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Big assert / debug clean up

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This commit is contained in:
Dario 2023-07-12 14:05:51 +01:00
parent 27350f71b8
commit 6da6666559
26 changed files with 108 additions and 218 deletions
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11
include/sta/config.hpp Normal file
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@ -0,0 +1,11 @@
#ifndef STA_CONFIG_HPP
#define STA_CONFIG_HPP
#include <sta/devices/raspi/mcu/common.hpp>
#define STA_DEBUGGING_ENABLED
#define STA_PRINTF_USE_STDLIB
#define STA_ASSERT_FORCE
#endif // STA_CONFIG_HPP

0
include/sta/assert.hpp → include/sta/debug/assert.hpp
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2
include/sta/debugging.hpp → include/sta/debug/debug.hpp
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@ -4,7 +4,7 @@
#include <sta/config.hpp>
#ifdef STA_DEBUGGING_ENABLED
#include <sta/printable.hpp>
#include <sta/debug/printing/printable.hpp>
namespace sta
{

0
include/sta/printable.hpp → include/sta/debug/printing/printable.hpp
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28
include/sta/debug/printing/printable_printf.hpp Normal file
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@ -0,0 +1,28 @@
#ifndef STA_CORE_PRINTABLE_PRINTF_HPP
#define STA_CORE_PRINTABLE_PRINTF_HPP
#include <sta/debug/printing/printable.hpp>
namespace sta
{
class PrintablePrintf : public Printable
{
public:
/**
* @brief Construct a new Printable Printf object
*/
PrintablePrintf();
/**
* @brief Print string.
*
* @param str String buffer
* @param length String length
*/
void print(const char * str, size_t length) override;
};
} // namespace sta
#endif // STA_CORE_PRINTABLE_PRINTF_HPP

2
include/sta/printable_uart.hpp → include/sta/debug/printing/printable_uart.hpp
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@ -6,7 +6,7 @@
#define STA_CORE_PRINTABLE_UART_HPP
#include <sta/bus/uart/uart.hpp>
#include <sta/printable.hpp>
#include <sta/debug/printing/printable.hpp>
#include <cstddef>
#include <cstdint>

49
include/sta/debug_printf.hpp
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@ -1,49 +0,0 @@
#ifndef STA_CORE_DEBUG_PRINTF_HPP
#define STA_CORE_DEBUG_PRINTF_HPP
#include <sta/config.hpp>
// Determine if module should be enabled
// Condition 1: STA_DEBUG_PRINTF is defined
// Condition 2:
// STA_DEBUG_PRINTF_FORCE is defined
// or
// DEBUG is defined but not NDEBUG
#ifdef STA_DEBUG_PRINTF
# ifdef STA_DEBUG_PRINTF_FORCE
# define STA_DEBUG_SERIAL_ENABLED
# else // !STA_DEBUG_PRINTF_FORCE
# if defined(DEBUG) && !defined(NDEBUG)
# define STA_DEBUG_PRINTF_ENABLED
# endif // DEBUG && !NDEBUG
# endif // !STA_DEBUG_PRINTF_FORCE
#endif // STA_DEBUG_PRINTF
#if defined(STA_DEBUG_PRINTF_ENABLED) || defined(DOXYGEN)
#include <sta/printable.hpp>
/**
* @brief Print debug output.
*
* @param ... See @ref sta::PrintableUART::print
*
* @ingroup sta_core_debug
*/
# define STA_DEBUG_PRINT(...) sta::print(__VA_ARGS__)
/**
* @brief Print debug output followed by new-line to UART.
*
* @param ... See @ref sta::PrintableUART::println
*
* @ingroup sta_core_debug
*/
# define STA_DEBUG_PRINTLN(...) sta::println(__VA_ARGS__)
#else // !STA_DEBUG_PRINTF_ENABLED
# define STA_DEBUG_PRINT(...) ((void)0)
# define STA_DEBUG_PRINTLN(...) ((void)0)
#endif // !STA_DEBUG_PRINTF_ENABLED
#endif // STA_CORE_DEBUG_PRINTF_HPP

