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Tuesday, October 17, 2023

Command-line interface

From Wikipedia, the free encyclopedia
Screenshot of a sample Bash session in GNOME Terminal 3, Fedora 15
Screenshot of Windows PowerShell 1.0, running on Windows Vista

A command-line interface (CLI) is a means of interacting with a computer program by inputting lines of text called command-lines. Command-line interfaces emerged in the mid-1960s, on computer terminals, as a user-friendly alternative to punched cards.

Today, most users rely on graphical user interfaces ("GUIs") instead of CLIs. However, many programs and operating system utilities lack GUIs, and are intended to be used through CLIs.

Knowledge of CLIs is also useful for writing scripts. Programs that have CLIs are generally easy to automate via scripting, since command-lines, being mere lines of text, are easy to specify in code.

CLIs are made possible by command-line interpreters or command-line processors, which are programs that read command-lines and carry out the commands.

Alternative user interfaces

Alternatives to CLIs include GUIs (most notably desktop metaphors with a mouse pointer, such as Microsoft Windows), text-based user interface menus (such as DOS Shell and IBM AIX SMIT), and keyboard shortcuts.

Comparison to graphical user interfaces

A graphical user interface with icons and windows (GEM 1.1 Desktop)

Compared with a graphical user interface, a command-line interface requires fewer system resources to implement. Since options to commands are given in a few characters in each command line, an experienced user often finds the options easier to access. Automation of repetitive tasks is simplified by line editing and history mechanisms for storing frequently used sequences; this may extend to a scripting language that can take parameters and variable options. A command-line history can be kept, allowing review or repetition of commands.

A command-line system may require paper or online manuals for the user's reference, although often a "help" option provides a concise review of the options of a command. The command-line environment may not provide graphical enhancements such as different fonts or extended edit windows found in a GUI. It may be difficult for a new user to become familiar with all the commands and options available, compared with the icons and drop-down menus of a graphical user interface, without reference to manuals.

Types

Operating system command-line interfaces

Apple Computer's CommandShell in A/UX 3.0.1

Operating system (OS) command-line interfaces are usually distinct programs supplied with the operating system. A program that implements such a text interface is often called a command-line interpreter, command processor or shell.

Examples of command-line interpreters include DEC's DIGITAL Command Language (DCL) in OpenVMS and RSX-11, the various Unix shells (sh, ksh, csh, tcsh, zsh, Bash, etc.), CP/M's CCP, DOS' COMMAND.COM, as well as the OS/2 and the Windows CMD.EXE programs, the latter groups being based heavily on DEC's RSX-11 and RSTS CLIs. Under most operating systems, it is possible to replace the default shell program with alternatives; examples include 4DOS for DOS, 4OS2 for OS/2, and 4NT / Take Command for Windows.

Although the term 'shell' is often used to describe a command-line interpreter, strictly speaking, a 'shell' can be any program that constitutes the user-interface, including fully graphically oriented ones. For example, the default Windows GUI is a shell program named EXPLORER.EXE, as defined in the SHELL=EXPLORER.EXE line in the WIN.INI configuration file. These programs are shells, but not CLIs.

Application command-line interfaces

GNU Octave's GUI with command-line interface

Application programs (as opposed to operating systems) may also have command-line interfaces.

An application program may support none, any, or all of these three major types of command-line interface mechanisms:

  • Parameters: Most command-line interfaces support a means to pass additional information to a program when it is launched.
  • Interactive command-line sessions: After launch, a program may provide an operator with an independent means to enter commands.
  • Inter-process communication: Most operating systems support means of inter-process communication (for example, standard streams or named pipes). Command lines from client processes may be redirected to a CLI program by one of these methods.

Some applications support a CLI, presenting their own prompt to the user and accepting command lines. Other programs support both a CLI and a GUI. In some cases, a GUI is simply a wrapper around a separate CLI executable file. In other cases, a program may provide a CLI as an optional alternative to its GUI. CLIs and GUIs often support different functionality. For example, all features of MATLAB, a numerical analysis computer program, are available via the CLI, whereas the MATLAB GUI exposes only a subset of features.

In Colossal Cave Adventure from 1975, the user uses a CLI to enter one or two words to explore a cave system.

History

The command-line interface evolved from a form of communication conducted by people over teleprinter (TTY) machines. Sometimes these involved sending an order or a confirmation using telex. Early computer systems often used teleprinter as the means of interaction with an operator.

The mechanical teleprinter was replaced by a "glass tty", a keyboard and screen emulating the teleprinter. "Smart" terminals permitted additional functions, such as cursor movement over the entire screen, or local editing of data on the terminal for transmission to the computer. As the microcomputer revolution replaced the traditional – minicomputer + terminals – time sharing architecture, hardware terminals were replaced by terminal emulators — PC software that interpreted terminal signals sent through the PC's serial ports. These were typically used to interface an organization's new PC's with their existing mini- or mainframe computers, or to connect PC to PC. Some of these PCs were running Bulletin Board System software.

Early operating system CLIs were implemented as part of resident monitor programs, and could not easily be replaced. The first implementation of the shell as a replaceable component was part of the Multics time-sharing operating system. In 1964, MIT Computation Center staff member Louis Pouzin developed the RUNCOM tool for executing command scripts while allowing argument substitution. Pouzin coined the term "shell" to describe the technique of using commands like a programming language, and wrote a paper about how to implement the idea in the Multics operating system. Pouzin returned to his native France in 1965, and the first Multics shell was developed by Glenda Schroeder.

Bourne shell interaction on Version 7 Unix

The first Unix shell, the V6 shell, was developed by Ken Thompson in 1971 at Bell Labs and was modeled after Schroeder's Multics shell. The Bourne shell was introduced in 1977 as a replacement for the V6 shell. Although it is used as an interactive command interpreter, it was also intended as a scripting language and contains most of the features that are commonly considered to produce structured programs. The Bourne shell led to the development of the KornShell (ksh), Almquist shell (ash), and the popular Bourne-again shell (or Bash).

Early microcomputers themselves were based on a command-line interface such as CP/M, DOS or AppleSoft BASIC. During the 1980s and 1990s, the introduction of the Apple Macintosh and of Microsoft Windows on PCs saw the command line interface as the primary user interface replaced by the Graphical User Interface. The command line remained available as an alternative user interface, often used by system administrators and other advanced users for system administration, computer programming and batch processing.

