remove verbose print from header

sw/airborne/modules/maze_runner/maze_runner.c

@@ -18,7 +18,7 @@
  * <http://www.gnu.org/licenses/>.
  */
 
-/** @file "modules/maze_runner/maze_runner.h"
+/** @file "modules/maze_runner/maze_runner.c"
  * @author Ryan Y. Liu <yueqianliu@outlook.com>
  * A module for AE4317 Autonomous Flight of Micro Air Vehicles at the TU Delft.
  * This module aims to provide a collision free navigation strategy for the Bebop in the Cyberzoo.
@@ -28,6 +28,13 @@
 #include "modules/maze_runner/maze_runner.h"
 #include "generated/flight_plan.h"
 
+#define PRINT(string, ...) fprintf(stderr, "[maze_runner->%s()] " string, __FUNCTION__, ##__VA_ARGS__)
+#if MAZE_RUNNER_VERBOSE
+#define VERBOSE_PRINT PRINT
+#else
+#define VERBOSE_PRINT(...)
+#endif
+
 float oa_color_count_frac = 0.18f;
 enum navigation_state_t navigation_state = SEARCH_FOR_SAFE_HEADING;
 int32_t color_count = 0;                     // orange color count from color filter for obstacle detection
@@ -57,7 +64,7 @@ void maze_runner_init(void)
 
 void maze_runner_loop(void)
 {
-  // freq = 5.0 Hz
+  // loop frequency set in the module xml
   // only evaluate our state machine if we are flying
   if (!autopilot_in_flight())
   {
@@ -67,7 +74,7 @@ void maze_runner_loop(void)
   // compute current color thresholds
   int32_t color_count_threshold = oa_color_count_frac * front_camera.output_size.w * front_camera.output_size.h;
 
-  VERBOSE_PRINT("Color_count: %d  threshold: %d state: %d \n", color_count, color_count_threshold, navigation_state);
+  // VERBOSE_PRINT("Color_count: %d  threshold: %d state: %d \n", color_count, color_count_threshold, navigation_state);
 
   // update our safe confidence using color threshold
   if (color_count < color_count_threshold)

sw/airborne/modules/maze_runner/maze_runner.h

@@ -41,12 +41,6 @@
 #ifndef MAZE_RUNNER_VISUAL_DETECTION_ID
 #define MAZE_RUNNER_VISUAL_DETECTION_ID ABI_BROADCAST
 #endif
-#define PRINT(string, ...) fprintf(stderr, "[maze_runner->%s()] " string, __FUNCTION__, ##__VA_ARGS__)
-#if MAZE_RUNNER_VERBOSE
-#define VERBOSE_PRINT PRINT
-#else
-#define VERBOSE_PRINT(...)
-#endif
 
 enum navigation_state_t
 {
@@ -57,6 +51,7 @@ enum navigation_state_t
 };
 
 extern float oa_color_count_frac;
+extern float heading_increment;
 
 extern void maze_runner_init(void);
 extern void maze_runner_loop(void);

sw/airborne/modules/maze_runner/maze_runner_helper.c

@@ -18,7 +18,7 @@
  * <http://www.gnu.org/licenses/>.
  */
 
-/** @file "modules/maze_runner/maze_runner.h"
+/** @file "modules/maze_runner/maze_runner_helper.c"
  * @author Ryan Y. Liu <yueqianliu@outlook.com>
  * A module for AE4317 Autonomous Flight of Micro Air Vehicles at the TU Delft.
  * This module aims to provide a collision free navigation strategy for the Bebop in the Cyberzoo.
@@ -27,6 +27,13 @@
 
 #include "modules/maze_runner/maze_runner.h"
 
+#define PRINT(string, ...) fprintf(stderr, "[maze_runner->%s()] " string, __FUNCTION__, ##__VA_ARGS__)
+#if MAZE_RUNNER_VERBOSE
+#define VERBOSE_PRINT PRINT
+#else
+#define VERBOSE_PRINT(...)
+#endif
+
 /*
  * Increases the NAV heading. Assumes heading is an INT32_ANGLE. It is bound in this function.
  */
@@ -41,7 +48,7 @@ uint8_t increase_nav_heading(float incrementDegrees)
   // for performance reasons the navigation variables are stored and processed in Binary Fixed-Point format
   nav_heading = ANGLE_BFP_OF_REAL(new_heading);
 
-  VERBOSE_PRINT("Increasing heading to %f\n", DegOfRad(new_heading));
+  // VERBOSE_PRINT("Increasing heading to %f\n", DegOfRad(new_heading));
   return false;
 }
 
@@ -66,9 +73,9 @@ uint8_t calculateForwards(struct EnuCoor_i *new_coor, float distanceMeters)
   // Now determine where to place the waypoint you want to go to
   new_coor->x = stateGetPositionEnu_i()->x + POS_BFP_OF_REAL(sinf(heading) * (distanceMeters));
   new_coor->y = stateGetPositionEnu_i()->y + POS_BFP_OF_REAL(cosf(heading) * (distanceMeters));
-  VERBOSE_PRINT("Calculated %f m forward position. x: %f  y: %f based on pos(%f, %f) and heading(%f)\n", distanceMeters,
-                POS_FLOAT_OF_BFP(new_coor->x), POS_FLOAT_OF_BFP(new_coor->y),
-                stateGetPositionEnu_f()->x, stateGetPositionEnu_f()->y, DegOfRad(heading));
+  // VERBOSE_PRINT("Calculated %f m forward position. x: %f  y: %f based on pos(%f, %f) and heading(%f)\n", distanceMeters,
+  //               POS_FLOAT_OF_BFP(new_coor->x), POS_FLOAT_OF_BFP(new_coor->y),
+  //               stateGetPositionEnu_f()->x, stateGetPositionEnu_f()->y, DegOfRad(heading));
   return false;
 }
 
@@ -77,8 +84,8 @@ uint8_t calculateForwards(struct EnuCoor_i *new_coor, float distanceMeters)
  */
 uint8_t moveWaypoint(uint8_t waypoint, struct EnuCoor_i *new_coor)
 {
-  VERBOSE_PRINT("Moving waypoint %d to x:%f y:%f\n", waypoint, POS_FLOAT_OF_BFP(new_coor->x),
-                POS_FLOAT_OF_BFP(new_coor->y));
+  // VERBOSE_PRINT("Moving waypoint %d to x:%f y:%f\n", waypoint, POS_FLOAT_OF_BFP(new_coor->x),
+  //               POS_FLOAT_OF_BFP(new_coor->y));
   waypoint_move_xy_i(waypoint, new_coor->x, new_coor->y);
   return false;
 }
@@ -88,17 +95,16 @@ uint8_t moveWaypoint(uint8_t waypoint, struct EnuCoor_i *new_coor)
  */
 uint8_t chooseRandomIncrementAvoidance(void)
 {
-  float heading_increment;
   // Randomly choose CW or CCW avoiding direction
   if (rand() % 2 == 0)
   {
     heading_increment = 5.f;
-    VERBOSE_PRINT("Set avoidance increment to: %f\n", heading_increment);
+    // VERBOSE_PRINT("Set avoidance increment to: %f\n", heading_increment);
   }
   else
   {
     heading_increment = -5.f;
-    VERBOSE_PRINT("Set avoidance increment to: %f\n", heading_increment);
+    // VERBOSE_PRINT("Set avoidance increment to: %f\n", heading_increment);
   }
   return false;
 }