pbio/debug: Add new module.

This will redirect debug output to usb and uart, when available.

Author: laurensvalk

bricks/_common/sources.mk

@@ -204,6 +204,7 @@ PBIO_SRC_C = $(addprefix lib/pbio/,\
 	src/color/util.c \
 	src/control_settings.c \
 	src/control.c \
+	src/debug.c \
 	src/dcmotor.c \
 	src/differentiator.c \
 	src/drivebase.c \

lib/pbio/drv/bluetooth/bluetooth.c

@@ -23,8 +23,8 @@
 #define DEBUG 0
 
 #if DEBUG
-#include <pbdrv/../../drv/uart/uart_debug_first_port.h>
-#define DEBUG_PRINT pbdrv_uart_debug_printf
+#include <pbio/debug.h>
+#define DEBUG_PRINT pbio_debug
 #else
 #define DEBUG_PRINT(...)
 #endif

lib/pbio/drv/uart/uart_debug_first_port.c

@@ -37,21 +37,18 @@ int pbdrv_uart_debug_next_char(void) {
 /**
  * Formats and stores a string in the UART debug ring buffer.
  *
- * This function works similarly to vprintf, but instead of printing to the
- * standard output. The formatted string will be written to the UART when the
+ * The formatted string will be written to the UART when the
  * buffer is processed.
  *
  * @param format The format string, similar to printf.
  * @param va_list The variable arguments, as a va_list.
  */
-void pbdrv_uart_debug_vprintf(const char *format, va_list args) {
+void pbdrv_uart_debug_print(const char *data, size_t len) {
     if (!lwrb_is_ready(&ring_buffer)) {
         lwrb_init(&ring_buffer, ring_buf_storage, sizeof(ring_buf_storage));
     }
 
-    char buf[256];
-    size_t len = vsnprintf(buf, sizeof(buf), format, args);
-    lwrb_write(&ring_buffer, (const uint8_t *)buf, len);
+    lwrb_write(&ring_buffer, (const uint8_t *)data, len);
 
     if (!debug_uart) {
         // Not initialized yet, so just buffer for now.
@@ -62,23 +59,6 @@ void pbdrv_uart_debug_vprintf(const char *format, va_list args) {
     pbio_os_request_poll();
 }
 
-/**
- * Formats and stores a string in the UART debug ring buffer.
- *
- * This function works similarly to printf, but instead of printing to the
- * standard output. The formatted string will be written to the UART when the
- * buffer is processed.
- *
- * @param format The format string, similar to printf.
- * @param ... The variable arguments, similar to printf.
- */
-void pbdrv_uart_debug_printf(const char *format, ...) {
-    va_list args;
-    va_start(args, format);
-    pbdrv_uart_debug_vprintf(format, args);
-    va_end(args);
-}
-
 /**
  * Gets a character from the UART debug port.
  *

lib/pbio/drv/uart/uart_debug_first_port.h

@@ -12,8 +12,7 @@
 
 #if PBDRV_CONFIG_UART_DEBUG_FIRST_PORT
 
-void pbdrv_uart_debug_printf(const char *format, ...);
-void pbdrv_uart_debug_vprintf(const char *format, va_list argptr);
+void pbdrv_uart_debug_print(const char *data, size_t len);
 
 bool pbdrv_uart_debug_is_done(void);
 
@@ -26,8 +25,7 @@ int pbdrv_uart_debug_next_char(void);
 
 #else // PBDRV_CONFIG_UART_DEBUG_FIRST_PORT
 
-#define pbdrv_uart_debug_printf(...)
-#define pbdrv_uart_debug_vprintf(format, argptr)
+#define pbdrv_uart_debug_print(data, len)
 
 #define pbdrv_uart_debug_is_done() (true)
 

lib/pbio/drv/usb/usb.c

@@ -108,32 +108,23 @@ bool pbdrv_usb_stdout_tx_is_idle(void) {
     return lwrb_get_full(&pbdrv_usb_stdout_ring_buf) == 0 && !pbdrv_usb_noti_size[PBIO_PYBRICKS_EVENT_WRITE_STDOUT];
 }
 
-void pbdrv_usb_debug_vprintf(const char *format, va_list args) {
+void pbdrv_usb_debug_print(const char *data, size_t len) {
+
     if (!lwrb_is_ready(&pbdrv_usb_stdout_ring_buf)) {
         return;
     }
 
