cleanup uavcan_main: replace warnx with PX4_{INFO,ERR,DEBUG}

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);
 			}