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amiro-os / core / inc / aos_debug.h @ 1678f270

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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019  Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program.  If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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 * @file    aos_debug.h
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 * @brief   Macros used for debugging.
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 *
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 * @addtogroup aos_debug
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 * @{
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 */
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#ifndef _AMIROOS_DEBUG_H_
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#define _AMIROOS_DEBUG_H_
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#include <aosconf.h>
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#include <ch.h>
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#if (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__)
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/**
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 * @brief   Function parameters check.
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 * @details If the condition check fails, the kernel panics and halts.
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 *
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 * @param[in] c The condition to be verified to be true.
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 */
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#define aosDbgCheck(c)                chDbgCheck(c)
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/**
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 * @brief   Condition assertion.
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 * @details If the condition check fails, the kernel panics with a message and halts.
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 * @note    As a limitation of ChibiOS, the remark string is not currently used.
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 *
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 * @param[in] c The condition to be verified to be true.
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 */
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#define aosDbgAssert(c)               chDbgAssert(c, "__FILE__(__LINE__): aosDbgAssert failed")
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/**
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 * @brief   Condition assertion.
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 * @details If the condition check fails, the kernel panics with a message and halts.
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 * @note    As a limitation of ChibiOS, the remark string is not currently used.
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 *
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 * @param[in] c The condition to be verified to be true.
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 * @param[in] r A custom remark string.
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 */
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#define aosDbgAssertMsg(c, r) {                           \
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  (void)r;                                                \
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  chDbgAssert(c, r);                                      \
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}
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/**
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 * @brief   Printf function for messages only printed in debug builds.
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 *
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 * @param[in] fmt   Formatted string to print.
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 */
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#define aosDbgPrintf(fmt, ...)           chprintf((BaseSequentialStream*)&aos.iostream, fmt, ##__VA_ARGS__)
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#else /* (AMIROOS_CFG_DBG != true) */
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#define aosDbgCheck(c) {                                  \
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  (void)(c);                                              \
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  }
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#define aosDbgAssert(c) {                                 \
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  (void)(c);                                              \
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}
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#define aosDbgAssertMsg(c, r) {                           \
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  (void)(c);                                              \
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  (void)(r);                                              \
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}
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#define aosDbgPrintf(fmt, ...) {                          \
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  (void)(fmt);                                            \
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}
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#endif
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#ifdef __cplusplus
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extern "C" {
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#endif
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  void aosPrintHaltErrorCode(const char* reason);
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#ifdef __cplusplus
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}
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#endif
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#endif /* _AMIROOS_DEBUG_H_ */
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/** @} */