Add shared debug macros to strip Serial prints in ROS builds

- Add firmware/shared/debug/debug.h with DEBUG_PRINT/DEBUG_PRINTLN macros that compile to no-ops under ROS
- Replace Serial.print/println calls with debug macros across sensor and motor firmware
- Add shared lib_extra_dirs to both platformio.ini configs
- Update CI workflows to build debug environments and trigger on firmware/shared changes

Author: rossnoah

.github/workflows/motor_microcontroller_CI.yml

@@ -7,11 +7,13 @@ on:
       - "**"
     paths:
       - "firmware/motor_microcontroller/**"
+      - "firmware/shared/**"
   pull_request:
     branches:
       - "**"
     paths:
       - "firmware/motor_microcontroller/**"
+      - "firmware/shared/**"
 
 jobs:
   build:
@@ -42,7 +44,7 @@ jobs:
           mkdir -p firmware/motor_microcontroller/extra_packages
           cp -r src/autogiro_interfaces firmware/motor_microcontroller/extra_packages/
       - name: Build PlatformIO Project
-        run: pio run -e pico -e ROS
+        run: pio run -e pico -e ROS -e ROS-debug
         working-directory: firmware/motor_microcontroller
       - name: Upload firmware
         uses: actions/upload-artifact@v4

.github/workflows/sensor_microcontroller_CI.yml

@@ -7,11 +7,13 @@ on:
       - "**"
     paths:
       - "firmware/sensor_microcontroller/**"
+      - "firmware/shared/**"
   pull_request:
     branches:
       - "**"
     paths:
       - "firmware/sensor_microcontroller/**"
+      - "firmware/shared/**"
 
 jobs:
   build:
@@ -42,7 +44,7 @@ jobs:
           mkdir -p firmware/sensor_microcontroller/extra_packages
           cp -r src/autogiro_interfaces firmware/sensor_microcontroller/extra_packages/
       - name: Build PlatformIO Project
-        run: pio run -e regular -e ROS
+        run: pio run -e regular -e debug -e ROS -e ROS-Debug
         working-directory: firmware/sensor_microcontroller
       - name: Upload firmware
         uses: actions/upload-artifact@v4

firmware/motor_microcontroller/platformio.ini

@@ -8,6 +8,9 @@
 ; Please visit documentation for the other options and examples
 ; https://docs.platformio.org/page/projectconf.html
 
+[env]
+lib_extra_dirs = ../shared
+
 [env:pico]
 platform = raspberrypi
 board = pico

firmware/motor_microcontroller/src/main.cpp

@@ -11,6 +11,7 @@ It will also read the speed of the motor and send it to the onboard computer.
 #include "RefSpeed.h"
 #include "BatteryFunctions.h"
 #include "globals.h"
+#include "debug.h"
 
 #if defined(ROS) || defined(ROS_DEBUG)
 #include <micro_ros_platformio.h>
@@ -85,12 +86,12 @@ void setup()
     // initiate the DACs
     while (!dacA.begin(0x62))
     {
-        Serial.println("DAC A not found");
+        DEBUG_PRINTLN("DAC A not found");
         delay(500);
     }
     while (!dacB.begin(0x63))
     {
-        Serial.println("DAC B not found");
+        DEBUG_PRINTLN("DAC B not found");
         delay(500);
     }
     // pinMode(dacClockPin,OUTPUT); // set the pins to be used as output

firmware/sensor_microcontroller/platformio.ini

@@ -8,6 +8,9 @@
 ; Please visit documentation for the other options and examples
 ; https://docs.platformio.org/page/projectconf.html
 
+[env]
+lib_extra_dirs = ../shared
+
 [env:regular]
 platform = raspberrypi
 board = pico

firmware/sensor_microcontroller/src/ADCFunctions.cpp

@@ -5,6 +5,7 @@
 #include "ADCFunctions.h"
 #include <Wire.h>
 #include <Adafruit_ADS1X15.h>
+#include "debug.h"
 
