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Daniel Agar authoredDaniel Agar authored
px4_log.h 18.82 KiB
/****************************************************************************
*
* Copyright (C) 2015-2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4_log.h
* Platform dependant logging/debug implementation
*/
#pragma once
#define _PX4_LOG_LEVEL_DEBUG 0
#define _PX4_LOG_LEVEL_INFO 1
#define _PX4_LOG_LEVEL_WARN 2
#define _PX4_LOG_LEVEL_ERROR 3
#define _PX4_LOG_LEVEL_PANIC 4
// Used to silence unused variable warning
static inline void do_nothing(int level, ...)
{
(void)level;
}
__BEGIN_DECLS
/**
* initialize the orb logging. Logging to console still works without or before calling this.
*/
__EXPORT extern void px4_log_initialize(void);
__END_DECLS
/****************************************************************************
* __px4_log_omit:
* Compile out the message
****************************************************************************/
#define __px4_log_omit(level, FMT, ...) do_nothing(level, ##__VA_ARGS__)
#if defined(__PX4_ROS)
#include <ros/console.h>
#define PX4_PANIC(...) ROS_FATAL(__VA_ARGS__)
#define PX4_ERR(...) ROS_ERROR(__VA_ARGS__)
#define PX4_WARN(...) ROS_WARN(__VA_ARGS__)
#define PX4_INFO(...) ROS_INFO(__VA_ARGS__)
#define PX4_INFO_RAW(...) printf(__VA_ARGS__)
#define PX4_DEBUG(...) ROS_DEBUG(__VA_ARGS__)
#define PX4_BACKTRACE()
#elif defined(__PX4_QURT)
#include "qurt_log.h"
/****************************************************************************
* Messages that should never be filtered or compiled out
****************************************************************************/
#define PX4_INFO(FMT, ...) qurt_log(_PX4_LOG_LEVEL_INFO, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_INFO_RAW(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_INFO, FMT, ##__VA_ARGS__)
#define PX4_BACKTRACE()
#if defined(TRACE_BUILD)
/****************************************************************************
* Extremely Verbose settings for a Trace build
****************************************************************************/
#define PX4_PANIC(FMT, ...) qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) qurt_log(_PX4_LOG_LEVEL_WARN, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) qurt_log(_PX4_LOG_LEVEL_DEBUG, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#elif defined(DEBUG_BUILD)
/****************************************************************************
* Verbose settings for a Debug build
****************************************************************************/
#define PX4_PANIC(FMT, ...) qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) qurt_log(_PX4_LOG_LEVEL_WARN, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) qurt_log(_PX4_LOG_LEVEL_DEBUG, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#elif defined(RELEASE_BUILD)
/****************************************************************************
* Non-verbose settings for a Release build to minimize strings in build
****************************************************************************/
#define PX4_PANIC(FMT, ...) qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_WARN, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
#else
/****************************************************************************
* Medium verbose settings for a default build
****************************************************************************/
#define PX4_PANIC(FMT, ...) qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) qurt_log(_PX4_LOG_LEVEL_WARN, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
#endif
#define PX4_LOG_NAMED(name, FMT, ...) qurt_log( _PX4_LOG_LEVEL_INFO, __FILE__, __LINE__, "%s " FMT, name, ##__VA_ARGS__)
#define PX4_LOG_NAMED_COND(name, cond, FMT, ...) if( cond ) qurt_log( _PX4_LOG_LEVEL_INFO, __FILE__, __LINE__, "%s " FMT, name, ##__VA_ARGS__)
#else
#include <inttypes.h>
#include <stdint.h>
#include <sys/cdefs.h>
#include <stdio.h>
#include <stdarg.h>
#include <px4_defines.h>
__BEGIN_DECLS
__EXPORT extern const char *__px4_log_level_str[_PX4_LOG_LEVEL_PANIC + 1];
__EXPORT extern const char *__px4_log_level_color[_PX4_LOG_LEVEL_PANIC + 1];
__EXPORT extern void px4_backtrace(void);
__EXPORT void px4_log_modulename(int level, const char *moduleName, const char *fmt, ...)
__attribute__((format(printf, 3, 4)));
__EXPORT void px4_log_raw(int level, const char *fmt, ...)
__attribute__((format(printf, 2, 3)));
#if __GNUC__
// Allow empty format strings.