79
include/sta/debug_serial.hpp
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@ -1,79 +0,0 @@
/**
* @file
* @brief Debug output via UART.
*
* Configuration:
* * STA_DEBUG_SERIAL_UART: UART interface for output
* * STA_DEBUG_SERIAL_FORCE: Ignore debug defines and always enable output
* * DEBUG: Enables output when defined
* * NDEBUG: Disables output when defined (overrides DEBUG)
*/
#ifndef STA_CORE_DEBUG_SERIAL_HPP
#define STA_CORE_DEBUG_SERIAL_HPP
#include <sta/config.hpp>
// Determine if module should be enabled
// Condition 1: STA_DEBUG_SERIAL_UART is defined
// Condition 2:
// STA_DEBUG_SERIAL_FORCE is defined
// or
// DEBUG is defined but not NDEBUG
#ifdef STA_DEBUG_SERIAL_UART
# ifdef STA_DEBUG_SERIAL_FORCE
# define STA_DEBUG_SERIAL_ENABLED
# else // !STA_DEBUG_SERIAL_FORCE
# if defined(DEBUG) && !defined(NDEBUG)
# define STA_DEBUG_SERIAL_ENABLED
# endif // DEBUG && !NDEBUG
# endif // !STA_DEBUG_SERIAL_FORCE
#endif // STA_DEBUG_SERIAL_UART
#if defined(STA_DEBUG_SERIAL_ENABLED) || defined(DOXYGEN)
#include <sta/printable_uart.hpp>
/**
* @defgroup sta_core_debug Debug Serial
* @ingroup sta_core
* @brief Debug serial output.
*/
namespace sta
{
/**
* @brief %UART print object for debug serial output.
*
* @ingroup sta_core_debug
*/
extern PrintableUART DebugSerial;
} // namespace sta
/**
* @brief Print debug output to UART.
*
* @param ... See @ref sta::PrintableUART::print
*
* @ingroup sta_core_debug
*/
# define STA_DEBUG_PRINT(...) sta::DebugSerial.print(__VA_ARGS__)
/**
* @brief Print debug output followed by new-line to UART.
*
* @param ... See @ref sta::PrintableUART::println
*
* @ingroup sta_core_debug
*/
# define STA_DEBUG_PRINTLN(...) sta::DebugSerial.println(__VA_ARGS__)
#else // !STA_DEBUG_SERIAL_ENABLED
# define STA_DEBUG_PRINT(...) ((void)0)
# define STA_DEBUG_PRINTLN(...) ((void)0)
#endif // !STA_DEBUG_SERIAL_ENABLED
#endif // STA_CORE_DEBUG_SERIAL_HPP

17
include/sta/devices/raspi/bus/i2c.hpp
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@ -12,16 +12,16 @@
namespace sta
{
enum class I2cNode {
enum class I2CNode {
DEV_1,
DEV_2
};
class RaspiI2c : public I2c
class RaspiI2C : public I2C
{
public:
RaspiI2c(I2cNode node, Mutex * mutex=nullptr, bool persistent_open=false);
~RaspiI2c();
RaspiI2C(I2CNode node, Mutex * mutex=nullptr, bool persistent_open=false);
~RaspiI2C();
void transfer(uint8_t value) override;
void transfer16(uint16_t value) override;
@ -29,11 +29,10 @@ namespace sta
void transfer(const uint8_t * txBuffer, uint8_t * rxBuffer, size_t size) override;
void receive(uint8_t * buffer, size_t size) override;
void fill(uint8_t value, size_t count) override;
void selectAddress(uint16_t address) override;
void acquire() override;
void release() override;
void fill(uint8_t value, size_t count) override;
private:
char * i2cdev_;
int i2cfd_;
@ -41,9 +40,9 @@ namespace sta
const bool persistent_open_;
};
class RaspiI2cDevice : public I2cDevice
class RaspiI2CDevice : public I2CDevice
{
RaspiI2cDevice(I2c * intf, uint16_t address_10bit, Mutex* mutex=nullptr, bool master=false, bool blocking=true);
RaspiI2CDevice(RaspiI2C * intf, uint16_t address_10bit, Mutex* mutex=nullptr, bool master=false, bool blocking=true);
};
} // namespace sta

2
src/bus/device.cpp
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@ -1,5 +1,5 @@
#include <sta/bus/device.hpp>
#include <sta/assert.hpp>
#include <sta/debug/assert.hpp>
namespace sta
{

2
src/bus/i2c/device.cpp
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@ -1,6 +1,6 @@
#include <sta/bus/i2c/device.hpp>
#include <sta/assert.hpp>
#include <sta/debug/assert.hpp>
namespace sta

2
src/bus/interface.cpp
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@ -1,6 +1,6 @@
#include <sta/bus/interface.hpp>
#include <sta/assert.hpp>
#include <sta/debug/assert.hpp>
namespace sta
{