-    char buf[256];
-    size_t len = vsnprintf(buf, sizeof(buf), format, args);
-
     // Buffer result with \r injected before \n.
     for (size_t i = 0; i < len; i++) {
-        if (buf[i] == '\n') {
+        if (data[i] == '\n') {
             lwrb_write(&pbdrv_usb_stdout_ring_buf, (const uint8_t *)"\r", 1);
         }
-        lwrb_write(&pbdrv_usb_stdout_ring_buf, (const uint8_t *)&buf[i], 1);
+        lwrb_write(&pbdrv_usb_stdout_ring_buf, (const uint8_t *)&data[i], 1);
     }
 
     pbio_os_request_poll();
 }
 
-void pbdrv_usb_debug_printf(const char *format, ...) {
-    va_list args;
-    va_start(args, format);
-    pbdrv_usb_debug_vprintf(format, args);
-    va_end(args);
-}
-
 pbio_error_t pbdrv_usb_send_event_notification(pbio_os_state_t *state, pbio_pybricks_event_t event_type, const uint8_t *data, size_t size) {
     PBIO_OS_ASYNC_BEGIN(state);
 

lib/pbio/include/pbdrv/usb.h

@@ -115,20 +115,12 @@ bool pbdrv_usb_connection_is_active(void);
 pbio_error_t pbdrv_usb_send_event_notification(pbio_os_state_t *state, pbio_pybricks_event_t event, const uint8_t *data, size_t size);
 
 /**
- * Formats and stores a string in the USB stdout ring buffer using a va_list.
+ * Stores a string in the USB stdout ring buffer.
  *
- * @param format    The format string, similar to printf.
- * @param args      The variable arguments, as a va_list.
+ * @param data      The string data.
+ * @param len       The length of the string data.
  */
-void pbdrv_usb_debug_vprintf(const char *format, va_list args);
-
-/**
- * Formats and stores a string in the USB stdout ring buffer.
- *
- * @param format    The format string, similar to printf.
- * @param ...       The variable arguments, similar to printf.
- */
-void pbdrv_usb_debug_printf(const char *format, ...);
+void pbdrv_usb_debug_print(const char *data, size_t len);
 
 #else // PBDRV_CONFIG_USB
 
@@ -162,10 +154,7 @@ static inline pbio_error_t pbdrv_usb_send_event_notification(pbio_os_state_t *st
     return PBIO_ERROR_NOT_SUPPORTED;
 }
 
-static inline void pbdrv_usb_debug_vprintf(const char *format, va_list args) {
-}
-
-static inline void pbdrv_usb_debug_printf(const char *format, ...) {
+static inline void pbdrv_usb_debug_print(const char *data, size_t len) {
 }
 
 #endif // PBDRV_CONFIG_USB

lib/pbio/include/pbio/debug.h

@@ -0,0 +1,16 @@
+// SPDX-License-Identifier: MIT
+// Copyright (c) 2025 The Pybricks Authors
+
+#ifndef _PBIO_DEBUG_H_
+#define _PBIO_DEBUG_H_
+
+#include <stdio.h>
+#include <stdarg.h>
+#include <stdint.h>
+#include <string.h>
+
+void pbio_debug_va(const char *format, va_list args);
+
+void pbio_debug(const char *format, ...);
+
+#endif // _PBIO_DEBUG_H_

lib/pbio/src/debug.c

@@ -0,0 +1,21 @@
+// SPDX-License-Identifier: MIT
+// Copyright (c) 2021-2025 The Pybricks Authors
+
+#include <pbdrv/usb.h>
+#include <pbdrv/../../drv/uart/uart_debug_first_port.h>
+
+#include <pbio/debug.h>
+
+void pbio_debug_va(const char *format, va_list args) {
+    char buf[256];
+    size_t len = vsnprintf(buf, sizeof(buf), format, args);
+    pbdrv_usb_debug_print(buf, len);
+    pbdrv_uart_debug_print(buf, len);
+}
+
+void pbio_debug(const char *format, ...) {
+    va_list args;
+    va_start(args, format);
+    pbio_debug_va(format, args);
+    va_end(args);
+}