From 72d22c4297d787a54db0f1d5a170dda4ff47a704 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Mon, 19 Feb 2018 15:05:46 +0100
Subject: [PATCH] cleanup uavcan_main: replace warnx with PX4_{INFO,ERR,DEBUG}
---
src/modules/uavcan/uavcan_main.cpp | 58 +++++++++++++-----------------
1 file changed, 24 insertions(+), 34 deletions(-)
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp
index c67db46dbe..f42978d772 100644
--- a/src/modules/uavcan/uavcan_main.cpp
+++ b/src/modules/uavcan/uavcan_main.cpp
@@ -526,7 +526,7 @@ int UavcanNode::fw_server(eServerAction action)
int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
{
if (_instance != nullptr) {
- warnx("Already started");
+ PX4_WARN("Already started");
return -1;
}
@@ -560,14 +560,14 @@ int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
can = new CanInitHelper();
if (can == nullptr) { // We don't have exceptions so bad_alloc cannot be thrown
- warnx("Out of memory");
+ PX4_ERR("Out of memory");
return -1;
}
const int can_init_res = can->init(bitrate);
if (can_init_res < 0) {
- warnx("CAN driver init failed %i", can_init_res);
+ PX4_ERR("CAN driver init failed %i", can_init_res);
return can_init_res;
}
}
@@ -578,12 +578,7 @@ int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
_instance = new UavcanNode(can->driver, uavcan_stm32::SystemClock::instance());
if (_instance == nullptr) {
- warnx("Out of memory");
- return -1;
- }
-
- if (_instance == nullptr) {
- warnx("Out of memory");
+ PX4_ERR("Out of memory");
return -1;
}
@@ -592,7 +587,7 @@ int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
if (node_init_res < 0) {
delete _instance;
_instance = nullptr;
- warnx("Node init failed %i", node_init_res);
+ PX4_ERR("Node init failed %i", node_init_res);
return node_init_res;
}
@@ -604,7 +599,7 @@ int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
static_cast<main_t>(run_trampoline), nullptr);
if (_instance->_task < 0) {
- warnx("start failed: %d", errno);
+ PX4_ERR("start failed: %d", errno);
return -errno;
}
@@ -624,7 +619,7 @@ void UavcanNode::fill_node_info()
swver.optional_field_flags |= swver.OPTIONAL_FIELD_FLAG_VCS_COMMIT;
// Too verbose for normal operation
- //warnx("SW version vcs_commit: 0x%08x", unsigned(swver.vcs_commit));
+ //PX4_INFO("SW version vcs_commit: 0x%08x", unsigned(swver.vcs_commit));
_node.setSoftwareVersion(swver);
@@ -678,11 +673,11 @@ int UavcanNode::init(uavcan::NodeID node_id)
ret = br->init();
if (ret < 0) {
- warnx("cannot init sensor bridge '%s' (%d)", br->get_name(), ret);
+ PX4_ERR("cannot init sensor bridge '%s' (%d)", br->get_name(), ret);
return ret;
}
- warnx("sensor bridge '%s' init ok", br->get_name());
+ PX4_INFO("sensor bridge '%s' init ok", br->get_name());
br = br->getSibling();
}
@@ -697,7 +692,7 @@ void UavcanNode::node_spin_once()
const int spin_res = _node.spinOnce();
if (spin_res < 0) {
- warnx("node spin error %i", spin_res);
+ PX4_ERR("node spin error %i", spin_res);
}
@@ -788,7 +783,7 @@ int UavcanNode::run()
const int slave_init_res = _time_sync_slave.start();
if (slave_init_res < 0) {
- warnx("Failed to start time_sync_slave");
+ PX4_ERR("Failed to start time_sync_slave");
_task_should_exit = true;
}
@@ -806,7 +801,7 @@ int UavcanNode::run()