2
src/bus/spi/device.cpp
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@ -1,6 +1,6 @@
#include <sta/bus/spi/device.hpp>
#include <sta/assert.hpp>
#include <sta/debug/assert.hpp>
namespace sta

2
src/bus/spi/settings.cpp
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@ -1,6 +1,6 @@
#include <sta/bus/spi/settings.hpp>
#include <sta/assert.hpp>
#include <sta/debug/assert.hpp>
#include <sta/lang.hpp>

2
src/can/iter.cpp
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@ -1,6 +1,6 @@
#include <sta/bus/can/iter.hpp>
#include <sta/assert.hpp>
#include <sta/debug/assert.hpp>
namespace sta

12
src/assert.cpp → src/debug/assert.cpp
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@ -1,22 +1,16 @@
#include <sta/assert.hpp>
#include <sta/debug/assert.hpp>
#ifdef STA_ASSERT_ENABLED
// TODO: This will probably destroy some stuff when working with stm32!
#ifdef STA_PRINTF_USE_STDLIB
# include <sta/debug_printf.hpp>
#else
# include <sta/debug_serial.hpp>
#endif
#include <sta/debug/debug.hpp>
#include <sta/lang.hpp>
#include <cstdio>
namespace sta
{
STA_WEAK
void assert_failed(const char * expr, const char * file, uint32_t line)
{
// printf("%s:%d: Assertion failed: %s", file, line, expr)
STA_DEBUG_PRINT(file);
STA_DEBUG_PRINT(':');
STA_DEBUG_PRINT(line);

4
src/printable.cpp → src/debug/printing/printable.cpp
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@ -1,10 +1,10 @@
#include <sta/printable.hpp>
#include <sta/debug/printing/printable.hpp>
#include <cinttypes>
#include <cstring>
#include <cstdio>
#include <sta/assert.hpp>
#include <sta/debug/assert.hpp>
#include <sta/lang.hpp>
namespace sta

20
src/debug/printing/printable_printf.cpp Normal file
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@ -0,0 +1,20 @@
#include <sta/debug/printing/printable_printf.hpp>
#include <sta/debug/assert.hpp>
#include <cstdio>
namespace sta
{
PrintablePrintf::PrintablePrintf()
{
}
void PrintablePrintf::print(const char * str, size_t length)
{
STA_ASSERT(str != nullptr);
STA_ASSERT(length > 0);
printf("%.*s", length, str);
}
} // namespace sta

4
src/printable_uart.cpp → src/debug/printing/printable_uart.cpp
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@ -1,6 +1,6 @@
#include <sta/printable_uart.hpp>
#include <sta/debug/printing/printable_uart.hpp>
#include <sta/assert.hpp>
#include <sta/debug/assert.hpp>
#include <sta/printf.hpp>
#include <cinttypes>

30
src/debug_serial.cpp
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@ -1,30 +0,0 @@
#include <sta/debug_serial.hpp>
#ifdef STA_DEBUG_SERIAL_ENABLED
#ifdef STA_PLATFORM_STM32
#include <sta/devices/stm32/bus/uart.hpp>
// #include <usart.h>
// Set platform UART alias
using PlatformUART = sta::STM32UART;
#endif // STA_PLATFORM_STM32
namespace
{
// Create platform specific serial interface
PlatformUART platformDebugSerial(&STA_DEBUG_SERIAL_UART);
}
namespace sta
{
// Create debug serial object using platform specific serial interface
PrintableUART DebugSerial(&platformDebugSerial);
} // namespace sta
#endif // STA_DEBUG_SERIAL_ENABLED