In November 2006, Microsoft released version 1.0 of Windows PowerShell (formerly codenamed Monad), which combined features of traditional Unix shells with their proprietary object-oriented .NET Framework. MinGW and Cygwin are open-source packages for Windows that offer a Unix-like CLI. Microsoft provides MKS Inc.'s ksh implementation MKS Korn shell for Windows through their Services for UNIX add-on.

Since 2001, the Macintosh operating system macOS has been based on a Unix-like operating system called Darwin. On these computers, users can access a Unix-like command-line interface by running the terminal emulator program called Terminal, which is found in the Utilities sub-folder of the Applications folder, or by remotely logging into the machine using ssh. Z shell is the default shell for macOS; Bash, tcsh, and the KornShell are also provided. Before macOS Catalina, Bash was the default.

Usage

A CLI is used whenever a large vocabulary of commands or queries, coupled with a wide (or arbitrary) range of options, can be entered more rapidly as text than with a pure GUI. This is typically the case with operating system command shells. CLIs are also used by systems with insufficient resources to support a graphical user interface. Some computer language systems (such as Python, Forth, LISP, Rexx, and many dialects of BASIC) provide an interactive command-line mode to allow for rapid evaluation of code.

CLIs are often used by programmers and system administrators, in engineering and scientific environments, and by technically advanced personal computer users. CLIs are also popular among people with visual disabilities since the commands and responses can be displayed using refreshable Braille displays.

Anatomy of a shell CLI

The general pattern of a command line interface is:

Prompt command param1 param2 param3 … paramN
  • Prompt — generated by the program to provide context for the user.
  • Command — provided by the user. Commands are usually one of three classes:
    1. Internal commands are recognized and processed by the command line interpreter.
    2. Included commands run separate executables.
    3. External commands run executable files that may be included by other parties.
  • param1 …paramN — parameters provided by the user. The format and meaning of the parameters depends upon the command. In the case of Included or External commands, the values of the parameters are delivered to the program as it is launched by the OS. Parameters may be either Arguments or Options.

In this format, the delimiters between command-line elements are whitespace characters and the end-of-line delimiter is the newline delimiter. This is a widely used (but not universal) convention.

A CLI can generally be considered as consisting of syntax and semantics. The syntax is the grammar that all commands must follow. In the case of operating systems, DOS and Unix each define their own set of rules that all commands must follow. In the case of embedded systems, each vendor, such as Nortel, Juniper Networks or Cisco Systems, defines their own proprietary set of rules. These rules also dictate how a user navigates through the system of commands. The semantics define what sort of operations are possible, on what sort of data these operations can be performed, and how the grammar represents these operations and data—the symbolic meaning in the syntax.

Two different CLIs may agree on either syntax or semantics, but it is only when they agree on both that they can be considered sufficiently similar to allow users to use both CLIs without needing to learn anything, as well as to enable re-use of scripts.

A simple CLI will display a prompt, accept a "command line" typed by the user terminated by the Enter key, then execute the specified command and provide textual display of results or error messages. Advanced CLIs will validate, interpret and parameter-expand the command line before executing the specified command, and optionally capture or redirect its output.

Unlike a button or menu item in a GUI, a command line is typically self-documenting, stating exactly what the user wants done. In addition, command lines usually include many defaults that can be changed to customize the results. Useful command lines can be saved by assigning a character string or alias to represent the full command, or several commands can be grouped to perform a more complex sequence – for instance, compile the program, install it, and run it — creating a single entity, called a command procedure or script which itself can be treated as a command. These advantages mean that a user must figure out a complex command or series of commands only once, because they can be saved, to be used again.

The commands given to a CLI shell are often in one of the following forms:

  • doSomething how toFiles
  • doSomething how sourceFile destinationFile
  • doSomething how < inputFile > outputFile
  • doSomething how | doSomething how | doSomething how > outputFile

where doSomething is, in effect, a verb, how an adverb (for example, should the command be executed "verbosely" or "quietly") and toFiles an object or objects (typically one or more files) on which the command should act. The > in the third example is a redirection operator, telling the command-line interpreter to send the output of the command not to its own standard output (the screen) but to the named file. This will overwrite the file. Using >> will redirect the output and append it to the file. Another redirection operator is the vertical bar (|), which creates a pipeline where the output of one command becomes the input to the next command.

CLI and resource protection

One can modify the set of available commands by modifying which paths appear in the PATH environment variable. Under Unix, commands also need be marked as executable files. The directories in the path variable are searched in the order they are given. By re-ordering the path, one can run e.g. \OS2\MDOS\E.EXE instead of \OS2\E.EXE, when the default is the opposite. Renaming of the executables also works: people often rename their favourite editor to EDIT, for example.

The command line allows one to restrict available commands, such as access to advanced internal commands. The Windows CMD.EXE does this. Often, shareware programs will limit the range of commands, including printing a command 'your administrator has disabled running batch files' from the prompt.

Some CLIs, such as those in network routers, have a hierarchy of modes, with a different set of commands supported in each mode. The set of commands are grouped by association with security, system, interface, etc. In these systems the user might traverse through a series of sub-modes. For example, if the CLI had two modes called interface and system, the user might use the command interface to enter the interface mode. At this point, commands from the system mode may not be accessible until the user exits the interface mode and enters the system mode.

Command prompt

Prompt of a BBC Micro after switch-on or hard reset

A command prompt (or just prompt) is a sequence of (one or more) characters used in a command-line interface to indicate readiness to accept commands. It literally prompts the user to take action. A prompt usually ends with one of the characters $, %, #, :, > or - and often includes other information, such as the path of the current working directory and the hostname.

On many Unix and derivative systems, the prompt commonly ends in $ or % if the user is a normal user, but in # if the user is a superuser ("root" in Unix terminology).

End-users can often modify prompts. Depending on the environment, they may include colors, special characters, and other elements (like variables and functions for the current time, user, shell number or working directory) in order, for instance, to make the prompt more informative or visually pleasing, to distinguish sessions on various machines, or to indicate the current level of nesting of commands. On some systems, special tokens in the definition of the prompt can be used to cause external programs to be called by the command-line interpreter while displaying the prompt.

In DOS' COMMAND.COM and in Windows NT's cmd.exe users can modify the prompt by issuing a PROMPT command or by directly changing the value of the corresponding %PROMPT% environment variable. The default of most modern systems, the C:\> style is obtained, for instance, with PROMPT $P$G. The default of older DOS systems, C> is obtained by just PROMPT, although on some systems this produces the newer C:\> style, unless used on floppy drives A: or B:; on those systems PROMPT $N$G can be used to override the automatic default and explicitly switch to the older style.