const int busevent_fd = ::open(uavcan_stm32::BusEvent::DevName, 0);
if (busevent_fd < 0) {
- warnx("Failed to open %s", uavcan_stm32::BusEvent::DevName);
+ PX4_ERR("Failed to open %s", uavcan_stm32::BusEvent::DevName);
_task_should_exit = true;
}
@@ -999,7 +994,6 @@ int UavcanNode::run()
(void)::close(busevent_fd);
teardown();
- warnx("exiting.");
exit(0);
}
@@ -1046,12 +1040,12 @@ UavcanNode::subscribe()
// the first fd used by CAN
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (sub_groups & (1 << i)) {
- warnx("subscribe to actuator_controls_%d", i);
+ PX4_DEBUG("subscribe to actuator_controls_%d", i);
_control_subs[i] = orb_subscribe(_control_topics[i]);
}
if (unsub_groups & (1 << i)) {
- warnx("unsubscribe from actuator_controls_%d", i);
+ PX4_DEBUG("unsubscribe from actuator_controls_%d", i);
orb_unsubscribe(_control_subs[i]);
_control_subs[i] = -1;
}
@@ -1114,7 +1108,7 @@ UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
ret = _mixers->load_from_buf(buf, buflen);
if (ret != 0) {
- warnx("mixer load failed with %d", ret);
+ PX4_ERR("mixer load failed with %d", ret);
delete _mixers;
_mixers = nullptr;
_groups_required = 0;
@@ -1172,10 +1166,6 @@ UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
void
UavcanNode::print_info()
{
- if (!_instance) {
- warnx("not running, start first");
- }
-
(void)pthread_mutex_lock(&_node_mutex);
// Memory status
@@ -1288,10 +1278,10 @@ void UavcanNode::hardpoint_controller_set(uint8_t hardpoint_id, uint16_t command
*/
static void print_usage()
{
- warnx("usage: \n"
- "\tuavcan {start [fw]|status|stop [all|fw]|shrink|arm|disarm|update fw|\n"
- "\t param [set|get|list|save] <node-id> <name> <value>|reset <node-id>|\n"
- "\t hardpoint set <id> <command>}");
+ PX4_INFO("usage: \n"
+ "\tuavcan {start [fw]|status|stop [all|fw]|shrink|arm|disarm|update fw|\n"
+ "\t param [set|get|list|save] <node-id> <name> <value>|reset <node-id>|\n"
+ "\t hardpoint set <id> <command>}");
}
extern "C" __EXPORT int uavcan_main(int argc, char *argv[]);
@@ -1311,7 +1301,7 @@ int uavcan_main(int argc, char *argv[])
int rv = UavcanNode::instance()->fw_server(UavcanNode::Start);
if (rv < 0) {
- warnx("Firmware Server Failed to Start %d", rv);
+ PX4_ERR("Firmware Server Failed to Start %d", rv);
::exit(rv);
}
@@ -1319,7 +1309,7 @@ int uavcan_main(int argc, char *argv[])
}
// Already running, no error
- warnx("already started");
+ PX4_INFO("already started");
::exit(0);
}
@@ -1328,7 +1318,7 @@ int uavcan_main(int argc, char *argv[])
(void)param_get(param_find("UAVCAN_NODE_ID"), &node_id);
if (node_id < 0 || node_id > uavcan::NodeID::Max || !uavcan::NodeID(node_id).isUnicast()) {
- warnx("Invalid Node ID %i", node_id);
+ PX4_ERR("Invalid Node ID %i", node_id);
::exit(1);
}
@@ -1337,7 +1327,7 @@ int uavcan_main(int argc, char *argv[])
(void)param_get(param_find("UAVCAN_BITRATE"), &bitrate);
// Start
- warnx("Node ID %u, bitrate %u", node_id, bitrate);
+ PX4_INFO("Node ID %u, bitrate %u", node_id, bitrate);
return UavcanNode::start(node_id, bitrate);
}
@@ -1467,7 +1457,7 @@ int uavcan_main(int argc, char *argv[])
inst->shrink();
if (rv < 0) {
- warnx("Firmware Server Failed to Stop %d", rv);
+ PX4_ERR("Firmware Server Failed to Stop %d", rv);
::exit(rv);
}
--
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