 
 /**
@@ -17,13 +18,13 @@
 
     //Initialize ADC
     while(!adc.begin(i2c_addr)){ // Initialize ads1115 at address 0x49
-        Serial.println("Failed to find ADS1115 chip at address " + String(i2c_addr, HEX));
+        DEBUG_PRINTLN("Failed to find ADS1115 chip at address " + String(i2c_addr, HEX));
         if (adc_count > 10) {
             return true;
         }
         adc_count++;
     }
-    Serial.println("ADS1115 Found!");
+    DEBUG_PRINTLN("ADS1115 Found!");
     adc.setGain(GAIN_ONE); //Setting the gain to +/- 4.096V  1 bit = 2mV for more precise readings
      return false;
 }
@@ -41,9 +42,9 @@ void printADC(Adafruit_ADS1115 &adc){
     adc1 = adc.readADC_SingleEnded(1);
     adc2 = adc.readADC_SingleEnded(2);
     adc3 = adc.readADC_SingleEnded(3);
-    Serial.print("AIN0: "); Serial.println(adc0);
-    Serial.print("AIN1: "); Serial.println(adc1);
-    Serial.print("AIN2: "); Serial.println(adc2);
-    Serial.print("AIN3: "); Serial.println(adc3);
-    Serial.println();
+    DEBUG_PRINT("AIN0: "); DEBUG_PRINTLN(adc0);
+    DEBUG_PRINT("AIN1: "); DEBUG_PRINTLN(adc1);
+    DEBUG_PRINT("AIN2: "); DEBUG_PRINTLN(adc2);
+    DEBUG_PRINT("AIN3: "); DEBUG_PRINTLN(adc3);
+    DEBUG_PRINTLN();
 }

firmware/sensor_microcontroller/src/FingerprintFunctions.cpp

@@ -6,6 +6,7 @@
 #include "FingerprintFunctions.h"
 #include <Arduino.h>
 #include <Adafruit_Fingerprint.h>
+#include "debug.h"
 
 #if (defined(__AVR__) || defined(ESP8266)) && !defined(__AVR_ATmega2560__)
 // pin #2 is IN from sensor (GREEN wire)
@@ -26,106 +27,108 @@ uint8_t getFingerprintID() {
   uint8_t p = finger.getImage();
   switch (p) {
     case FINGERPRINT_OK:
-      Serial.println("Image taken");
+      DEBUG_PRINTLN("Image taken");
       break;
     case FINGERPRINT_NOFINGER:
-      Serial.println("No finger detected");
+      DEBUG_PRINTLN("No finger detected");
       return p;
     case FINGERPRINT_PACKETRECIEVEERR:
-      Serial.println("Communication error");
+      DEBUG_PRINTLN("Communication error");
       return p;
     case FINGERPRINT_IMAGEFAIL:
-      Serial.println("Imaging error");
+      DEBUG_PRINTLN("Imaging error");
       return p;
     default:
-      Serial.println("Unknown error");
+      DEBUG_PRINTLN("Unknown error");
       return p;
   }
   // OK success!
   p = finger.image2Tz();
   switch (p) {
     case FINGERPRINT_OK:
-      Serial.println("Image converted");
+      DEBUG_PRINTLN("Image converted");
       break;
     case FINGERPRINT_IMAGEMESS:
-      Serial.println("Image too messy");
+      DEBUG_PRINTLN("Image too messy");
       return p;
     case FINGERPRINT_PACKETRECIEVEERR:
-      Serial.println("Communication error");
+      DEBUG_PRINTLN("Communication error");
       return p;
     case FINGERPRINT_FEATUREFAIL:
-      Serial.println("Could not find fingerprint features");
+      DEBUG_PRINTLN("Could not find fingerprint features");
       return p;
     case FINGERPRINT_INVALIDIMAGE:
-      Serial.println("Could not find fingerprint features");
+      DEBUG_PRINTLN("Could not find fingerprint features");
       return p;
     default:
-      Serial.println("Unknown error");
+      DEBUG_PRINTLN("Unknown error");
       return p;
   }
   // OK converted!
   p = finger.fingerSearch();
   if (p == FINGERPRINT_OK) {
-    Serial.println("Found a print match!");
+    DEBUG_PRINTLN("Found a print match!");
   } else if (p == FINGERPRINT_PACKETRECIEVEERR) {
-    Serial.println("Communication error");
+    DEBUG_PRINTLN("Communication error");
     return p;
   } else if (p == FINGERPRINT_NOTFOUND) {
-    Serial.println("Did not find a match");
+    DEBUG_PRINTLN("Did not find a match");
     return p;
   } else {
-    Serial.println("Unknown error");
+    DEBUG_PRINTLN("Unknown error");
     return p;
   }
 