Many Unix systems feature the $PS1 variable (Prompt String 1), although other variables also may affect the prompt (depending on the shell used). In the Bash shell, a prompt of the form:

[time] user@host: work_dir $

could be set by issuing the command

export PS1='[\t] \u@\H: \W $'

In zsh the $RPROMPT variable controls an optional "prompt" on the right-hand side of the display. It is not a real prompt in that the location of text entry does not change. It is used to display information on the same line as the prompt, but right-justified.

In RISC OS the command prompt is a * symbol, and thus (OS) CLI commands are often referred to as "star commands".[12] One can also access the same commands from other command lines (such as the BBC BASIC command line), by preceding the command with a *.

Arguments

An MS-DOS command line, illustrating parsing into command and arguments

A command-line argument or parameter is an item of information provided to a program when it is started. A program can have many command-line arguments that identify sources or destinations of information, or that alter the operation of the program.

When a command processor is active a program is typically invoked by typing its name followed by command-line arguments (if any). For example, in Unix and Unix-like environments, an example of a command-line argument is:

rm file.s

"file.s" is a command-line argument which tells the program rm to remove the file "file.s".

Some programming languages, such as C, C++ and Java, allow a program to interpret the command-line arguments by handling them as string parameters in the main function. Other languages, such as Python, expose operating system specific API (functionality) through sys module, and in particular sys.argv for "command-line arguments".

In Unix-like operating systems, a single hyphen used in place of a file name is a special value specifying that a program should handle data coming from the standard input or send data to the standard output.

Command-line option

A command-line option or simply option (also known as a flag or switch) modifies the operation of a command; the effect is determined by the command's program. Options follow the command name on the command line, separated by spaces. A space before the first option is not always required, such as Dir/? and DIR /? in DOS, which have the same effect of listing the DIR command's available options, whereas dir --help (in many versions of Unix) does require the option to be preceded by at least one space (and is case-sensitive).

The format of options varies widely between operating systems. In most cases the syntax is by convention rather than an operating system requirement; the entire command line is simply a string passed to a program, which can process it in any way the programmer wants, so long as the interpreter can tell where the command name ends and its arguments and options begin.

A few representative samples of command-line options, all relating to listing files in a directory, to illustrate some conventions:

Operating system Command Valid alternative Notes
OpenVMS directory/owner Dir /Owner instruct the directory command to also display the ownership of the files.
Note the Directory command name is not case sensitive, and can be abbreviated to as few letters as required to remain unique.
Windows DIR/Q/O:S d* dir /q d* /o:s display ownership of files whose names begin with "D", sorted by size, smallest first.
Note spaces around argument d* are required.
Unix-like systems ls -lS D* ls -S -l D* display in long format files and directories beginning with "D" (but not "d"), sorted by size (largest first).
Note spaces are required around all arguments and options, but some can be run together, e.g. -lS is the same as -l -S.
Data General RDOS CLI list/e/s 04-26-80/b List /S/E 4-26-80/B list every attribute for files created before 26 April 1980.
Note the /B at the end of the date argument is a local switch, that modifies the meaning of that argument, while /S and /E are global switches, i.e. apply to the whole command.
Abbreviating commands

In Multics, command-line options and subsystem keywords may be abbreviated. This idea appears to derive from the PL/I programming language, with its shortened keywords (e.g., STRG for STRINGRANGE and DCL for DECLARE). For example, in the Multics "forum" subsystem, the -long_subject parameter can be abbreviated -lgsj. It is also common for Multics commands to be abbreviated, typically corresponding to the initial letters of the words that are strung together with underscores to form command names, such as the use of did for delete_iacl_dir.

In some other systems abbreviations are automatic, such as permitting enough of the first characters of a command name to uniquely identify it (such as SU as an abbreviation for SUPERUSER) while others may have some specific abbreviations pre-programmed (e.g. MD for MKDIR in COMMAND.COM) or user-defined via batch scripts and aliases (e.g. alias md mkdir in tcsh).

Option conventions in DOS, Windows, OS/2

On DOS, OS/2 and Windows, different programs called from their COMMAND.COM or CMD.EXE (or internal their commands) may use different syntax within the same operating system. For example:

  • Options may be indicated by either of the "switch characters": /, -, or either may be allowed. See below.
  • They may or may not be case-sensitive.
  • Sometimes options and their arguments are run together, sometimes separated by whitespace, and sometimes by a character, typically : or =; thus Prog -fFilename, Prog -f Filename, Prog -f:Filename, Prog -f=Filename.
  • Some programs allow single-character options to be combined; others do not. The switch -fA may mean the same as -f -A, or it may be incorrect, or it may even be a valid but different parameter.

In DOS, OS/2 and Windows, the forward slash (/) is most prevalent, although the hyphen-minus is also sometimes used. In many versions of DOS (MS-DOS/PC DOS 2.xx and higher, all versions of DR-DOS since 5.0, as well as PTS-DOS, Embedded DOS, FreeDOS and RxDOS) the switch character (sometimes abbreviated switchar or switchchar) to be used is defined by a value returned from a system call (INT 21h/AX=3700h). The default character returned by this API is /, but can be changed to a hyphen-minus on the above-mentioned systems, except for under Datalight ROM-DOS and MS-DOS/PC DOS 5.0 and higher, which always return / from this call (unless one of many available TSRs to reenable the SwitChar feature is loaded). In some of these systems (MS-DOS/PC DOS 2.xx, DOS Plus 2.1, DR-DOS 7.02 and higher, PTS-DOS, Embedded DOS, FreeDOS and RxDOS), the setting can also be pre-configured by a SWITCHAR directive in CONFIG.SYS. General Software's Embedded DOS provides a SWITCH command for the same purpose, whereas 4DOS allows the setting to be changed via SETDOS /W:n. Under DR-DOS, if the setting has been changed from /, the first directory separator \ in the display of the PROMPT parameter $G will change to a forward slash / (which is also a valid directory separator in DOS, FlexOS, 4680 OS, 4690 OS, OS/2 and Windows) thereby serving as a visual clue to indicate the change. Also, the current setting is reflected also in the built-in help screens. Some versions of DR-DOS COMMAND.COM also support a PROMPT token $/ to display the current setting. COMMAND.COM since DR-DOS 7.02 also provides a pseudo-environment variable named %/% to allow portable batchjobs to be written. Several external DR-DOS commands additionally support an environment variable %SWITCHAR% to override the system setting.