#pragma GCC diagnostic ignored "-Wformat-zero-length"
#endif
__END_DECLS
#define PX4_BACKTRACE() px4_backtrace()
/****************************************************************************
* Implementation of log section formatting based on printf
*
* To write to a specific stream for each message type, open the streams and
* set __px4__log_startline to something like:
* printf(_px4_fd[level],
*
* Additional behavior can be added using "{\" for __px4__log_startline and
* "}" for __px4__log_endline and any other required setup or teardown steps
****************************************************************************/
#define __px4__log_printcond(cond, ...) if (cond) printf(__VA_ARGS__)
#define __px4__log_printline(level, ...) printf(__VA_ARGS__)
#define __px4__log_timestamp_fmt "%-10" PRIu64 " "
#define __px4__log_timestamp_arg ,hrt_absolute_time()
#define __px4__log_level_fmt "%-5s "
#define __px4__log_level_arg(level) ,__px4_log_level_str[level]
#define __px4__log_thread_fmt "%#X "
#define __px4__log_thread_arg ,(unsigned int)pthread_self()
#define __px4__log_modulename_fmt "%-10s "
#define __px4__log_modulename_pfmt "[%s] "
#define __px4__log_modulename_arg ,"[" MODULE_NAME "]"
#define __px4__log_file_and_line_fmt " (file %s line %u)"
#define __px4__log_file_and_line_arg , __FILE__, __LINE__
#define __px4__log_end_fmt "\n"
#define PX4_ANSI_COLOR_RED "\x1b[31m"
#define PX4_ANSI_COLOR_GREEN "\x1b[32m"
#define PX4_ANSI_COLOR_YELLOW "\x1b[33m"
#define PX4_ANSI_COLOR_BLUE "\x1b[34m"
#define PX4_ANSI_COLOR_MAGENTA "\x1b[35m"
#define PX4_ANSI_COLOR_CYAN "\x1b[36m"
#define PX4_ANSI_COLOR_GRAY "\x1B[37m"
#define PX4_ANSI_COLOR_RESET "\x1b[0m"
#ifdef __PX4_POSIX
#define PX4_LOG_COLORIZED_OUTPUT //if defined and output is a tty, colorize the output according to the log level
#endif /* __PX4_POSIX */
#ifdef PX4_LOG_COLORIZED_OUTPUT
#include <unistd.h>
#define PX4_LOG_COLOR_START \
int use_color = isatty(STDOUT_FILENO); \
if (use_color) printf("%s", __px4_log_level_color[level]);
#define PX4_LOG_COLOR_MODULE \
if (use_color) printf(PX4_ANSI_COLOR_GRAY);
#define PX4_LOG_COLOR_MESSAGE \
if (use_color) printf("%s", __px4_log_level_color[level]);
#define PX4_LOG_COLOR_END \
if (use_color) printf(PX4_ANSI_COLOR_RESET);
#else#define PX4_LOG_COLOR_START
#define PX4_LOG_COLOR_MODULE
#define PX4_LOG_COLOR_MESSAGE
#define PX4_LOG_COLOR_END
#endif /* PX4_LOG_COLORIZED_OUTPUT */
/****************************************************************************
* Output format macros
* Use these to implement the code level macros below
****************************************************************************/
/****************************************************************************
* __px4_log_named_cond:
* Convert a message in the form:
* PX4_LOG_COND(__dbg_enabled, "val is %d", val);
* to
* printf("%-5s val is %d\n", "LOG", val);
* if the first arg/condition is true.
