1  /********************************************************************
 2  * Description: tc_debug.h
 3  *
 4  *
 5  * Author: Robert W. Ellenberg
 6  * License: GPL Version 2
 7  * System: Linux
 8  *    
 9  * Copyright (c) 2013 All rights reserved.
10  *
11  * Last change:
12  ********************************************************************/
13  #ifndef TP_DEBUG_H
14  #define TP_DEBUG_H
15  
16  #include "rtapi.h"  /* printing functions */
17  
18  /** TP debug stuff */
19  #ifdef TP_DEBUG
20  //Kludge because I didn't know any better at the time
21  //FIXME replace these with better names?
22  #define tp_debug_print(...) rtapi_print(__VA_ARGS__)
23  #elif defined(UNIT_TEST)
24  #include <stdio.h>
25  #define tp_debug_print(...) printf(__VA_ARGS__)
26  #else
27  #define tp_debug_print(...)
28  #endif
29  
30  // Verbose but effective wrappers for building faux-JSON debug output for a function
31  #define tp_debug_json_double(varname_) tp_debug_print("%s: %g, ", #varname_, varname_)
32  #define tp_debug_json_start(fname_) tp_debug_print("%s: {", #fname_)
33  #define tp_debug_json_end() tp_debug_print("}\n")
34  
35  /** Use for profiling to make static function names visible */
36  #ifdef TP_PROFILE
37  #define STATIC
38  #else
39  #define STATIC static
40  #endif
41  
42  /** "TC" debug info for inspecting trajectory planner output at each timestep */
43  #ifdef TC_DEBUG
44  #define tc_debug_print(...) rtapi_print(__VA_ARGS__)
45  #else
46  #define tc_debug_print(...) 
47  #endif
48  
49  /** TP position data output to debug acceleration spikes */
50  #ifdef TP_POSEMATH_DEBUG
51  #define tp_posemath_debug(...) rtapi_print(__VA_ARGS__)
52  #else
53  #define tp_posemath_debug(...)
54  #endif
55  
56  /** TP misc data logging */
57  #ifdef TP_INFO_LOGGING
58  #define tp_info_print(...) rtapi_print(__VA_ARGS__)
59  #else
60  #define tp_info_print(...)
61  #endif
62  
63  int gdb_fake_catch(int condition);
64  int gdb_fake_assert(int condition);
65  #endif