However, many programs are hardwired to use / only, rather than retrieving the switch setting before parsing command-line arguments. A very small number, mainly ports from Unix-like systems, are programmed to accept "-" even if the switch character is not set to it (for example netstat and ping, supplied with Microsoft Windows, will accept the /? option to list available options, and yet the list will specify the "-" convention).

Option conventions in Unix-like systems

In Unix-like systems, the ASCII hyphen-minus begins options; the new (and GNU) convention is to use two hyphens then a word (e.g. --create) to identify the option's use while the old convention (and still available as an option for frequently-used options) is to use one hyphen then one letter (e.g., -c); if one hyphen is followed by two or more letters it may mean two options are being specified, or it may mean the second and subsequent letters are a parameter (such as filename or date) for the first option.

Two hyphen-minus characters without following letters (--) may indicate that the remaining arguments should not be treated as options, which is useful for example if a file name itself begins with a hyphen, or if further arguments are meant for an inner command (e.g., sudo). Double hyphen-minuses are also sometimes used to prefix "long options" where more descriptive option names are used. This is a common feature of GNU software. The getopt function and program, and the getopts command are usually used for parsing command-line options.

Unix command names, arguments and options are case-sensitive (except in a few examples, mainly where popular commands from other operating systems have been ported to Unix).

Option conventions in other systems

FlexOS, 4680 OS and 4690 OS use -.

CP/M typically used [.

Conversational Monitor System (CMS) uses a single left parenthesis to separate options at the end of the command from the other arguments. For example, in the following command the options indicate that the target file should be replaced if it exists, and the date and time of the source file should be retained on the copy: COPY source file a target file b (REPLACE OLDDATE)

Data General's CLI under their RDOS, AOS, etc. operating systems, as well as the version of CLI that came with their Business Basic, uses only / as the switch character, is case-insensitive, and allows "local switches" on some arguments to control the way they are interpreted, such as MAC/U LIB/S A B C $LPT/L has the global option "U" to the macro assembler command to append user symbols, but two local switches, one to specify LIB should be skipped on pass 2 and the other to direct listing to the printer, $LPT.

Built-in usage help

One of the criticisms of a CLI is the lack of cues to the user as to the available actions. In contrast, GUIs usually inform the user of available actions with menus, icons, or other visual cues. To overcome this limitation, many CLI programs display a usage message, typically when invoked with no arguments or one of ?, -?, -h, -H, /?, /h, /H, /Help, -help, or --help.

However, entering a program name without parameters in the hope that it will display usage help can be hazardous, as programs and scripts for which command line arguments are optional will execute without further notice.

Although desirable at least for the help parameter, programs may not support all option lead-in characters exemplified above. Under DOS, where the default command-line option character can be changed from / to -, programs may query the SwitChar API in order to determine the current setting. So, if a program is not hardwired to support them all, a user may need to know the current setting even to be able to reliably request help. If the SwitChar has been changed to - and therefore the / character is accepted as alternative path delimiter also at the DOS command line, programs may misinterpret options like /h or /H as paths rather than help parameters. However, if given as first or only parameter, most DOS programs will, by convention, accept it as request for help regardless of the current SwitChar setting.

In some cases, different levels of help can be selected for a program. Some programs supporting this allow to give a verbosity level as an optional argument to the help parameter (as in /H:1, /H:2, etc.) or they give just a short help on help parameters with question mark and a longer help screen for the other help options.

Depending on the program, additional or more specific help on accepted parameters is sometimes available by either providing the parameter in question as an argument to the help parameter or vice versa (as in /H:W or in /W:? (assuming /W would be another parameter supported by the program)).

In a similar fashion to the help parameter, but much less common, some programs provide additional information about themselves (like mode, status, version, author, license or contact information) when invoked with an "about" parameter like -!, /!, -about, or --about.

Since the ? and ! characters typically also serve other purposes at the command line, they may not be available in all scenarios, therefore, they should not be the only options to access the corresponding help information.

The end of the HELP command output from RT-11SJ displayed on a VT100

If more detailed help is necessary than provided by a program's built-in internal help, many systems support a dedicated external "help command" command (or similar), which accepts a command name as calling parameter and will invoke an external help system.

In the DR-DOS family, typing /? or /H at the COMMAND.COM prompt instead of a command itself will display a dynamically generated list of available internal commands; 4DOS and NDOS support the same feature by typing ? at the prompt (which is also accepted by newer versions of DR-DOS COMMAND.COM); internal commands can be individually disabled or reenabled via SETDOS /I. In addition to this, some newer versions of DR-DOS COMMAND.COM also accept a ?% command to display a list of available built-in pseudo-environment variables. Besides their purpose as quick help reference this can be used in batchjobs to query the facilities of the underlying command-line processor.

Command description syntax

Built-in usage help and man pages commonly employ a small syntax to describe the valid command form:

  • angle brackets for required parameters: ping <hostname>
  • square brackets for optional parameters: mkdir [-p] <dirname>
  • ellipses for repeated items: cp <source1> [source2…] <dest>
  • vertical bars for choice of items: netstat {-t|-u}

Notice that these characters have different meanings than when used directly in the shell. Angle brackets may be omitted when confusing the parameter name with a literal string is not likely.

The space character

In many areas of computing, but particularly in the command line, the space character can cause problems as it has two distinct and incompatible functions: as part of a command or parameter, or as a parameter or name separator. Ambiguity can be prevented either by prohibiting embedded spaces in file and directory names in the first place (for example, by substituting them with underscores _), or by enclosing a name with embedded spaces between quote characters or using an escape character before the space, usually a backslash (\). For example

Long path/Long program name Parameter one Parameter two

is ambiguous (is "program name" part of the program name, or two parameters?); however

Long_path/Long_program_name Parameter_one Parameter_two …,
LongPath/LongProgramName ParameterOne ParameterTwo …,
"Long path/Long program name" "Parameter one" "Parameter two"

and

Long\ path/Long\ program\ name Parameter\ one Parameter\ two

are not ambiguous. Unix-based operating systems minimize the use of embedded spaces to minimize the need for quotes. In Microsoft Windows, one often has to use quotes because embedded spaces (such as in directory names) are common.

Command-line interpreter

Although most users think of the shell as an interactive command interpreter, it is really a programming language in which each statement runs a command. Because it must satisfy both the interactive and programming aspects of command execution, it is a strange language, shaped as much by history as by design.

