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Erick Assertion Handler #95

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256e183
init Xcode
LinnierGames Apr 21, 2016
5d345a6
import files into project
LinnierGames Apr 21, 2016
8468e90
noone
LinnierGames Apr 21, 2016
d228ccf
assertion prototype
LinnierGames Apr 26, 2016
3d99efa
Merge branch 'dev' into erick_assertion-handler
LinnierGames Apr 26, 2016
f44ae4c
fix : merges
LinnierGames Apr 26, 2016
f6392e4
Read and write to Memory
LinnierGames Apr 26, 2016
3a4dc75
remove xcode project files
Apr 26, 2016
f16d093
fix : typo
LinnierGames Apr 26, 2016
78db09a
Merge branch 'erick_assertion-memory' into erick_assertion-handler
LinnierGames Apr 26, 2016
d0c4dd4
Merge branch 'dev' into erick_assertion-handler
LinnierGames Jun 2, 2016
b40ca16
Removed micromouse-xcode Folder
LinnierGames Jun 2, 2016
8d96584
Extracting Codes
LinnierGames Jun 2, 2016
ab19948
Merge remote-tracking branch 'origin/erick_assertion-handler' into er…
LinnierGames Jun 2, 2016
ebb9dce
log() implementation for AssertionHandler
LinnierGames Jun 6, 2016
2e1c8ab
fix : use of log( .. )
LinnierGames Jun 6, 2016
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3 changes: 3 additions & 0 deletions MicroMouse-2016/MicroMouse-2016.xcodeproj/project.pbxproj
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Expand Up @@ -37,6 +37,7 @@
/* End PBXCopyFilesBuildPhase section */

/* Begin PBXFileReference section */
E119488C1D052D4B00D5794C /* AssertionHandler.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = AssertionHandler.h; path = ../../micromouse/AssertionHandler.h; sourceTree = "<group>"; };
E1D9B6F61CD7CB2900F1C492 /* MicroMouse-2016 */ = {isa = PBXFileReference; explicitFileType = "compiled.mach-o.executable"; includeInIndex = 0; path = "MicroMouse-2016"; sourceTree = BUILT_PRODUCTS_DIR; };
E1D9B7001CD7CB4800F1C492 /* Main.cpp */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; name = Main.cpp; path = ../../Main.cpp; sourceTree = "<group>"; };
E1D9B7031CD7CB7E00F1C492 /* ButtonFlag.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; name = ButtonFlag.h; path = ../../micromouse/ButtonFlag.h; sourceTree = "<group>"; };
Expand Down Expand Up @@ -113,6 +114,7 @@
isa = PBXGroup;
children = (
E1D9B7031CD7CB7E00F1C492 /* ButtonFlag.h */,
E119488C1D052D4B00D5794C /* AssertionHandler.h */,
E1D9B7041CD7CB7E00F1C492 /* callibration_temp */,
E1D9B7051CD7CB7E00F1C492 /* Controller.cpp */,
E1D9B7061CD7CB7E00F1C492 /* Controller.h */,
Expand Down Expand Up @@ -339,6 +341,7 @@
E1D9B6FF1CD7CB2900F1C492 /* Release */,
);
defaultConfigurationIsVisible = 0;
defaultConfigurationName = Release;
};
/* End XCConfigurationList section */
};
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55 changes: 55 additions & 0 deletions micromouse/AssertionHandler.h
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@@ -0,0 +1,55 @@
//
// AssertionHandler.h
// micromouse-xcode
//
// Created by Erick Sanchez on 4/20/16.
// Copyright © 2016 Erick Sanchez. All rights reserved.
//

#ifndef AssertionHandler_h
#define AssertionHandler_h

#include "Logger.h"
#include "Memory.h"
#include <assert.h>

#ifdef __MK20DX256__ // Teensy Compile

inline static void logError( int code ) {
//Read and increment to the next error state, as well as validate to loop back to 1 if incremented to 21
int intNextIndex = Micromouse::Memory::read(Micromouse::ERROR_MEMORY) +1;
intNextIndex = intNextIndex > 20 ? 1 : intNextIndex;

//Find next state address and save code as well as the most recent error state in ERROR_MEMORY
int intNextStateAddress = Micromouse::ERROR_MEMORY +intNextIndex * 4;
Micromouse::Memory::write( intNextStateAddress, code);
Micromouse::Memory::write( Micromouse::ERROR_MEMORY, intNextIndex);

}

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@blhough blhough Jun 3, 2016

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can you add a function here that dumps all the errors in memory to the serial port using log()

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@LinnierGames LinnierGames Jun 3, 2016

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Hmm, you mean read all the codes and output them to the serial port?

