Added debug mode to libduck

libduck/libduck.c

@@ -13,25 +13,35 @@
 
 static int duckfd = 0;
 
+int duck_debug_mode = 0;
+
 void open_duck(const char *fname)
 {
-     duckfd = open(fname, O_NOCTTY | O_RDWR);
-     
-     if (duckfd == -1) {
-	  err(EXIT_FAILURE, "Failed to open '%s'", fname);
+     if (duck_debug_mode) {
+	  printf("Opening duck\n");
+     } else {
+	  duckfd = open(fname, O_NOCTTY | O_RDWR);
+	  
+	  if (duckfd == -1) {
+	       err(EXIT_FAILURE, "Failed to open '%s'", fname);
+	  }
      }
 }
 
 void configure_duck(void)
 {
-     struct termios tio;
-     if (tcgetattr(duckfd, &tio)) {
-	  err(EXIT_FAILURE, "tcgetattr failed");
-     }
-     cfsetospeed(&tio, DUCK_BAUD);
-
-     if (tcsetattr(duckfd, TCSANOW, &tio)) {
-	  err(EXIT_FAILURE, "tcsetattr failed");
+     if (duck_debug_mode) {
+	  printf("Configuring duck\n");
+     } else {
+	  struct termios tio;
+	  if (tcgetattr(duckfd, &tio)) {
+	       err(EXIT_FAILURE, "tcgetattr failed");
+	  }
+	  cfsetospeed(&tio, DUCK_BAUD);
+	  
+	  if (tcsetattr(duckfd, TCSANOW, &tio)) {
+	       err(EXIT_FAILURE, "tcsetattr failed");
+	  }
      }
 }
 
@@ -39,7 +49,11 @@ static int duck_printf(const char *fmt, ...)
 {
      va_list ap;
      va_start(ap, fmt);
-     return vdprintf(duckfd, fmt, ap) < 0;
+     if (duck_debug_mode) {
+	  return vprintf(fmt, ap);
+     } else {
+	  return vdprintf(duckfd, fmt, ap) < 0;
+     }
 }
 
 static int validate_motor(int motor)
@@ -47,10 +61,17 @@ static int validate_motor(int motor)
      return motor >= 1 && motor <= 3;
 }
 
+static int wrap_angle(int angle)
+{
+     while (angle > 180) angle -= 360;
+     while (angle < -180) angle += 360;
+     return angle;
+}
+
 int duck_set_position(int motor, int angle)
 {
      if (!validate_motor(motor)) return -1;
-     if (abs(angle) > 180) return -1;
+     angle = wrap_angle(angle);
      return duck_printf("s %d %d\n", motor, angle);
 }
 
@@ -68,5 +89,9 @@ int duck_set_velocity(int motor, int deg_per_sec)
 
 void close_duck(void)
 {
-     close(duckfd);
+     if (duck_debug_mode) {
+	  printf("Closing duck\n");
+     } else {
+	  close(duckfd);
+     }
 }

libduck/libduck.h

@@ -9,6 +9,8 @@
 # define DEFAULT_DUCK_FNAME "/dev/ttyUSB0"
 #endif /* DEFAULT_DUCK_FNAME */
 
+extern int duck_debug_mode;
+
 void open_duck(const char *fname);
 void configure_duck(void);
 int duck_set_position(int motor, int angle);

libduck/libduck_debug.c

-#include <stdio.h>
-#include <fcntl.h>
-#include <unistd.h>
-#include <err.h>
-#include <stdlib.h>
-#include <termios.h>
-#include <stdarg.h>
-#include "libduck.h"
-
-#ifndef DUCK_BAUD
-# define DUCK_BAUD B115200
-#endif /* DUCK_BAUD */
-
-static int duckfd = 0;
-
-void open_duck(const char *fname)
-{
-     duckfd = open(fname, O_NOCTTY | O_RDWR);
-     
-     if (duckfd == -1) {
-	  err(EXIT_FAILURE, "Failed to open '%s'", fname);
-     }
-}
-
-void configure_duck(void)
-{
-     struct termios tio;
-     if (tcgetattr(duckfd, &tio)) {
-	  err(EXIT_FAILURE, "tcgetattr failed");
-     }
-     cfsetospeed(&tio, DUCK_BAUD);
-
-     if (tcsetattr(duckfd, TCSANOW, &tio)) {
-	  err(EXIT_FAILURE, "tcsetattr failed");
-     }
-}
-
-static int duck_printf(const char *fmt, ...)
-{
-     va_list ap;
-     va_start(ap, fmt);
-     return vprintf(fmt, ap) < 0;
-}
-
-static int validate_motor(int motor)
-{
-     return motor >= 1 && motor <= 3;
-}
-
-int duck_set_position(int motor, int angle)
-{
-     if (!validate_motor(motor)) return -1;
-     if (abs(angle) > 180) return -1;
-     return duck_printf("s %d %d\n", motor, angle);
-}
-
-int duck_delay(int ms)
-{
-     return duck_printf("d %d\n", ms);
-}
-
-int duck_set_velocity(int motor, int deg_per_sec)
-{
-     if (!validate_motor(motor)) return -1;
-     if (abs(deg_per_sec) > 1000) return -1;
-     return duck_printf("v %d %d\n", motor, deg_per_sec);
-}
-
-void close_duck(void)
-{
-     close(duckfd);
-}