The term command-line interpreter (CLI) is applied to computer programs designed to interpret a sequence of lines of text which may be entered by a user, read from a file or another kind of data stream. The context of interpretation is usually one of a given operating system or programming language.

Command-line interpreters allow users to issue various commands in a very efficient (and often terse) way. This requires the user to know the names of the commands and their parameters, and the syntax of the language that is interpreted.

The Unix #! mechanism and OS/2 EXTPROC command facilitate the passing of batch files to external processors. One can use these mechanisms to write specific command processors for dedicated uses, and process external data files which reside in batch files.

Many graphical interfaces, such as the OS/2 Presentation Manager and early versions of Microsoft Windows use command-lines to call helper programs to open documents and programs. The commands are stored in the graphical shell or in files like the registry or the OS/2 OS2USER.INI file.

Early history

A Teletype Model 33 ASR teleprinter keyboard with punched tape reader and punch
DEC VT52 terminal

The earliest computers did not support interactive input/output devices, often relying on sense switches and lights to communicate with the computer operator. This was adequate for batch systems that ran one program at a time, often with the programmer acting as operator. This also had the advantage of low overhead, since lights and switches could be tested and set with one machine instruction. Later a single system console was added to allow the operator to communicate with the system.

From the 1960s onwards, user interaction with computers was primarily by means of command-line interfaces, initially on machines like the Teletype Model 33 ASR, but then on early CRT-based computer terminals such as the VT52.

All of these devices were purely text based, with no ability to display graphic or pictures. For business application programs, text-based menus were used, but for more general interaction the command line was the interface.

Around 1964 Louis Pouzin introduced the concept and the name shell in Multics, building on earlier, simpler facilities in the Compatible Time-Sharing System (CTSS).

From the early 1970s the Unix operating system adapted the concept of a powerful command-line environment, and introduced the ability to pipe the output of one command in as input to another. Unix also had the capability to save and re-run strings of commands as "shell scripts" which acted like custom commands.

The command-line was also the main interface for the early home computers such as the Commodore PET, Apple II and BBC Micro – almost always in the form of a BASIC interpreter. When more powerful business oriented microcomputers arrived with CP/M and later DOS computers such as the IBM PC, the command-line began to borrow some of the syntax and features of the Unix shells such as globbing and piping of output.

The command-line was first seriously challenged by the PARC GUI approach used in the 1983 Apple Lisa and the 1984 Apple Macintosh. A few computer users used GUIs such as GEOS and Windows 3.1 but the majority of IBM PC users did not replace their COMMAND.COM shell with a GUI until Windows 95 was released in 1995.

Modern usage as an operating system shell

While most non-expert computer users now use a GUI almost exclusively, more advanced users have access to powerful command-line environments:

  • The default VAX/VMS command shell, using the DCL language, has been ported to Windows systems at least three times, including PC-DCL and Acceler8 DCL Lite. Unix command shells have been ported to VMS and DOS/Windows 95 and Windows NT types of operating systems.
  • COMMAND.COM is the command-line interpreter of MS-DOS, IBM PC DOS, and clones such as DR-DOS, SISNE plus, PTS-DOS, ROM-DOS, and FreeDOS.
  • Windows Resource Kit and Windows Services for UNIX include Korn and the Bourne shells along with a Perl interpreter (Services for UNIX contains ActiveState ActivePerl in later versions and Interix for versions 1 and 2 and a shell compiled by Microsoft)
  • IBM OS/2 (and derivatives such as eComStation and ArcaOS) has the cmd.exe processor. This copies the COMMAND.COM commands, with extensions to REXX.
  • cmd.exe is part of the Windows NT stream of operating systems.
  • Yet another cmd.exe is a stripped-down shell for Windows CE 3.0.
  • An MS-DOS type interpreter called PocketDOS has been ported to Windows CE machines; the most recent release is almost identical to MS-DOS 6.22 and can also run Windows 1, 2, and 3.0, QBasic and other development tools, 4NT and 4DOS. The latest release includes several shells, namely MS-DOS 6.22, PC DOS 7, DR DOS 3.xx, and others.
  • Windows users might use the CScript interface to alternate programs, from command-line. PowerShell provides a command-line interface, but its applets are not written in Shell script. Implementations of the Unix shell are also available as part of the POSIX sub-system, Cygwin, MKS Toolkit, UWIN, Hamilton C shell and other software packages. Available shells for these interoperability tools include csh, ksh, sh, Bash, rsh, tclsh and less commonly zsh, psh
  • Implementations of PHP have a shell for interactive use called php-cli.
  • Standard Tcl/Tk has two interactive shells, Tclsh and Wish, the latter being the GUI version.
  • Python, Ruby, Lua, XLNT, and other interpreters also have command shells for interactive use.
  • FreeBSD uses tcsh as its default interactive shell for the superuser, and ash as default scripting shell.
  • Many Linux distributions have the Bash implementation of the Unix shell.
  • Apple macOS and some Linux distributions use zsh. Previously, macOS used tcsh and Bash.
  • Embedded Linux (and other embedded Unix-like) devices often use the Ash implementation of the Unix shell, as part of Busybox.
  • Android uses the mksh shell, which replaces a shell derived from ash that was used in older Android versions, supplemented with commands from the separate toolbox binary.
  • Routers with Cisco IOS, Junos and many others are commonly configured from the command line.
  • The Plan 9 operating system uses the rc shell which is similar in design to the Bourne shell.

Scripting

Most command-line interpreters support scripting, to various extents. (They are, after all, interpreters of an interpreted programming language, albeit in many cases the language is unique to the particular command-line interpreter.) They will interpret scripts (variously termed shell scripts or batch files) written in the language that they interpret. Some command-line interpreters also incorporate the interpreter engines of other languages, such as REXX, in addition to their own, allowing the executing of scripts, in those languages, directly within the command-line interpreter itself.

Conversely, scripting programming languages, in particular those with an eval function (such as REXX, Perl, Python, Ruby or Jython), can be used to implement command-line interpreters and filters. For a few operating systems, most notably DOS, such a command interpreter provides a more flexible command-line interface than the one supplied. In other cases, such a command interpreter can present a highly customised user interface employing the user interface and input/output facilities of the language.

Other command-line interfaces

The command line provides an interface between programs as well as the user. In this sense, a command line is an alternative to a dialog box. Editors and databases present a command line, in which alternate command processors might run. On the other hand, one might have options on the command line, which opens a dialog box. The latest version of 'Take Command' has this feature. DBase used a dialog box to construct command lines, which could be further edited before use.

