Merge branch 'master' of github.com:PX4/Firmware

apps/systemlib/Makefile

@@ -35,7 +35,8 @@
 # System utility library
 #
 
-CSRCS		 = hx_stream.c \
+CSRCS		 = err.c \
+		   hx_stream.c \
 		   perf_counter.c
 
 #

apps/systemlib/err.c

+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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 err.c
+ *
+ * Simple error/warning functions, heavily inspired by the BSD functions of
+ * the same names.
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <string.h>
+
+#include "err.h"
+
+#define NOCODE		1000	/* larger than maximum errno */
+
+const char *
+getprogname(void)
+{
+	_TCB	*thisproc = sched_self();
+
+	return thisproc->name;
+}
+
+static void
+warnerr_core(int errcode, const char *fmt, va_list args)
+{
+	fprintf(stderr, "%s: ", getprogname());
+	vfprintf(stderr, fmt, args);
+
+	/* convenience as many parts of NuttX use negative errno */
+	if (errcode < 0)
+		errcode = -errcode;
+	if (errcode < NOCODE)
+		fprintf(stderr, ": %s", strerror(errcode));
+	fprintf(stderr, "\n");
+}
+
+void
+err(int exitcode, const char *fmt, ...)
+{
+	va_list	args;
+
+	va_start(args, fmt);
+	verr(exitcode, fmt, args);
+}
+
+void
+verr(int exitcode, const char *fmt, va_list args)
+{
+	warnerr_core(errno, fmt, args);
+	exit(exitcode);
+}
+
+void
+errc(int exitcode, int errcode, const char *fmt, ...)
+{
+	va_list args;
+
+	va_start(args, fmt);
+	verrc(exitcode, errcode, fmt, args);
+}
+
+void
+verrc(int exitcode, int errcode, const char *fmt, va_list args)
+{
+	warnerr_core(errcode, fmt, args);
+	exit(exitcode);
+}
+
+void
+errx(int exitcode, const char *fmt, ...)
+{
+	va_list args;
+
+	va_start(args, fmt);
+	verrx(exitcode, fmt, args);
+}
+
+void
+verrx(int exitcode, const char *fmt, va_list args)
+{
+	warnerr_core(NOCODE, fmt, args);
+	exit(exitcode);
+}
+
+void
+warn(const char *fmt, ...) 
+{
+	va_list args;
+
+	va_start(args, fmt);
+	vwarn(fmt, args);
+}
+
+void
+vwarn(const char *fmt, va_list args) 
+{
+	warnerr_core(NOCODE, fmt, args);
+}
+
+void
+warnc(int errcode, const char *fmt, ...) 
+{
+	va_list args;
+
+	va_start(args, fmt);
+	vwarnc(errcode, fmt, args);
+}
+
+void
+vwarnc(int errcode, const char *fmt, va_list args) 
+{
+	warnerr_core(errcode, fmt, args);
+}
+
+void
+warnx(const char *fmt, ...) 
+{
+	va_list args;
+
+	va_start(args, fmt);
+	vwarnx(fmt, args);
+}
+
+void
+vwarnx(const char *fmt, va_list args) 
+{
+	warnerr_core(NOCODE, fmt, args);
+}

apps/systemlib/err.h

+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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 err.h
+ *
+ * Simple error/warning functions, heavily inspired by the BSD functions of
+ * the same names.
+ */
+
+#ifndef _SYSTEMLIB_ERR_H
+#define _SYSTEMLIB_ERR_H
+
+#include <stdarg.h>
+
+__BEGIN_DECLS
+
+__EXPORT const char *getprogname(void);
+
+__EXPORT void	err(int, const char *, ...) __attribute__((noreturn,format(printf,2, 3)));
+__EXPORT void	verr(int, const char *, va_list) __attribute__((noreturn,format(printf,2, 0)));
+__EXPORT void	errc(int, int, const char *, ...) __attribute__((noreturn,format(printf,3, 4)));
+__EXPORT void	verrc(int, int, const char *, va_list) __attribute__((noreturn,format(printf,3, 0)));
+__EXPORT void	errx(int, const char *, ...) __attribute__((noreturn,format(printf,2, 3)));
+__EXPORT void	verrx(int, const char *, va_list) __attribute__((noreturn,format(printf,2, 0)));
+__EXPORT void	warn(const char *, ...)  __attribute__((format(printf,1, 2)));
+__EXPORT void	vwarn(const char *, va_list)  __attribute__((format(printf,1, 0)));
+__EXPORT void	warnc(int, const char *, ...)  __attribute__((format(printf,2, 3)));
+__EXPORT void	vwarnc(int, const char *, va_list)  __attribute__((format(printf,2, 0)));
+__EXPORT void	warnx(const char *, ...)  __attribute__((format(printf,1, 2)));
+__EXPORT void	vwarnx(const char *, va_list)  __attribute__((format(printf,1, 0)));
+
+__END_DECLS
+
+#endif