See the \fB\-S\fR option.
.TP
NQC_OPTIONS
specifies extra options to be inserted into the command line. For example,
setting NQC_OPTIONS to \fB\-TScout\fR would cause nqc to target the Scout
by default.
.TP
NQC_INCLUDE
specifies additional paths to search for include files. See also the
\fB\-I\fR option.
.SH EXAMPLES
To compile \fIfoo.nqc\fR, download the bytecode to program slot three, and
make the RCX start executing it immediately:
.PP
.Y "nqc -d -pgm 3 foo.nqc -run"
.PP
To just compile \fIbar.nqc\fR, resulting in \fIbar.rcx\fR:
.PP
.Y "nqc bar.nqc"
.PP
To download \fIbar.rcx\fR to the RCX:
.PP
.Y "nqc -d bar.rcx"
.PP
To set the IR tower to short-range mode and download the firmware at high
speed:
.PP
.Y "nqc -near -firmfast firm0309.lgo"
.PP
To compile \fI/usr/doc/nqc-2.1.0/test.nqc\fR and print the resulting
bytecode listing to the screen in human-readable format:
.PP
.Y "nqc -L /usr/doc/nqc-2.1.0/test.nqc"
.PP
(This should result in the following output under nqc 2.1.0:
.PP
.Y "*** Task 0 = main"
.Y "000 pwr ABC, 7 13 07 02 07"
.Y "004 dir ABC, Fwd e1 87"
.Y "006 InType 0, Switch 32 00 01"
.Y "009 InMode 0, Boolean 42 00 20"
.Y "012 out A, On 21 81"
.Y "014 chkl 1 != Input(0), 14 95 82 09 01 00 00 fa ff"
.Y "022 plays 0 51 00"
.Y "024 out A, Off 21 41"
.PP
)
.SH FILES
Older versions of nqc required a seperate \fIrcx.nqh\fR or \fIrcx2.nqh\fR
file. This is now integrated into the binary and no longer necessary,
but for reference, \fIrcx2.nqh\fR is included with the package.
(If you installed the RPM, try \fI/usr/doc/nqc-2.1.0/rcx2.nqh\fR).
.SH SEE ALSO
.TP
.I http://www.enteract.com/~dbaum/nqc/
The main Not Quite C web site. You'll definitely want to look here.
Notably, you'll find the \fINQC Programmer's Guide\fR, which covers the NQC
language itself.
.TP
.I http://www.crynwr.com/lego-robotics/
A great site for alternative RCX / Mindstorms development.
.TP
.I http://graphics.stanford.edu/~kekoa/rcx/
Details on the internals of the RCX and the RCX protocol.
.TP
.I http://www.lugnet.com/robotics/rcx/nqc/
Discussion group for NQC. Also available via NNTP at \fIlugnet.com\fR.
.TP
.I http://nqc.mattdm.org/
Linux binaries and RPM-format packages for NQC, including source RPMs. Also
has an RPM containing the NQC language documentation from Dave's site, in
case you'd prefer to have it installed locally.
.SH BUGS
None known. But be aware that Scout support is still preliminary and may
change significantly.
.SH COPYRIGHT
nqc is Copyright (C) 1998-2000 David Baum and released under the terms of
the Mozilla Public License. See the documentation included with the program
for more details.
.SH AUTHOR
The Not Quite C programming language and the nqc program were written and
are maintained by Dave Baum. Various contributions have been made by other
people -- a full list of these can be found on Dave's web site.
.PP
This man page was written by Matthew Miller ([email protected]), with
extremely large amounts of borrowing from other NQC documentation.