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@blhough blhough Jun 3, 2016

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yes

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@LinnierGames LinnierGames Jun 6, 2016

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I can't tell if i did it right :P

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@blhough blhough Jun 6, 2016

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Not quite, look at logger.h for proper use

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@LinnierGames LinnierGames Jun 6, 2016

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how about now???
plus i can't tell why i can't call to this inline method anywhere in the project :P

inline static void printErrorCodes() {
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@blhough blhough Jun 7, 2016

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Why does it need to be inline?

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@LinnierGames LinnierGames Jun 7, 2016

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hmmm, beats the hell out of me, i thought i had to, does it need to be static? i would say no huh

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@blhough blhough Jun 7, 2016

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no, it can just be a regular global function

for (int error = 0; error <= 11; error += 1) {
int address = Micromouse::ERROR_MEMORY;
log(INFO) << Micromouse::Memory::read((error * 4) +address);

}

}

//Prints to concole using Logger(..) << code and metadata of the assertion
#define assertion(condition,code) \
( \
(__builtin_expect(!(condition), 0) ? (void)(logError(code)) : (void)0) \
)

#else

//Prints to concole using the definition of assert(e) declared in assert.h
#define assertion(condition,code) \
( \
(__builtin_expect(!(condition), 0) ? __assert_rtn(__func__, __FILE__, __LINE__, #condition) : (void)0) \
)

#endif

#endif /* AssertionHandler_h */
8 changes: 4 additions & 4 deletions micromouse/IRSensor.cpp
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@@ -1,7 +1,7 @@
#include "IRSensor.h"
#include "Logger.h"
#include "RobotIO.h"
#include <assert.h>
#include "AssertionHandler.h"

#ifdef __MK20DX256__ // Teensy Compile
#include "WProgram.h"
Expand Down Expand Up @@ -33,12 +33,12 @@ namespace Micromouse {

bool IRSensor::calibrate( int calibrationStart, int calibrationInterval )
{
assert(calibrationStart >= MIN_RANGE);
assert(calibrationInterval > 0);
assertion(calibrationStart >= MIN_RANGE, 1);
assertion(calibrationInterval > 0, 2);
this->calibrationStart = calibrationStart;
this->calibrationInterval = calibrationInterval;
calibrationSize = ( MAX_RANGE - calibrationStart ) / calibrationInterval + 1;
assert(calibrationSize <= 17);
assertion(calibrationSize <= 17, 3);

delete[] calibrationData;
calibrationData = new int[calibrationSize];
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4 changes: 2 additions & 2 deletions micromouse/Maze.cpp
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Expand Up @@ -2,7 +2,7 @@
#include <algorithm>
#include <math.h>
#include "Maze.h"
#include <assert.h>
#include "AssertionHandler.h"

namespace Micromouse
{
Expand Down Expand Up @@ -137,7 +137,7 @@ namespace Micromouse
// adds a new node to the maze at the given position
void Maze::addNode( PositionVector pos )
{
assert(isInsideMaze(pos));
assertion(isInsideMaze(pos), 4);
maze[pos.x()][pos.y()] = new Node(pos);
}

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15 changes: 7 additions & 8 deletions micromouse/Memory.h
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Expand Up @@ -16,16 +16,15 @@ namespace Micromouse {
1: calibrationStart
2: calibrationInterval
3-19: CalibrationData[]
*/
const int IR_FRONT_LEFT_MEMORY = 100;//-119
const int IR_FRONT_RIGHT_MEMORY = 200;//-139
const int IR_LEFT_MEMORY = 300;//-159
const int IR_RIGHT_MEMORY = 400;//-179

*/
const int IR_FRONT_LEFT_MEMORY = 100;//to 199
const int IR_FRONT_RIGHT_MEMORY = 200;//to 299
const int IR_LEFT_MEMORY = 300;//to 399
const int IR_RIGHT_MEMORY = 400;//to 499