Programs like BASIC, diskpart, Edlin, and QBASIC all provide command-line interfaces, some of which use the system shell. Basic is modeled on the default interface for 8-bit Intel computers. Calculators can be run as command-line or dialog interfaces.

Emacs provides a command-line interface in the form of its minibuffer. Commands and arguments can be entered using Emacs standard text editing support, and output is displayed in another buffer.

There are a number of text mode games, like Adventure or King's Quest 1-3, which relied on the user typing commands at the bottom of the screen. One controls the character by typing commands like 'get ring' or 'look'. The program returns a text which describes how the character sees it, or makes the action happen. The text adventure The Hitchhiker's Guide to the Galaxy, a piece of interactive fiction based on Douglas Adam's book of the same name, is a teletype-style command-line game.

The most notable of these interfaces is the standard streams interface, which allows the output of one command to be passed to the input of another. Text files can serve either purpose as well. This provides the interfaces of piping, filters and redirection. Under Unix, devices are files too, so the normal type of file for the shell used for stdin,stdout and stderr is a tty device file.

Another command-line interface allows a shell program to launch helper programs, either to launch documents or start a program. The command is processed internally by the shell, and then passed on to another program to launch the document. The graphical interface of Windows and OS/2 rely heavily on command-lines passed through to other programs – console or graphical, which then usually process the command line without presenting a user-console.

Programs like the OS/2 E editor and some other IBM editors, can process command-lines normally meant for the shell, the output being placed directly in the document window.

A web browser's URL input field can be used as a command line. It can be used to "launch" web apps, access browser configuration, as well as perform a search. Google, which has been called "the command line of the internet" will perform a domain-specific search when it detects search parameters in a known format. This functionality is present whether the search is triggered from a browser field or on Google's website.

There are JavaScript libraries that allow to write command line applications in browser as standalone Web apps or as part of bigger application. An example of such a website is the CLI interface to DuckDuckGo. There are also Web-based SSH applications, that allow to give access to server command line interface from a browser.

Many PC video games feature a command line interface often referred to as a console. It is typically used by the game developers during development and by mod developers for debugging purposes as well as for cheating or skipping parts of the game.

Opportunity (rover)

From Wikipedia, the free encyclopedia
Opportunity
An artist's portrayal of Opportunity operating on the surface of Mars.

Mission typeMars rover
OperatorNASA
COSPAR ID2003-032A Edit this at Wikidata
SATCAT no.27849Edit this on Wikidata
Websitemarsrovers.jpl.nasa.gov/mission/status.html#opportunity
Mission durationPlanned:
90 sols (92.5 Earth days)
Actual:
5,352 sols (8 Mars years),
5,498 days (15 Earth years)

Spacecraft properties
Spacecraft typeRover
Launch massTotal: 1,063 kg
  • Rover: 185 kg
  • Lander: 348 kg
  • Backshell and parachute: 209 kg
  • Heat shield: 78 kg
  • Cruise stage: 193 kg
  • Propellant: 50 kg

Start of mission
Launch dateJuly 8, 2003, 03:18 UTC; 20 years ago
RocketDelta II Heavy
Launch siteCape Canaveral SLC-17B
ContractorBoeing

End of mission
DeclaredFebruary 13, 2019
Last contactJune 10, 2018

Mars rover
Landing dateJanuary 25, 2004,
05:05 UTC SCET
MSD 46236 14:35 AMT
Landing site1.9462°S 354.4734°E
Eagle, Meridiani Planum
Distance driven45.16 km (28.06 mi)

The launch patch for Opportunity, featuring Duck Dodgers (Daffy Duck)

Opportunity, also known as MER-B (Mars Exploration Rover – B) or MER-1, is a robotic rover that was active on Mars from 2004 until 2018. Opportunity was operational on Mars for 5111 sols (14 years, 138 days on Earth). Launched on July 7, 2003, as part of NASA's Mars Exploration Rover program, it landed in Meridiani Planum on January 25, 2004, three weeks after its twin, Spirit (MER-A), touched down on the other side of the planet. With a planned 90-sol duration of activity (slightly less than 92.5 Earth days), Spirit functioned until it got stuck in 2009 and ceased communications in 2010, while Opportunity was able to stay operational for 5111 sols after landing, maintaining its power and key systems through continual recharging of its batteries using solar power, and hibernating during events such as dust storms to save power. This careful operation allowed Opportunity to operate for 57 times its designed lifespan, exceeding the initial plan by 14 years, 47 days (in Earth time). By June 10, 2018, when it last contacted NASA, the rover had traveled a distance of 45.16 kilometers (28.06 miles).

Mission highlights included the initial 90-sol mission, finding meteorites such as Heat Shield Rock (Meridiani Planum meteorite), and over two years of exploring and studying Victoria crater. The rover survived moderate dust storms and in 2011 reached Endeavour crater, which has been considered as a "second landing site." The Opportunity mission is considered one of NASA's most successful ventures.

Due to the planetary 2018 dust storm on Mars, Opportunity ceased communications on June 10 and entered hibernation on June 12, 2018. It was hoped it would reboot once the weather cleared, but it did not, suggesting either a catastrophic failure or that a layer of dust had covered its solar panels. NASA hoped to re-establish contact with the rover, citing a recurring windy period which was forecast for November 2018 to January 2019, that could potentially clean off its solar panels. On February 13, 2019, NASA officials declared that the Opportunity mission was complete, after the spacecraft had failed to respond to over 1,000 signals sent since August 2018.

Objectives

The scientific objectives of the Mars Exploration Rover mission were to:

  • Search for and characterize a variety of rocks and soils that hold clues to past water activity. In particular, samples sought include those that have minerals deposited by water-related processes such as precipitation, evaporation, sedimentary cementation, or hydrothermal activity.
  • Determine the distribution and composition of minerals, rocks, and soils surrounding the landing sites.
  • Determine what geologic processes have shaped the local terrain and influenced the chemistry. Such processes could include water or wind erosion, sedimentation, hydrothermal mechanisms, volcanism, and cratering.
  • Perform calibration and validation of surface observations made by Mars Reconnaissance Orbiter (MRO) instruments. This will help determine the accuracy and effectiveness of various instruments that survey Martian geology from orbit.
  • Search for iron-containing minerals, and to identify and quantify relative amounts of specific mineral types that contain water or were formed in water, such as iron-bearing carbonates.
  • Characterize the mineralogy and textures of rocks and soils to determine the processes that created them.
  • Search for geological clues to the environmental conditions that existed when liquid water was present.
  • Assess whether those environments were conducive to life.

