Revamped debug interface

chef/Makefile

@@ -25,7 +25,7 @@ CFLAGS += -Wall -Wextra -pedantic -g -DDEBUG
 
 # Génération des fichiers éxecutables
 bin/%: obj/%.o
-	$(CC) $(LDFLAGS_CUSTOM) $^ -o $@
+	$(CXX) $(LDFLAGS_CUSTOM) $^ -o $@
 # On enlève les symboles inutiles pour gagner en temps de chargement de l'éxecutable
 ifeq ($(DEBUG),no)
 	strip $@
@@ -34,13 +34,14 @@ endif
 # RÈGLES DE COMPILATION
 
 # Règle éxecutée par défaut (quand on fait juste `make`)
-default: bin/testpin bin/premier bin/local
+default: bin/testpin bin/premier bin/local bin/testI2c bin/testLCD
 
 # Binaires (dont il faut spécifier les objets explicitement)
 bin/premier: obj/CF.o obj/movement.o obj/debug.o obj/position.o
 bin/testPin: obj/testPin.o
+bin/testI2c: obj/testI2c.o obj/i2c.o obj/srf08.o obj/lcd.o
 
-bin/local: obj/local.o obj/CF.o obj/position.o
+bin/local: obj/local.o obj/debug.o
 	$(CC) -lpthread $^ -o $@
 
 # Génération des fichiers objets

chef/src/debug.c

@@ -1,38 +1,64 @@
-#include "debug.h"
-#include <stdio.h>
-#include <unistd.h> // sleep
-#include <time.h>
-#include <unistd.h>
 #include <fcntl.h>
+#include <stdbool.h>
+#include <stdio.h>
+#include <stdlib.h>
 #include <string.h>
+#include <time.h>
+#include <unistd.h> // sleep
 
-#include "position.h"
+#include "debug.h"
 
+// Variables globales
+pthread_t tDebug;
+
+struct debugArg* listeDebugArgs = NULL;
+
+FILE* debugFd;
 
 void* TaskDebug(void* pdata)
 {
     (void)pdata;
+
+    clock_t debugStart;
+    debugStart = clock();
+
     struct timespec tim; // 100 ms
     tim.tv_sec = 0;
     tim.tv_nsec = 100000000L;
-    /* tim.tv_sec = 1; */
-    /* tim.tv_nsec = 0; */
 
-    char line[1024];
+    fprintf(debugFd, "\n");
-    clock_t t;
 
     for (;;) {
+        clock_t t = clock() - debugStart;
+        fprintf(debugFd, "%ld", t);
 
-        // Calculating time index
+        struct debugArg* arg = listeDebugArgs;
-        t = clock() - debugStart;
+        while (arg != NULL) {
+            switch (arg->type) {
+            case d:
+                fprintf(debugFd, ",%d", *((int*)arg->var));
+                break;
+            case ld:
+                fprintf(debugFd, ",%ld", *((long int*)arg->var));
+                break;
+            case f:
+                fprintf(debugFd, ",%f", *((float*)arg->var));
+                break;
+            case lf:
+                fprintf(debugFd, ",%f", *((double*)arg->var));
+                break;
+            case s:
+                fprintf(debugFd, ",%s", *((char**)arg->var));
+                break;
+            default:
+                fprintf(debugFd, ",?");
+                break;
+            }
 
-        // Generating line
+            arg = arg->next;
-        sprintf(line, "%ld,%d,%ld,%ld\n", t, nbCalcPos, lCodTot, rCodTot);
+        }
+        fprintf(debugFd, "\n");
 
-        // Writing
-        write(debugFd, line, strlen(line));
-
-        // Sleeping
         nanosleep(&tim, NULL);
     }
 
@@ -41,7 +67,6 @@ void* TaskDebug(void* pdata)
 
 void configureDebug()
 {
-    debugStart = clock();
 
     // Génération du nom de fichier
     char path[256];
@@ -50,20 +75,41 @@ void configureDebug()
     sprintf(path, "log/%ld.csv", startTime);
 
     // Open file
-    debugFd = open(path, O_WRONLY | O_APPEND | O_CREAT, S_IRUSR | S_IWUSR | S_IRGRP | S_IROTH);
+    debugFd = fopen(path, "w");
-    if (debugFd < 0) {
+    if (debugFd == NULL) {
-        fprintf(stderr, "Impossible d'ouvrir le fichier '%s', debug désactivé.\n", path);
+        perror("fopen debug file");
         return;
     }
 
-    char header[] = "time,nbCalcPos,lCodTot,rCodTot\n";
+    fprintf(debugFd, "time");
-    write(debugFd, header, strlen(header));
+}
 
+void registerDebugVar(char* name, enum debugArgTypes type, void* var)
+{
+    fprintf(debugFd, ",%s", name);
+
+    struct debugArg* arg = NULL;
+    struct debugArg** addrArg = &listeDebugArgs;
+    while (*addrArg != NULL) {
+        addrArg = &((*addrArg)->next);
+    }
+
+    arg = malloc(sizeof(struct debugArg));
+    arg->type = type;
+    arg->var = var;
+    arg->next = NULL;
+
+    *addrArg = arg;
+}
+
+void startDebug()
+{
     pthread_create(&tDebug, NULL, TaskDebug, NULL);
 }
 
 void deconfigureDebug()
 {
     pthread_cancel(tDebug);
-    close(debugFd);
+    fclose(debugFd);
+    // TODO Vider la liste des arguments
 }

chef/src/debug.h

@@ -4,13 +4,24 @@
 #include <pthread.h>
 #include <time.h>
 
-clock_t debugStart;
-int debugFd;
 
-pthread_t tDebug;
+// Structures
+enum debugArgTypes {d, f, ld, lf, s};
 
