# Debugging.h

Debugging and monitoring functions for printing to the debug serial monitor and
exposing variables to the Black Box logger.

> **Note:** OLED functions previously listed here have moved to their own module.
> See **[Oled.h](Oled)** for display output.

## Monitor Functions

Debug output is generated as your code runs, so `Monitor_*` calls typically live
inside `plutoLoop()`.

### `void Monitor_Print(const char *msg)`
Prints a message with no trailing newline.

```cpp
void plutoLoop ( void ) {
    Monitor_Print ( "System: " );
}
```

### `void Monitor_Print(const char *tag, int number)`
Prints a tag followed by an integer (no newline).

```cpp
void plutoLoop ( void ) {
    Monitor_Print ( "Altitude: ", 150 );
}
```

### `void Monitor_Print(const char *tag, double number, uint8_t precision)`
Prints a tag followed by a floating-point value with the given decimal precision (no newline).

```cpp
void plutoLoop ( void ) {
    Monitor_Print ( "Voltage: ", 12.45, 2 );   // -> Voltage: 12.45
}
```

### `void Monitor_Println(const char *msg)`
Prints a message followed by a newline.

```cpp
void plutoLoop ( void ) {
    Monitor_Println ( "Ready" );
}
```

### `void Monitor_Println(const char *tag, int number)`
Prints a tag and integer followed by a newline.

```cpp
void plutoLoop ( void ) {
    Monitor_Println ( "Loop count: ", 42 );
}
```

### `void Monitor_Println(const char *tag, double number, uint8_t precision)`
Prints a tag and floating-point value (with precision) followed by a newline.

```cpp
void plutoLoop ( void ) {
    Monitor_Println ( "Pitch: ", -3.14159, 3 );   // -> Pitch: -3.142
}
```

## Black Box Functions

> Only available when the firmware is built with `BLACKBOX` defined.

### `void BlackBox_setVar(char *varName, int32_t &reference)`
Registers a variable with the Black Box logger so its value is recorded under
`varName`. It is a one-time registration, so do it in `onLoopStart()`; the logger
then samples it automatically while the loop runs.

```cpp
int32_t altitude = 0;   // must outlive the call - use a global or static

void onLoopStart ( void ) {
#ifdef BLACKBOX
    BlackBox_setVar ( "alt", altitude );
#endif
}
```

## Usage Examples

### Monitor printing

Print debug output every loop from `plutoLoop()`.

```cpp
#include "PlutoPilot.h"

void plutoLoop ( void ) {
    Monitor_Print ( "System: " );
    Monitor_Println ( "Ready" );

    Monitor_Println ( "Altitude: ", 150 );      // integer
    Monitor_Println ( "Voltage: ", 12.45, 2 );  // double, 2 decimals
}
```

### Black Box logging

Register the variable once in `onLoopStart()`; the logger records it automatically
while `plutoLoop()` updates its value.

```cpp
#include "PlutoPilot.h"

int32_t altitude = 0;   // global so it outlives the call

void onLoopStart ( void ) {
#ifdef BLACKBOX
    BlackBox_setVar ( "alt", altitude );
#endif
}

void plutoLoop ( void ) {
    altitude = Estimate_Get ( Position, Z );   // update the logged variable (altitude)
}
```