Mission timeline

Animation of Opportunity trajectory from July 9, 2003, to January 25, 2004
   Sun ·    Earth ·    Mars ·    Opportunity

Opportunity and Spirit rovers were part of the Mars Exploration Rover program in the long-term Mars Exploration Program. The Mars Exploration Program's four principal goals were to determine if the potential for life exists on Mars (in particular, whether recoverable water may be found on Mars), to characterize the Mars climate and its geology, and then to prepare for a potential human mission to Mars. The Mars Exploration Rovers were to travel across the Martian surface and perform periodic geologic analyses to determine if water ever existed on Mars as well as the types of minerals available, as well as to corroborate data taken by the Mars Reconnaissance Orbiter (MRO). Both rovers were designed with an expected 90 sols (92 Earth days) lifetime, but each lasted much longer than expected. Spirit's mission lasted 20 times longer than its expected lifetime, and its mission was declared ended on May 25, 2011, after it got stuck in soft sand and expended its power reserves trying to free itself. Opportunity lasted 55 times longer than its 90 sol planned lifetime, operating for 5498 days from landing to mission end. An archive of weekly updates on the rover's status can be found at the Opportunity Update Archive.

Launch and landing

Delta II Heavy (7925H-9.5) lifting off from pad 17-B carrying MER-B in 2003 with Opportunity rover

Spirit and Opportunity were launched a month apart, on June 10 and July 8, 2003, and both reached the Martian surface by January 2004. Opportunity's launch was managed by NASA's Launch Services Program. This was the first launch of the Delta II Heavy. The launch period went from June 25 to July 15, 2003. The first launch attempt occurred on June 28, 2003, but the spacecraft launched nine days later on July 7, 2003, due to delays for range safety and winds, then later to replace items on the rocket (insulation and a battery). Each day had two instantaneous launch opportunities. On the day of launch, the launch was delayed to the second opportunity (11:18 p.m. EDT) in order to fix a valve.

Opportunity's landing site (denoted with a star)

On January 25, 2004 (GMT) (January 24, 2004, PST), the airbag-protected landing craft settled onto the surface of Mars in the Eagle crater.

From its initial landing into an impact crater amidst an otherwise generally flat plain, Opportunity successfully investigated regolith and rock samples and took panoramic photos of its landing site. Its sampling allowed NASA scientists to make hypotheses concerning the presence of hematite and past presence of water on the surface of Mars. Following this, it was directed to travel across the surface of Mars to investigate another crater site, Endurance crater, which it explored from June to December 2004. Subsequently, Opportunity examined the impact site of its own heat shield and discovered an intact meteorite, now known as Heat Shield Rock, on the surface of Mars.

Opportunity was directed to proceed in a southerly direction to Erebus crater, a large, shallow, partially buried crater and a stopover on the way south towards Victoria crater, between October 2005 and March 2006. It experienced some mechanical problems with its robotic arm.

In late September 2006, Opportunity reached Victoria crater and explored along the rim in a clockwise direction. In June 2007 it returned to Duck Bay, its original arrival point at Victoria crater; in September 2007 it entered the crater to begin a detailed study. In August 2008, Opportunity left Victoria crater for Endeavour crater, which it reached on August 9, 2011.

At the rim of the Endeavour crater, the rover moved around a geographic feature named Cape York. The Mars Reconnaissance Orbiter had detected phyllosilicates there, and the rover analyzed the rocks with its instruments to check this sighting on the ground. This structure was analyzed in depth until summer 2013. In May 2013 the rover was heading south to a hill named Solander Point.

Lifetime progress map with Washington, D.C. overlay for size and distance comparison

Opportunity's total odometry by June 10, 2018 (sol 5111), was 45.16 km (28.06 mi), while the dust factor was 10.8. Since January 2013, the solar array dust factor (one of the determinants of solar power production) varied from a relatively dusty 0.467 on December 5, 2013 (sol 3507), to a relatively clean 0.964 on May 13, 2014 (sol 3662).

In December 2014, NASA reported that Opportunity was suffering from "amnesia" events in which the rover failed to write data, e.g. telemetry information, to non-volatile memory. The hardware failure was believed to be due to an age-related fault in one of the rover's seven memory banks. As a result, NASA had aimed to force the rover's software to ignore the failed memory bank; amnesia events continued to occur, however, which eventually resulted in vehicle resets. In light of this, on Sol 4027 (May 23, 2015), the rover was configured to operate in RAM-only mode, completely avoiding the use of non-volatile memory for storage.

End of mission

Graph of atmospheric opacity and Opportunity's energy reserve
Opportunity's first self-portrait on Mars
(February 14–20, 2018 / sols 4998−5004)

In early June 2018, a large planetary-scale dust storm developed, and within a few days the rover's solar panels were not generating enough power to maintain communications, with the last contact on June 10, 2018. NASA stated that they did not expect to resume communication until after the storm subsided, but the rover kept silent even after the storm ended in early October, suggesting either a catastrophic failure or a layer of dust covering its solar panels. The team remained hopeful that a windy period between November 2018 and January 2019 might clear the dust from its solar panels, as had happened before. Wind was detected nearby on January 8, and on January 26 the mission team announced a plan to begin broadcasting a new set of commands to the rover in case its radio receiver failed.

On February 12, 2019, past and present members of the mission team gathered in the Jet Propulsion Laboratory (JPL)'s Space Flight Operations Facility to watch final commands being transmitted to Opportunity via the 70-meter (230-foot) dish of the Goldstone Deep Space Communications Complex in California. Following 25 minutes of transmission of the final 4 sets of commands, communication attempts with the rover were handed off to Canberra, Australia.

More than 835 recovery commands were transmitted since losing signal in June 2018 to the end of January 2019 with over 1000 recovery commands transmitted before February 13, 2019. NASA officials held a press conference on February 13 to declare an official end to the mission. NASA associate administrator Thomas Zurbuchen said, "It is therefore that I am standing here with a deep sense of appreciation and gratitude that I declare the Opportunity mission is complete." As NASA ended their attempts to contact the rover, the last data sent was the song "I'll Be Seeing You" performed by Billie Holiday. Assets that had been needed to support Opportunity were transitioned to support the Mars rovers Curiosity and Perseverance.

The final communication from the rover came on June 10, 2018 (sol 5111) from Perseverance Valley, and indicated a solar array energy production of 22 Watt-hours for the sol, and the highest atmospheric opacity (tau) ever measured on Mars: 10.8.