-void* TaskDebug(void *pdata);
+struct debugArg {
-void configureDebug();
+    enum debugArgTypes type;
+    void* var;
+    struct debugArg* next;
+};
+
+
+// Public
+void configureDebug(); // Avant tous les configure
+void registerDebugVar(char* name, enum debugArgTypes type, void* var);
+void startDebug(); // Après tous les configure
 void deconfigureDebug();
 
+// Private
+void* TaskDebug(void *pdata);
+
 #endif

chef/src/local.c

@@ -3,27 +3,34 @@
 #include <pthread.h>
 #include <unistd.h> // sleep
 
-#include "CF.h"
+#include "debug.h"
-#include "position.h"
 
-#define TEMPSMAX 10
+unsigned long int canard = 42;
+double banane = 63;
+char* artichaut = "Torticoli";
 
 int main()
 {
 
     printf("Démarrage...\n");
-    configureCF();
-    configurePosition();
     srand(time(NULL));
 
-    printf("C'est parti !\n");
+    configureDebug();
+    registerDebugVar("canard", ld, &canard);
+    registerDebugVar("banane", lf, &banane);
+    registerDebugVar("artichaut", s, &artichaut);
+    startDebug();
 
-    sleep(TEMPSMAX);
+    for (int i = 0; i < 2; i++) {
+        printf("21 %d\n", i);
+        canard += 3;
+        banane /= 2;
+        sleep(1);
+    }
 
-    printf("Fin des %d secondes\n", TEMPSMAX);
+    deconfigureDebug();
 
 
-    deconfigureCF();
     return EXIT_SUCCESS;
 }
 

chef/src/position.c

@@ -2,9 +2,22 @@
  * Fonctions de calcul de la position du robot
  */
 
-#include "position.h"
 #include <stdio.h>
 
+#include "debug.h"
+#include "position.h"
+
+// Globales
+struct position actuel;
+struct F2CI_CODERs deltaCoders;
+pthread_mutex_t posPolling;
+pthread_t tPosition;
+
+// Globales
+unsigned int nbCalcPos;
+long lCodTot, rCodTot;
+
+
 void* TaskPosition(void* pData)
 {
     (void)pData;
@@ -29,7 +42,6 @@ void* TaskPosition(void* pData)
         nbCalcPos++;
         lCodTot += deltaCoders.dL;
         rCodTot += deltaCoders.dR;
-
     }
 
     return NULL;
@@ -43,8 +55,11 @@ void onF2CI_CODER()
 
 void configurePosition()
 {
-    pthread_create(&tPosition, NULL, TaskPosition, NULL);
     registerRxHandler(F2CI_CODER, onF2CI_CODER);
+    registerDebugVar("lCodTot", ld, &lCodTot);
+    registerDebugVar("rCodTot", ld, &rCodTot);
+    registerDebugVar("nbCalcPos", d, &nbCalcPos);
+    pthread_create(&tPosition, NULL, TaskPosition, NULL);
 }
 
 void deconfigurePosition()

chef/src/position.h

@@ -9,23 +9,13 @@
 #include <pthread.h>
 
 
+// Structures
 struct __attribute__ ((packed)) position {
     float x;
     float y;
     float o;
 };
 
-struct position actuel;
-struct F2CI_CODERs deltaCoders;
-
-// Debug
-unsigned int nbCalcPos;
-long lCodTot, rCodTot;
-
-// 
-pthread_mutex_t posPolling;
-pthread_t tPosition;
-
 // Fonctions
 void configurePosition();
 void deconfigurePosition();

chef/src/premier.c

@@ -33,7 +33,7 @@ void* TaskParcours(void *pdata)
 #define RAMP_TIME 100
 #define MAX_VIT MOT_MAX_V
 
-    for (;;) {
+    /* for (;;) { */
         // ↗
         for (int i = 0; i < RAMP_TIME; i++) {
             float p = (float) i / (float) RAMP_TIME;
@@ -43,15 +43,15 @@ void* TaskParcours(void *pdata)
         changerMoteurs(MOT_MAX_V, MOT_MAX_V);
         // ↑
         sleep(2);
-        // ↘
+    /*     // ↘ */
-        for (int i = 0; i < RAMP_TIME; i++) {
+    /*     for (int i = 0; i < RAMP_TIME; i++) { */
-            float p = (float) i / (float) RAMP_TIME;
+    /*         float p = (float) i / (float) RAMP_TIME; */
-            p = 1 - p;
+    /*         p = 1 - p; */
-            changerMoteurs(p * MOT_MAX_V, p * MOT_MAX_V);
+    /*         changerMoteurs(p * MOT_MAX_V, p * MOT_MAX_V); */
-            nanosleep(&tim, NULL);
+    /*         nanosleep(&tim, NULL); */
-        }
+    /*     } */
-        sleep(5);
+    /*     sleep(5); */
-    }
+    /* } */
 
     printf("Fin du parcours\n");
     return NULL;
@@ -61,10 +61,11 @@ int main()
 {
 
     printf("Démarrage...\n");
-    configureCF();
     configureDebug();
+    configureCF();
     configureMovement();
     configurePosition();
+    startDebug();
     srand(time(NULL));
 
     /* printf("En attente de la tirette...\n"); // TODO */
@@ -78,12 +79,15 @@ int main()
     printf("Fin des %d secondes\n", TEMPSMAX);
     /* pthread_cancel(tParcours); */
 
+    for (;;) {
+
+    }
 
     /* stop(); */
 
     deconfigureMovement();
     deconfigurePosition();
-    deconfigureDebug();
     deconfigureCF();
+    deconfigureDebug();
     return EXIT_SUCCESS;
 }