#pragma once #include <stdio.h> #include <stdlib.h> #include <unistd.h> // debug fine-tuning #define DBG_ENABLE_PRINTFUNC (1) #define DBG_ENABLE_SIMWARN (1) #define DBG_ENABLE_SIMINFO (1) #define DBG_ENABLE_CYCLEINFO (0) // debug print options #define DBG_BYTES_PER_LINE 16 // debug colors #define COL_BLK "\e[0;30m" #define COL_RED "\e[0;31m" #define COL_GRN "\e[0;32m" #define COL_YEL "\e[0;33m" #define COL_BLU "\e[0;34m" #define COL_MAG "\e[0;35m" #define COL_CYN "\e[0;36m" #define COL_WHT "\e[0;37m" #define COL_RST "\e[0m" // debug stdout print macros #define simprintf(message, ...) printf(COL_RED "[SIM] " COL_RST message, ##__VA_ARGS__) #define simprint(message) simprintf(message "\n") #define simprintfunc(name, fmt, ...) if (DBG_ENABLE_PRINTFUNC) { simprintf(COL_BLU "[FUNC] " \ COL_CYN name COL_RST "(" COL_YEL fmt COL_RST ")\n", ##__VA_ARGS__); } #define simwarn(message, ...) if (DBG_ENABLE_SIMWARN) { simprintf(COL_YEL "[WARN] " COL_RST message, ##__VA_ARGS__); } #define siminfo(message, ...) if (DBG_ENABLE_SIMINFO) { simprintf(COL_MAG "[INFO] " COL_RST message, ##__VA_ARGS__); } /** * simulates pololu library functions for local testing * NOLINT is so clang-tidy doesn't correct function names */ void time_reset(); // NOLINT unsigned long get_ms(); // NOLINT void red_led(unsigned char on); // NOLINT void green_led(unsigned char on); // NOLINT void clear(); // NOLINT void play(const char* melody); // NOLINT void serial_set_baud_rate(unsigned int rate); // NOLINT void serial_send(char* message, unsigned int length); // NOLINT