42
src/devices/raspi/bus/i2c.cpp
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@ -2,7 +2,7 @@
#ifdef STA_PLATFORM_RASPI
#include <sta/assert.hpp>
#include <sta/debug/assert.hpp>
#include <cstdlib>
#include <string.h>
@ -16,16 +16,16 @@
namespace sta
{
RaspiI2c::RaspiI2c(I2cNode node, Mutex * mutex, bool persistent_open)
: I2c{mutex}, persistent_open_{persistent_open}
RaspiI2C::RaspiI2C(I2CNode node, Mutex * mutex, bool persistent_open)
: I2C{mutex}, persistent_open_{persistent_open}
{
// Safer version of malloc + strcpy
i2cdev_ = strdup(node == I2cNode::DEV_1 ? "/dev/i2c-1" : "/dev/i2c-2");
i2cdev_ = strdup(node == I2CNode::DEV_1 ? "/dev/i2c-1" : "/dev/i2c-2");
STA_ASSERT(i2cdev_ != nullptr);
}
RaspiI2c::~RaspiI2c()
RaspiI2C::~RaspiI2C()
{
if (i2cdev_ != NULL ) {
free(i2cdev_);
@ -37,35 +37,35 @@ namespace sta
}
}
void RaspiI2c::transfer(uint8_t value)
void RaspiI2C::transfer(uint8_t value)
{
STA_ASSERT(open_);
write(i2cfd_, &value, 1);
}
void RaspiI2c::transfer16(uint16_t value)
void RaspiI2C::transfer16(uint16_t value)
{
STA_ASSERT(open_);
write(i2cfd_, &value, 2);
}
void RaspiI2c::transfer(const uint8_t * buffer, size_t size)
void RaspiI2C::transfer(const uint8_t * buffer, size_t size)
{
STA_ASSERT(open_);
write(i2cfd_, buffer, size);
}
void RaspiI2c::transfer(const uint8_t * txBuffer, uint8_t * rxBuffer, size_t size)
void RaspiI2C::transfer(const uint8_t * txBuffer, uint8_t * rxBuffer, size_t size)
{
STA_ASSERT(open_);
// TODO: Is this even possible in i2c?
}
void RaspiI2c::receive(uint8_t * buffer, size_t size)
void RaspiI2C::receive(uint8_t * buffer, size_t size)
{
STA_ASSERT(open_);
@ -75,7 +75,7 @@ namespace sta
}
}
void RaspiI2c::fill(uint8_t value, size_t count)
void RaspiI2C::fill(uint8_t value, size_t count)
{
STA_ASSERT(open_);
@ -88,17 +88,9 @@ namespace sta
delete [] buffer;
}
void RaspiI2c::selectAddress(uint16_t address)
void RaspiI2C::acquire()
{
if (ioctl(i2cfd_, I2C_SLAVE, address) < 0)
{
printf("Failed to send the slave address.");
}
}
void RaspiI2c::acquire()
{
I2c::acquire();
I2C::acquire();
if (open_) {
return;
@ -110,17 +102,17 @@ namespace sta
STA_ASSERT(i2cfd_ >= 0);
}
void RaspiI2c::release()
void RaspiI2C::release()
{
if (!persistent_open_ && open_) {
close(i2cfd_);
}
I2c::release();
I2C::release();
}
RaspiI2cDevice::RaspiI2cDevice(I2c * intf, uint16_t address_10bit, Mutex* mutex, bool master, bool blocking)
: I2cDevice { intf, address_10bit }
RaspiI2CDevice::RaspiI2CDevice(RaspiI2C * intf, uint16_t address_10bit, Mutex* mutex, bool master, bool blocking)
: I2CDevice { intf, address_10bit }
{
}

2
src/devices/raspi/bus/spi.cpp
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@ -4,7 +4,7 @@
#include <sta/devices/raspi/gpio_pin.hpp>
#include <sta/bus/spi/settings.hpp>
#include <sta/assert.hpp>
#include <sta/debug/assert.hpp>
#include <sta/endian.hpp>
#include <sta/lang.hpp>

2
src/devices/raspi/delay.cpp
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@ -3,7 +3,7 @@
#include <sta/devices/raspi/hal.hpp>
#include <sta/assert.hpp>
#include <sta/debug/assert.hpp>
#include <sta/lang.hpp>

2
src/devices/raspi/gpio_pin.cpp
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@ -1,7 +1,7 @@
#include <sta/devices/raspi/gpio_pin.hpp>
#ifdef STA_RASPI_GPIO_ENABLED
#include <sta/assert.hpp>
#include <sta/debug/assert.hpp>
#include <sta/lang.hpp>
namespace sta

6
src/devices/stm32/bus/i2c.cpp
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@ -1,8 +1,10 @@
#include <sta/devices/stm32/bus/i2c.hpp>
#include <sta/assert.hpp>
#include <sta/debug/assert.hpp>
#include <cstring>
#ifdef STA_PLATFORM_STM32
namespace sta
{
STM32I2C::STM32I2C(I2C_HandleTypeDef * handle, Mutex * mutex)
@ -126,3 +128,5 @@ namespace sta
}
} // namespace sta
#endif // STA_PLATFORM_STM32

2
src/devices/stm32/init.cpp
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@ -1,6 +1,6 @@
#include <sta/devices/stm32/init.hpp>
#include <sta/assert.hpp>
#include <sta/debug/assert.hpp>
#ifdef STA_STM32_DELAY_US_TIM