Design and construction

Annotated rover diagram
Pancam Mast Assembly (PMA)

Opportunity (and its twin, Spirit) are six-wheeled, solar-powered robots standing 1.5 meters (4.9 ft) high, 2.3 meters (7.5 ft) wide and 1.6 meters (5.2 ft) long and weighing 180 kilograms (400 lb). Six wheels on a rocker-bogie system enabled mobility over rough terrain. Each wheel had its own motor. The vehicle was steered at front and rear and was designed to operate safely at tilts of up to 30 degrees. The maximum speed was 5 centimeters per second (2.0 in/s); 0.18 kilometers per hour (0.11 mph), although the average speed was about 1 centimeter per second (0.39 in/s). Both Spirit and Opportunity have pieces of the fallen World Trade Center's metal on them that were "turned into shields to protect cables on the drilling mechanisms".

Solar arrays generated about 140 watts for up to fourteen hours per sol, while rechargeable lithium ion batteries stored energy for use at night. Opportunity's onboard computer uses a 20 MHz RAD6000 CPU with 128 MB of DRAM, 3 MB of DRAM and 3 MB of EEPROM. The rover's operating temperature ranges from −40 to +40 °C (−40 to 104 °F) and radioisotope heaters provide a base level of heating, assisted by electrical heaters when necessary.

Communications depended on an omnidirectional low-gain antenna communicating at a low data rate and a steerable high-gain antenna, both in direct contact with Earth. A low-gain antenna was also used to relay data to spacecraft orbiting Mars.

Science payload

The science instruments included:

The rover arm held the following instruments:

  • Mössbauer spectrometer (MB) MIMOS II – used for close-up investigations of the mineralogy of iron-bearing rocks and soils.
  • Alpha particle X-ray spectrometer (APXS) – close-up analysis of the abundances of elements that make up rocks and soils.
  • Magnets – for collecting magnetic dust particles.
  • Microscopic Imager (MI) – obtained close-up, high-resolution images of rocks and soils.
  • Rock Abrasion Tool (RAT) – exposed fresh material for examination by instruments on board.

Opportunity was 'driven' by several operators throughout its mission, including JPL roboticist Vandi Verma.

Power

The rover uses a combination of solar cells and a rechargeable chemical battery. This class of rover has two rechargeable lithium batteries, each composed of 8 cells with 8 amp-hour capacity. At the start of the mission the solar panels could provide up to around 900 watt-hours (Wh) to recharge the battery and power system in one Sol, but this could vary due to a variety of factors. In Eagle crater the cells were producing about 840 Wh, but by Sol 319 in December 2004, it had dropped to 730 Wh.

Like Earth, Mars has seasonal variations that reduce sunlight during winter. However, since the Martian year is longer than that of the Earth, the seasons fully rotate roughly once every 2 Earth years. By 2016, MER-B had endured seven Martian winters, during which times power levels drop which can mean the rover avoids doing activities that use a lot of power. During its first winter power levels dropped to under 300 Wh per day for two months, but some later winters were not as bad.

Another factor that can reduce received power is dust in the atmosphere, especially dust storms. Dust storms have occurred quite frequently when Mars is closest to the Sun. Global dust storms in 2007 reduced power levels for Opportunity and Spirit so much they could only run for a few minutes each day. Due to the 2018 dust storms on Mars, Opportunity entered hibernation mode on June 12, but it remained silent after the storm subsided in early October.

Scientific findings

Heat Shield Rock turned out to be the first meteorite discovered on Mars.

Opportunity has provided substantial evidence in support of the mission's primary scientific goals: to search for and characterize a wide range of rocks and regolith that hold clues to past water activity on Mars. In addition to investigating the water, Opportunity has also obtained astronomical observations and atmospheric data.

Legacy and honors

Following its launch, Opportunity was anthropomorphized by its operators: the rover was called a "she," drawing from nautical tradition, and given an affectionate nickname, "Oppy." One scientist, who worked with Opportunity for over a decade, attributed this to the rover's unexpectedly long lifespan, which he called a story of "an underdog beating the odds," and its "familiar, almost biologically inspired shape." The media attention surrounding Opportunity's shutdown spread this usage to the general public.

With word on February 12, 2019, that NASA was likely to conclude the Opportunity mission, many media outlets and commentators issued statements praising the mission's success and stating their goodbyes to the rover. One journalist, Jacob Margolis, tweeted his translation of the last data transmission sent by Opportunity on June 10, 2018, as "My battery is low and it's getting dark." The phrase struck a chord with the public, inspiring a period of mourning, artwork, and tributes to the memory of Opportunity.

When the quote became widely reported, some news reports mistakenly asserted that the rover sent that exact message in English, resulting in NASA being inundated with additional questions. Margolis wrote a clarifying article on February 16, making it clear he had taken statements from NASA officials who were interpreting the data sent by Opportunity, both on the state of its low power and Mars's high atmospheric opacity, and rephrased them in a poetic manner, never to imply the rover had sent the specific words.

Honoring Opportunity's great contribution to the exploration of Mars, an asteroid was named Opportunity: 39382 Opportunity. The name was proposed by Ingrid van Houten-Groeneveld who, along with Cornelis Johannes van Houten and Tom Gehrels, discovered the asteroid on September 24, 1960. Opportunity's lander is Challenger Memorial Station.

On March 24, 2015, NASA celebrated Opportunity having traveled the distance of a marathon race, 42.195 km (26.219 mi). The rover covered the distance in 11 years and 2 months. The JPL technicians celebrated the occasion by running a race.

Documentary film, Good Night Oppy, about the Opportunity, Spirit, and their long missions, was directed by Ryan White, and included support from JPL and Industrial Light & Magic. It was released in 2022.

Images

The rover could take pictures with its different cameras, but only the PanCam camera had the ability to photograph a scene with different color filters. The panorama views are usually built up from PanCam images. By February 3, 2018, Opportunity had returned 224,642 pictures.

A selection of panoramas from the mission:

Panorama of Fram crater (Sol 88, April 23, 2004)
 
Final panorama image taken by Opportunity between May and June 2018 prior to being disabled by the dust storms.
 
Panorama of the Opportunity rover team by "Dusty" – a testing replica of the rover on Earth (September 6, 2018).

Lie point symmetry

From Wikipedia, the free encyclopedia https://en.wikipedia.org/wiki/Lie_point_symmetry     ...