****************************************************************************/
#define __px4_log_named_cond(name, cond, FMT, ...) \
__px4__log_printcond(cond,\
"%s " \
FMT\
__px4__log_end_fmt \
,name, ##__VA_ARGS__\
)
/****************************************************************************
* __px4_log:
* Convert a message in the form:
* PX4_WARN("val is %d", val);
* to
* printf("%-5s val is %d\n", __px4_log_level_str[3], val);
****************************************************************************/
#define __px4_log(level, FMT, ...) \
__px4__log_printline(level,\
__px4__log_level_fmt \
FMT\
__px4__log_end_fmt \
__px4__log_level_arg(level), ##__VA_ARGS__\
)
/****************************************************************************
* __px4_log_modulename:
* Convert a message in the form:
* PX4_WARN("val is %d", val);
* to
* printf("%-5s [%s] val is %d\n", __px4_log_level_str[3],
* MODULENAME, val);
****************************************************************************/
#define __px4_log_modulename(level, fmt, ...) \
do { \
px4_log_modulename(level, MODULE_NAME, fmt, ##__VA_ARGS__); \
} while(0)
/****************************************************************************
* __px4_log_raw:
* Convert a message in the form:
* PX4_INFO("val is %d", val);
* to
* printf("val is %d", val);
*
* This can be used for simple printfs with all the formatting control.
****************************************************************************/
#define __px4_log_raw(level, fmt, ...) \
do { \
px4_log_raw(level, fmt, ##__VA_ARGS__); \
} while(0)
/****************************************************************************
* __px4_log_timestamp:
* Convert a message in the form:
* PX4_WARN("val is %d", val);
* to
* printf("%-5s %10lu val is %d\n", __px4_log_level_str[3],
* hrt_absolute_time(), val);
****************************************************************************/
#define __px4_log_timestamp(level, FMT, ...) \
__px4__log_printline(level,\
__px4__log_level_fmt\
__px4__log_timestamp_fmt\
FMT\
__px4__log_end_fmt\
__px4__log_level_arg(level)\
__px4__log_timestamp_arg\
, ##__VA_ARGS__\
)
/****************************************************************************
* __px4_log_timestamp_thread:
* Convert a message in the form:
* PX4_WARN("val is %d", val);
* to
* printf("%-5s %10lu %#X val is %d\n", __px4_log_level_str[3],
* hrt_absolute_time(), pthread_self(), val);
****************************************************************************/
#define __px4_log_timestamp_thread(level, FMT, ...) \
__px4__log_printline(level,\
__px4__log_level_fmt\
__px4__log_timestamp_fmt\
__px4__log_thread_fmt\
FMT\
__px4__log_end_fmt\
__px4__log_level_arg(level)\
__px4__log_timestamp_arg\
__px4__log_thread_arg\
, ##__VA_ARGS__\
)
/****************************************************************************
* __px4_log_file_and_line:
* Convert a message in the form:
* PX4_WARN("val is %d", val);
* to
* printf("%-5s val is %d (file %s line %u)\n",
* __px4_log_level_str[3], val, __FILE__, __LINE__);
****************************************************************************/
#define __px4_log_file_and_line(level, FMT, ...) \
__px4__log_printline(level,\
__px4__log_level_fmt\
__px4__log_timestamp_fmt\
FMT\
__px4__log_file_and_line_fmt\
__px4__log_end_fmt\
__px4__log_level_arg(level)\
__px4__log_timestamp_arg\
, ##__VA_ARGS__\
__px4__log_file_and_line_arg\
)
/****************************************************************************
* __px4_log_timestamp_file_and_line:
* Convert a message in the form:
* PX4_WARN("val is %d", val);
* to
* printf("%-5s %-10lu val is %d (file %s line %u)\n",
* __px4_log_level_str[3], hrt_absolute_time(), * val, __FILE__, __LINE__);
****************************************************************************/
#define __px4_log_timestamp_file_and_line(level, FMT, ...) \
__px4__log_printline(level,\
__px4__log_level_fmt\
__px4__log_timestamp_fmt\
FMT\
__px4__log_file_and_line_fmt\
__px4__log_end_fmt\
__px4__log_level_arg(level)\
__px4__log_timestamp_arg\
, ##__VA_ARGS__\
__px4__log_file_and_line_arg\
)
/****************************************************************************
* __px4_log_thread_file_and_line:
* Convert a message in the form:
* PX4_WARN("val is %d", val);
* to
* printf("%-5s %#X val is %d (file %s line %u)\n",
* __px4_log_level_str[3], pthread_self(),
* val, __FILE__, __LINE__);