   // found a match!
-  Serial.print("Found ID #"); Serial.print(finger.fingerID);
-  Serial.print(" with confidence of "); Serial.println(finger.confidence);
+  DEBUG_PRINT("Found ID #"); DEBUG_PRINT(finger.fingerID);
+  DEBUG_PRINT(" with confidence of "); DEBUG_PRINTLN(finger.confidence);
 
   return finger.fingerID;
 }
 
 bool setupFingerprint()
 {
+#if !defined(ROS) && !defined(ROS_DEBUG)
   while (!Serial);  // For Yun/Leo/Micro/Zero/...
+#endif
   delay(100);
-  Serial.println("\n\nAdafruit finger detect test");
+  DEBUG_PRINTLN("\n\nAdafruit finger detect test");
 
   // set the data rate for the sensor serial port
   finger.begin(57600);
   delay(5);
   if (finger.verifyPassword()) {
-    Serial.println("Found fingerprint sensor!");
+    DEBUG_PRINTLN("Found fingerprint sensor!");
   } else {
     int init_count = 0;
-    Serial.println("Did not find fingerprint sensor :(");
+    DEBUG_PRINTLN("Did not find fingerprint sensor :(");
     while (!finger.verifyPassword()) {
-      Serial.println(init_count);
+      DEBUG_PRINTLN(init_count);
       if (init_count > 10) {
         return true;
       }
       init_count++;
     }
   }
 
-  Serial.println(F("Reading sensor parameters"));
+  DEBUG_PRINTLN(F("Reading sensor parameters"));
   finger.getParameters();
-  Serial.print(F("Status: 0x")); Serial.println(finger.status_reg, HEX);
-  Serial.print(F("Sys ID: 0x")); Serial.println(finger.system_id, HEX);
-  Serial.print(F("Capacity: ")); Serial.println(finger.capacity);
-  Serial.print(F("Security level: ")); Serial.println(finger.security_level);
-  Serial.print(F("Device address: ")); Serial.println(finger.device_addr, HEX);
-  Serial.print(F("Packet len: ")); Serial.println(finger.packet_len);
-  Serial.print(F("Baud rate: ")); Serial.println(finger.baud_rate);
+  DEBUG_PRINT(F("Status: 0x")); DEBUG_PRINTLN(finger.status_reg, HEX);
+  DEBUG_PRINT(F("Sys ID: 0x")); DEBUG_PRINTLN(finger.system_id, HEX);
+  DEBUG_PRINT(F("Capacity: ")); DEBUG_PRINTLN(finger.capacity);
+  DEBUG_PRINT(F("Security level: ")); DEBUG_PRINTLN(finger.security_level);
+  DEBUG_PRINT(F("Device address: ")); DEBUG_PRINTLN(finger.device_addr, HEX);
+  DEBUG_PRINT(F("Packet len: ")); DEBUG_PRINTLN(finger.packet_len);
+  DEBUG_PRINT(F("Baud rate: ")); DEBUG_PRINTLN(finger.baud_rate);
 
   finger.getTemplateCount();
 
   if (finger.templateCount == 0) {
-    Serial.print("Sensor doesn't contain any fingerprint data. Please run the 'enroll' example.");
+    DEBUG_PRINT("Sensor doesn't contain any fingerprint data. Please run the 'enroll' example.");
   }
   else {
-    Serial.println("Waiting for valid finger...");
-    Serial.print("Sensor contains "); Serial.print(finger.templateCount); Serial.println(" templates");
+    DEBUG_PRINTLN("Waiting for valid finger...");
+    DEBUG_PRINT("Sensor contains "); DEBUG_PRINT(finger.templateCount); DEBUG_PRINTLN(" templates");
   }
   return false;
 }