//180-511 unreserved

//512-2047 map
const int ERROR_MEMORY = 512; //to 599 carrying 20 error states at a time plus index slot at 512



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4 changes: 2 additions & 2 deletions micromouse/MouseBot.cpp
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Expand Up @@ -10,7 +10,7 @@ Author GitHub: joshuasrjc
#include "MouseBot.h"
#include "Logger.h"
#include "ButtonFlag.h"

#include "AssertionHandler.h"


namespace Micromouse
Expand Down Expand Up @@ -466,7 +466,7 @@ namespace Micromouse
void MouseBot::setSpeed( int spd )
{
speed = spd;
assert(speed > 0 && speed <= MAX_SPEED);
assertion(speed > 0 && speed <= MAX_SPEED, 5);
}


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4 changes: 2 additions & 2 deletions micromouse/PIDController.cpp
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Expand Up @@ -10,7 +10,7 @@ Author GitHub: joshuasrjc
\*********************************/

#include "PIDController.h"
#include <assert.h>
#include "AssertionHandler.h"
#include "Logger.h"

#ifdef __MK20DX256__ // Teensy compile
Expand All @@ -35,7 +35,7 @@ namespace Micromouse

float PIDController::getCorrection(float currentError)
{
assert(started);
assertion(started, 8);

float deltaTime = getDeltaTime();

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7 changes: 3 additions & 4 deletions micromouse/Path.cpp
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@@ -1,6 +1,5 @@
#include "Path.h"
#include <assert.h>

#include "AssertionHandler.h"



Expand All @@ -26,7 +25,7 @@ namespace Micromouse

DirectionVector Path::popStep()
{
assert( !path.empty() );
assertion(!path.empty(), 6);

DirectionVector step = path.top();
path.pop();
Expand All @@ -38,7 +37,7 @@ namespace Micromouse

DirectionVector Path::peekStep()
{
assert( !path.empty() );
assertion(!path.empty(), 7);

return path.top();
}
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6 changes: 3 additions & 3 deletions micromouse/RobotIO.cpp
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Expand Up @@ -4,7 +4,7 @@
#include "Logger.h"
#include "Timer.h"
#include "ButtonFlag.h"

#include "AssertionHandler.h"


#ifdef __MK20DX256__ // Teensy Compile
Expand Down Expand Up @@ -81,7 +81,7 @@ namespace Micromouse
bool RobotIO::isWallinDirection( direction dir )
{
// ensure valid data
assert( dir == W || dir == N || dir == E || dir == NW || dir == NE);
assertion(dir == W || dir == N || dir == E || dir == NW || dir == NE, 9);

switch( dir )
{
Expand All @@ -95,7 +95,7 @@ namespace Micromouse
{
int dist = (int)IRSensors[FRONT_LEFT]->getDistance();

return (dist < 120 && abs(dist - IRSensors[FRONT_RIGHT]->getDistance()) < 30);
return (dist < 120 && abs(dist - IRSensors[FRONT_RIGHT]->getDistance()) < 30);
}

default:
Expand Down
10 changes: 5 additions & 5 deletions micromouse/Vector.cpp
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@@ -1,5 +1,5 @@
#include "Vector.h"
#include <assert.h>
#include "AssertionHandler.h"

namespace Micromouse
{
Expand Down Expand Up @@ -201,9 +201,9 @@ namespace Micromouse

void DirectionVector::validateSelf()
{
assert( _dir != NONE );
assert( _mag >= 0 );

assert( _mag < NUM_NODES_W || _mag < NUM_NODES_H );
assertion(_dir != NONE, 10);
assertion(_mag >= 0, 11);
assertion(_mag < NUM_NODES_W || _mag < NUM_NODES_H, 12);
}
}
4 changes: 2 additions & 2 deletions micromouse/VirtualMaze.cpp
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Expand Up @@ -6,7 +6,7 @@ Author GitHub: joshuasrjc
\*********************************/

#include "VirtualMaze.h"
#include <assert.h>
#include "AssertionHandler.h"

#ifdef __MK20DX256__ // Teensy Compile
#include <Arduino.h>//random
Expand All @@ -23,7 +23,7 @@ namespace Micromouse
width(width),
height(height)
{
assert(width % 4 == 3 && height % 4 == 3);
assertion(width % 4 == 3 && height % 4 == 3, 13);
}


Expand Down