****************************************************************************/
#define __px4_log_thread_file_and_line(level, FMT, ...) \
__px4__log_printline(level,\
__px4__log_level_fmt\
__px4__log_thread_fmt\
FMT\
__px4__log_file_and_line_fmt\
__px4__log_end_fmt\
__px4__log_level_arg(level)\
__px4__log_thread_arg\
, ##__VA_ARGS__\
__px4__log_file_and_line_arg\
)
/****************************************************************************
* __px4_log_timestamp_thread_file_and_line:
* Convert a message in the form:
* PX4_WARN("val is %d", val);
* to
* printf("%-5s %-10lu %#X val is %d (file %s line %u)\n",
* __px4_log_level_str[3], hrt_absolute_time(),
* pthread_self(), val, __FILE__, __LINE__);
****************************************************************************/
#define __px4_log_timestamp_thread_file_and_line(level, FMT, ...) \
__px4__log_printline(level,\
__px4__log_level_fmt\
__px4__log_timestamp_fmt\
__px4__log_thread_fmt\
FMT\
__px4__log_file_and_line_fmt\
__px4__log_end_fmt\
__px4__log_level_arg(level)\
__px4__log_timestamp_arg\
__px4__log_thread_arg\
, ##__VA_ARGS__\
__px4__log_file_and_line_arg\
)
/****************************************************************************
* Code level macros
* These are the log APIs that should be used by the code
****************************************************************************/
/****************************************************************************
* Messages that should never be filtered or compiled out
****************************************************************************/#define PX4_INFO(FMT, ...) __px4_log_modulename(_PX4_LOG_LEVEL_INFO, FMT, ##__VA_ARGS__)
#ifdef __NUTTX
#define PX4_INFO_RAW printf
#else
#define PX4_INFO_RAW(FMT, ...) __px4_log_raw(_PX4_LOG_LEVEL_INFO, FMT, ##__VA_ARGS__)
#endif
#if defined(TRACE_BUILD)
/****************************************************************************
* Extremely Verbose settings for a Trace build
****************************************************************************/
#define PX4_PANIC(FMT, ...) __px4_log_timestamp_thread_file_and_line(_PX4_LOG_LEVEL_PANIC, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) __px4_log_timestamp_thread_file_and_line(_PX4_LOG_LEVEL_ERROR, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) __px4_log_timestamp_thread_file_and_line(_PX4_LOG_LEVEL_WARN, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) __px4_log_timestamp_thread(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
#elif defined(DEBUG_BUILD)
/****************************************************************************
* Verbose settings for a Debug build
****************************************************************************/
#define PX4_PANIC(FMT, ...) __px4_log_timestamp_file_and_line(_PX4_LOG_LEVEL_PANIC, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) __px4_log_timestamp_file_and_line(_PX4_LOG_LEVEL_ERROR, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) __px4_log_timestamp_file_and_line(_PX4_LOG_LEVEL_WARN, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) __px4_log_timestamp(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
#elif defined(RELEASE_BUILD)
/****************************************************************************
* Non-verbose settings for a Release build to minimize strings in build
****************************************************************************/
#define PX4_PANIC(FMT, ...) __px4_log_modulename(_PX4_LOG_LEVEL_PANIC, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) __px4_log_modulename(_PX4_LOG_LEVEL_ERROR, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_WARN, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
#else
/****************************************************************************
* Medium verbose settings for a default build
****************************************************************************/
#define PX4_PANIC(FMT, ...) __px4_log_modulename(_PX4_LOG_LEVEL_PANIC, FMT, ##__VA_ARGS__)
#define PX4_ERR(FMT, ...) __px4_log_modulename(_PX4_LOG_LEVEL_ERROR, FMT, ##__VA_ARGS__)
#define PX4_WARN(FMT, ...) __px4_log_modulename(_PX4_LOG_LEVEL_WARN, FMT, ##__VA_ARGS__)
#define PX4_DEBUG(FMT, ...) __px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
#endif
#define PX4_LOG_NAMED(name, FMT, ...) __px4_log_named_cond(name, true, FMT, ##__VA_ARGS__)
#define PX4_LOG_NAMED_COND(name, cond, FMT, ...) __px4_log_named_cond(name, cond, FMT, ##__VA_ARGS__)
#endif