AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2019  Thomas Schöpping et al.

This program 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.

This program 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 this program.  If not, see <http://www.gnu.org/licenses/>.

*/

/**

 * @file    aos_debug.h

 * @brief   Macros used for debugging.

 *

 * @addtogroup aos_debug

 * @{

 */

#ifndef _AMIROOS_DEBUG_H_

#define _AMIROOS_DEBUG_H_

#include <aosconf.h>

#include <ch.h>

#if (AMIROOS_CFG_DBG == true) || defined(__DOXYGEN__)

/**

 * @brief   Function parameters check.

 * @details If the condition check fails, the kernel panics and halts.

 *

 * @param[in] c The condition to be verified to be true.

 */

#define aosDbgCheck(c)                chDbgCheck(c)

/**

 * @brief   Condition assertion.

 * @details If the condition check fails, the kernel panics with a message and halts.

 * @note    As a limitation of ChibiOS, the remark string is not currently used.

 *

 * @param[in] c The condition to be verified to be true.

 */

#define aosDbgAssert(c)               chDbgAssert(c, "__FILE__(__LINE__): aosDbgAssert failed")

/**

 * @brief   Condition assertion.

 * @details If the condition check fails, the kernel panics with a message and halts.

 * @note    As a limitation of ChibiOS, the remark string is not currently used.

 *

 * @param[in] c The condition to be verified to be true.

 * @param[in] r A custom remark string.

 */

#define aosDbgAssertMsg(c, r) {                           \

  (void)r;                                                \

  chDbgAssert(c, r);                                      \

}

/**

 * @brief   Printf function for messages only printed in debug builds.

 *

 * @param[in] fmt   Formatted string to print.

 */

#define aosDbgPrintf(fmt, ...)           chprintf((BaseSequentialStream*)&aos.iostream, fmt, ##__VA_ARGS__)

#else /* (AMIROOS_CFG_DBG != true) */

#define aosDbgCheck(c) {                                  \

  (void)(c);                                              \

  }

#define aosDbgAssert(c) {                                 \

  (void)(c);                                              \

}

#define aosDbgAssertMsg(c, r) {                           \

  (void)(c);                                              \

  (void)(r);                                              \

}

#define aosDbgPrintf(fmt, ...) {                          \

  (void)(fmt);                                            \

}

#endif

#ifdef __cplusplus

extern "C" {

#endif

  void aosPrintHaltErrorCode(const char* reason);

#ifdef __cplusplus

}

#endif

#endif /* _AMIROOS_DEBUG_H_ */

/** @} */